/*
* 今の周期のサーボ指定角度を返す関数
* サーボの並びは
* WAIST = 0, //腰(回転方向不明)
* LEFT_HIP_YAW = 1, //左股間節ヨー方向回転
* RIGHT_HIP_YAW = 2, //右股間節ヨー方向回転
* LEFT_HIP_ROLL = 3, //左股関節ロール方向回転
* RIGHT_HIP_ROLL = 4, //右股関節ロール方向回転
* LEFT_HIP_PITCH = 5, //左股関節ピッチ方向回転
* RIGHT_HIP_PITCH = 6, //右股関節ピッチ方向回転
* LEFT_KNEE = 7, //左膝
* RIGHT_KNEE = 8, //右膝
* LEFT_ANKLE_PITCH = 9, //左足首ピッチ方向回転
* RIGHT_ANKLE_PITCH = 10, //右足首ピッチ方向回転
* LEFT_ANKLE_ROLL = 11, //左足首ロール方向回転
* RIGHT_ANKLE_ROLL = 12, //右足首ロール方向回転
*/
public int[] GetLowerServoDests()
{
oldStatus = nextStatus;
nextStatus = GetMotionState();
if (currentStatus == MotionStatus.STOP && oldStatus == MotionStatus.STOP && nextStatus != MotionStatus.STOP)
{
finishFlag = true;
}
Debug.WriteLine("vartex : {0} {1}", vertex.x, vertex.y);
Debug.WriteLine("MotionStatus current posID next : {0} {1} {2}", currentStatus, positionID, nextStatus);
/*if (!changeFlag && currentStatus != nextStatus)
* {
* changeFlag = true;
* }*/
if (finishFlag == true)
{
finishFlag = false;
changeFlag = false;
frameCount = 0;
currentStatus = nextStatus;
}
frameCount++;
return(GetMotionDests(currentStatus));
}
public void CalculateVotes()
{
// do we have a quorum, exlcuding those who abstain?
if (Votes.Count < Config.Quorum || Votes.Count - Votes.Abstain < Config.Quorum)
{
Status = MotionStatus.OutOfOrder;
StatusText = "Quorum is not present.";
return;
}
// ties are failures
if (Votes.No >= Votes.Yes)
{
Status = MotionStatus.Failed;
return;
}
if (this.RequiresSuperMajority)
{
if (Votes.Yes < Config.SuperMajorityOfQuorum)
{
Status = MotionStatus.Failed;
return;
}
}
Status = MotionStatus.Passed;
return;
}
// Use this for initialization
void Start()
{
transform.rotation = transform.parent.rotation;
currentMotion = MotionStatus.Idle;
currentRotation = Vector3.zero;
targetRotation = Vector3.zero;
motionRotation = Vector3.zero;
TiltTime = tiltTime;
TurnTime = turnTime;
turnOverflow = 0;
tiltOverflow = 0;
}
private int[] GetMotionDests(MotionStatus motionStatus)
{
int[] ret;
switch (motionStatus)
{
case MotionStatus.STOP:
ret = GetSTOPDests();
break;
case MotionStatus.WALK_FORWARD:
ret = GetWALK_FORWARDDests();
break;
case MotionStatus.WALK_BACKWARD:
ret = GetWALK_BACKWARDDests();
break;
case MotionStatus.WALK_RIGHT:
ret = GetWALK_RIGHTDests();
break;
case MotionStatus.WALK_LEFT:
ret = GetWALK_LEFTDests();
break;
case MotionStatus.TURN_RIGHT:
ret = GetTURN_RIGHTDests();
break;
case MotionStatus.TURN_LEFT:
ret = GetTURN_LEFTDests();
break;
default:
ret = GetSTOPDests();
break;
}
return(AddTrim(ret));
}
/*internal*/ public MotionManager(ref SerialPortManager sp)
{
//コンストラクタで必要そうなもの
//とりあえず最初は止まってるでしょう
currentStatus = MotionStatus.STOP;
oldStatus = MotionStatus.STOP;
nextStatus = MotionStatus.STOP;
wiiBBFrameCount = 0;
changeFlag = false;
finishFlag = true;
//sp.Open();
//Debug.WriteLine("spmyport={0}", sp.MyPort.IsOpen);
spm = sp;
frameCount = 0;
positionID = 0;
weight = 0;
wm = new Wiimote();
//Wiimoteの接続
this.wm.Connect();
//イベント関数の登録
this.wm.WiimoteChanged += wm_WiimoteChanged;
}
//20f（收到消息解析，同步影子玩家）
public void PlacePos(Transform target, InputBuffer buffer)
{
//分析按键组合，按优先级屏蔽无效操作
float y = (buffer.W ? MOVE_SPEED : 0) + (buffer.S ? -MOVE_SPEED : 0);
