private static void TestPanMovementWithStartBeforeEndReached(ICommunication communication)
{
Console.WriteLine("Start");
var panTiltControl = new EneoPanTiltControl(communication);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.PositionChanged += PanTiltControl_OnPositionChanged;
while (true)
{
panTiltControl.PanAbsolute(0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 100);
panTiltControl.PanAbsolute(40);
positionChecker.ComparePosition(new PanTiltPosition(40, 0), 0.5, 20, 100);
panTiltControl.PanRelative(-40);
Thread.Sleep(500);
panTiltControl.PanRelative(40);
Thread.Sleep(500);
panTiltControl.PanAbsolute(0);
Console.WriteLine("Loop done");
}
}
public void SetRandomPosition(float radius)
{
Vector2 newPosition = new Vector2(Random.Range(-radius, radius), Random.Range(-radius, radius));
positionOnMap = PositionChecker.CheckPosition(positionOnMap, newPosition, radius, moveRadius);
Vector2 newDirection = new Vector2(Random.Range(-radius, radius), Random.Range(-radius, radius));
direction = PositionChecker.CheckPosition(positionOnMap, newPosition, radius, moveRadius);
}
private void TestLogic()
{
var limits = this._panTiltControl.GetLimits();
if (limits.PanMin == 0 && limits.PanMax == 0 && limits.TiltMin == 0 && limits.TiltMax == 0)
{
this.textBoxResult.Invoke(o => o.Text += $"Cannot execute test invalid limits\r\n");
}
this.textBoxResult.Invoke(o => o.Text += $"Limits;Pan;{limits.PanMin};{limits.PanMax};Tilt;{limits.TiltMin};{limits.TiltMax}\r\n");
var positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.TiltAbsolute(0);
for (var pan = limits.PanMin; pan < limits.PanMax; pan += 0.05)
{
pan = Math.Round(pan, 2);
this._panTiltControl.PanAbsolute(pan);
Thread.Sleep(2000);
if (positionChecker.ComparePosition(new PanTiltPosition(pan, 0), 0.1))
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Good;pan;{pan};{position.Pan}\r\n");
}
else
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Failure;pan;{pan};{position.Pan}\r\n");
}
}
this._panTiltControl.PanAbsolute(0);
for (var tilt = limits.TiltMin; tilt < limits.TiltMax; tilt += 0.05)
{
tilt = Math.Round(tilt, 2);
this._panTiltControl.TiltAbsolute(tilt);
Thread.Sleep(2000);
if (positionChecker.ComparePosition(new PanTiltPosition(0, tilt), 0.1))
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Good;tilt;{tilt};{position.Tilt}\r\n");
}
else
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Failure;tilt;{tilt};{position.Tilt}\r\n");
}
}
}
private static void DriveRandomPositions(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.Start();
var random = new Random();
while (true)
{
var panForward = true;
var tiltForward = true;
if (random.Next(0, 2) == 1)
{
panForward = false;
}
if (random.Next(0, 2) == 1)
{
tiltForward = false;
}
for (var i = 0; i < 1000; i++)
{
var panDegreePerSecond = random.Next(1, 40);
var tiltDegreePerSecond = random.Next(1, 15);
if (!panForward)
{
panDegreePerSecond = -panDegreePerSecond;
}
if (!tiltForward)
{
tiltDegreePerSecond = -tiltDegreePerSecond;
}
panTiltControl.MoveRelative(panDegreePerSecond, tiltDegreePerSecond);
Thread.Sleep(40);
}
panTiltControl.PanTiltAbsolute(0, 0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
}
void Awake()
{
cam = Camera.main;
pc = GameObject.Find("Main Camera").GetComponent <PositionChecker> ();
fin = finish.GetComponent <Finish> ();
//stamina = 100;
grounded = true;
this.GetComponent <Animator> ().SetBool("grounded", true);
crashed = false;
jumpOnce = false;
jumpForce = new Vector2(50, 250);
}
public static void Check(ICharactersManager player1, ICharactersManager player2)
{
foreach (ICharacter player1Unit in player1.GetCharacters())
{
foreach (ICharacter player2Unit in player2.GetCharacters())
{
float dist1 = PositionChecker.GetDistance(player1Unit.GetPosition(), player1Unit.GetDirection(), player2Unit.GetPosition());
//Debug.Log(dist1);