float z = (buffer.D ? MOVE_SPEED : 0) + (buffer.A ? -MOVE_SPEED : 0);
//移动
Vector3 position = Vector3.zero;
if (OnGround() && y == 0)
{
position = new Vector3(0, 0, z);
}
if (OnGround() && playerVelocity.y < 0)
{
playerVelocity.y = 0;
playerVelocity.z = 0;
}
//跳跃
if (OnGround() && y > 0)
{
if (z == 0)
{
//原地跳跃
playerVelocity.y += Mathf.Sqrt(JUMP_HEIGHT * -3.0f * GRAVITY);//平方根
}
else if (z > 0)
{
//向前跳跃
playerVelocity.y += Mathf.Sqrt(JUMP_HEIGHT * -3.0f * GRAVITY);
playerVelocity.z += 0.4f;
}
else if (z < 0)
{
//向后跳跃
playerVelocity.y += Mathf.Sqrt(JUMP_HEIGHT * -3.0f * GRAVITY);
playerVelocity.z -= 0.4f;
}
}
//衰减
playerVelocity.y += GRAVITY;
if (OnGround() == false)
{
//在空中
if (playerVelocity.z > 0)
{
playerVelocity.z -= 0.05f;
}
else if (playerVelocity.z < 0)
{
playerVelocity.z += 0.05f;
}
}
position += playerVelocity;
//移动到的位置
Vector3 pos = target.position + position;
pos.y = Mathf.Clamp(pos.y, 0, pos.y);
//PushBox计算
if (rival.transform.position.z > transform.position.z)
{
//自己在左，对手在右
direction = Direction.Right;
child.localScale = POS_SIZE;
child.rotation = new Quaternion(0, 0, 0, 0);
if (z > 0 && OnGround() && y == 0)
{
status = MotionStatus.MoveForward;
}
else if (z < 0 && OnGround() && y == 0)
{
status = MotionStatus.MoveBackward;
}
else if (z == 0 && OnGround() && y == 0)
{
status = MotionStatus.Idle;
}
else if (!OnGround())
{
// 向前跳碰撞
status = MotionStatus.Jump;
}
else
{
//Debug.Log($"h={h} && hash={animator.GetCurrentAnimatorStateInfo(0).shortNameHash}");
}
distance = rival.transform.position.z - pos.z;
if (distance < SCALE_Z)
{
if ((status == MotionStatus.MoveForward || status == MotionStatus.JumpForward) && z > 0)
{
Vector3 pos1 = new Vector3(0, 0, SCALE_Z - distance);
Debug.Log(distance + "，右推: " + pos1);
Push(pos1);
}
else if (status == MotionStatus.Idle && rival.OnGround())
{
Vector3 pos1 = new Vector3(0, 0, SCALE_Z - distance);
Push(pos1);
}
}
}
else if (rival.transform.position.z < transform.position.z)
{
//对手在左，自己在右
direction = Direction.Left;
child.localScale = NEG_SIZE;
child.rotation = new Quaternion(0, 1, 0, 0);
if (z > 0 && OnGround() && y == 0)
{
status = MotionStatus.MoveBackward;
}
else if (z < 0 && OnGround() && y == 0)
{
status = MotionStatus.MoveForward;
}
else if (z == 0 && OnGround() && y == 0)
{
status = MotionStatus.Idle;
}
else if (!OnGround())
{
// 向前跳碰撞
status = MotionStatus.Jump;
}
else
{
//Debug.Log($"h={h} && hash={animator.GetCurrentAnimatorStateInfo(0).shortNameHash}");
}
distance = pos.z - rival.transform.position.z;
if (distance < SCALE_Z)
{
if ((status == MotionStatus.MoveForward || status == MotionStatus.JumpForward) && z < 0)
{
Vector3 pos1 = new Vector3(0, 0, distance - SCALE_Z);
Debug.Log(distance + "，左推: " + pos1);
Push(pos1);//移动中推动
}
else if (status == MotionStatus.Idle && rival.OnGround())
{
Vector3 pos1 = new Vector3(0, 0, distance - SCALE_Z);
Push(pos1);
}
}
}
else
{
direction = Direction.Error;
}
InputRender render = new InputRender();
render.Tick = buffer.Tick;
render.position = pos;
buffers.Enqueue(render);
}
// Update is called once per frame
void Update()
{
// If moving backwards, speed up the turn time. Otherwise, set to standard
TurnTime =
currentMotion == MotionStatus.Backward ?