if (PositionChecker.GetDistance(player1Unit.GetPosition(), player1Unit.GetDirection(), player2Unit.GetPosition()) < 1.0f)
{
player2Unit.Health -= player1Unit.Damage;
// Debug.Log("Player 2 Hit Player 1");
}
if (PositionChecker.GetDistance(player2Unit.GetPosition(), player2Unit.GetDirection(), player1Unit.GetPosition()) < 1.0f)
{
player1Unit.Health -= player2Unit.Damage;
// Debug.Log("Player 1 Hit Player 2");
}
}
}
}
void Start()
{
posCheck = this.GetComponent <PositionChecker> ();
}
void Awake()
{
Instance = this;
print(Screen.width + "" + Screen.height);
}
void Update()
{
if (_hasCreatingUnit)
{
_timeBeforeSpawn -= Time.deltaTime;
if (_timeBeforeSpawn <= 0)
{
Quaternion unitRotation = new Quaternion();
unitRotation.eulerAngles = _spawnRotation;
unitRotation = transform.rotation * unitRotation;
UnitAI newUnit = GameObjectManager.CreateObject(_currentTaskData.Prefab, PositionChecker.FindNearestFreePosition(transform.TransformPoint(_spawnPoint)), unitRotation).GetComponent <UnitAI>();
GameObjectManager.AddToPlayerObjectsList(OwnerPlayer, newUnit.transform);
////отправка юнита в пункт сбора
//var message = new TaskDataMessage {
// TaskData = new FollowToPoint_Task.FollowToPoint_TaskData(AssemblyPoint ),
// NewQueue = true
//};
//newUnit.AddTask(message);
DequeueUnitData();
}
}
}
public void MoveTo(Vector2 point)
{
Vector2 newPosition2 = PositionChecker.CheckPosition(characterData.GetPosition(), point, 15, 5);
newPosition = new Vector3(newPosition2.x, 0, newPosition2.y);
}
public void SetPosition(Vector2 newPosition)
{
positionOnMap = PositionChecker.CheckPosition(positionOnMap, newPosition, 15, moveRadius);
}
public void SetRandomStartPosition(float radius, int partOfCircle)
{
Vector2 newPosition = new Vector2(Random.Range(-radius, radius), Random.Range(-radius, radius));
positionOnMap = PositionChecker.CheckStartPosition(newPosition, radius, partOfCircle);
}
public void SetPanTiltControl(IPanTiltControl panTiltControl)
{
this._panTiltControl = panTiltControl;
this._positionChecker = new PositionChecker(this._panTiltControl);
}
/// <param name="position">глобальная позиция</param>
public static Vector3 FindNearestFreePosition(Vector3 position)
{
Node defaultSpawnNode = AstarPath.active.GetNearest(position);
if (PositionChecker.NodeIsWalkable(defaultSpawnNode) && PositionChecker.PositionIsFree(position, 0.5f))
{
return(position);
}
int width = AstarPath.active.astarData.gridGraph.width;
Node[] nodes = AstarPath.active.astarData.gridGraph.nodes;
int centerNodeIndex = defaultSpawnNode.GetNodeIndex();
int index;
int indexX;//используется для провеки выхода индекса за границы диапазона 0..GridWidth
int columnHeight = 0, rowWidth = 0;
//(спиральный поиск по часовой)
for (int i = 0; i < 100; i++)
{
columnHeight++;
indexX = centerNodeIndex % width + i + 1;
if (indexX < width)
{
for (int j = -columnHeight; j <= columnHeight; j++)
{
index = centerNodeIndex - j * width + i + 1;
Vector3 nodePos;
if (PositionChecker.NodePositionIsFree(nodes, index, out nodePos))
{
return(nodePos);
}
}
}
for (int j = -rowWidth; j <= rowWidth; j++)
{
indexX = centerNodeIndex % width - j;
if (indexX >= 0 && indexX < width)
{
index = centerNodeIndex - (i + 1) * width - j;
Vector3 nodePos;
if (PositionChecker.NodePositionIsFree(nodes, index, out nodePos))
{
return(nodePos);
}
}
}
indexX = centerNodeIndex % width - i - 1;
if (indexX >= 0)
{
for (int j = -columnHeight; j <= columnHeight; j++)
{
index = centerNodeIndex + j * width - i - 1;
Vector3 nodePos;
if (PositionChecker.NodePositionIsFree(nodes, index, out nodePos))
{
return(nodePos);
}
}
}
for (int j = -rowWidth; j <= rowWidth; j++)
{
indexX = centerNodeIndex % width + j;
if (indexX >= 0 && indexX < width)
{
index = centerNodeIndex + (i + 1) * width + j;
Vector3 nodePos;
if (PositionChecker.NodePositionIsFree(nodes, index, out nodePos))
{
return(nodePos);
}
}
}
rowWidth++;
}
return(position);
}