0.25f
:
0.5f
;
// Get current camera rotation and reset the target rotation's value.
currentRotation.x -=
currentRotation.x > 180 ?
360
:
0
;
currentRotation.y -=
currentRotation.y > 180 ?
360
:
0
;
// Detect motion type
currentMotion =
Input.GetKey(KeyCode.W) ?
MotionStatus.Forward
:
Input.GetKey(KeyCode.S) ?
MotionStatus.Backward
:
MotionStatus.Idle
;
currentMotion =
Input.GetKey(KeyCode.A) ?
currentMotion + 2
:
Input.GetKey(KeyCode.D) ?
currentMotion + 1
:
currentMotion
;
// Set target rotation
targetRotation.x =
movingIdle ?
idleAngle
:
tiltAngle
;
targetRotation.y =
turningLeft ?
turnAngle * -1
:
turningRight ?
turnAngle
:
0
;
// Turn 180 degrees if moving backwards
targetRotation.y +=
movingBackward ?
180
:
0
;
targetRotation.y -=
targetRotation.y > 180 ?
360
:
0
;
// Calculate the rotation we want to apply to the camera.
motionRotation.x =
targetRotation.x > currentRotation.x?
tiltSpeed * Time.deltaTime
:
targetRotation.x < currentRotation.x ?
tiltSpeed * Time.deltaTime * -1
:
0
;
motionRotation.y =
targetRotation.y > currentRotation.y ?
turnSpeed * Time.deltaTime
:
targetRotation.y < currentRotation.y ?
turnSpeed * Time.deltaTime * -1
:
0
;
motionRotation.z = -gameObject.transform.eulerAngles.z;
// Prevent motionRotation from rotating beyond the desired tilt and turn angles.
motionRotation.x =
motionRotation.x > 0 && currentRotation.x + motionRotation.x > targetRotation.x ?
Mathf.Abs(targetRotation.x - currentRotation.x)
:
motionRotation.x < 0 && currentRotation.x + motionRotation.x < targetRotation.x ?
Mathf.Abs(targetRotation.x - currentRotation.x) * -1
:
motionRotation.x
;
motionRotation.y =
motionRotation.y > 0 && currentRotation.y + motionRotation.y > targetRotation.y ?
Mathf.Abs(targetRotation.y - currentRotation.y)
:
motionRotation.y < 0 && currentRotation.y + motionRotation.y < targetRotation.y ?
Mathf.Abs(targetRotation.y - currentRotation.y) * -1
:
motionRotation.y
;
// Apply motionRotation to camera and currentRotation
transform.Rotate(motionRotation);
currentRotation += motionRotation;
// Snap the rotation to the opposite angle of the parent's x rotation
Vector3 tempRot = transform.rotation.eulerAngles;
tempRot.x = currentRotation.x;
tempRot.y = transform.parent.eulerAngles.y + currentRotation.y;
transform.rotation = Quaternion.Euler(tempRot);
}