// Update is called once per frame
void Update()
{
if (Input.GetKeyUp(KeyCode.K))
{
start = !start;
}
if (start)
{
if (user.transform.position.x > transform.position.x)
{
c2.Move(300, 300, 0);
}
else
{
c2.Move(-300, 300, 0);
}
if (Mathf.Abs(transform.position.x - user.transform.position.x) < 0.1)
{
c2.Stop();
controll.Rotation(straight_wall.transform.forward, this.gameObject, 0, 12, 200, true);
}
}
}
// Update is called once per frame
void Update()
{
anim = gameObject.GetComponent <Animator>();
print(gameObject.name + "target =" + target.name + target.transform.parent.name);
if (target == null)
{
print(this.name + "no target");
}
else
{
//print(this.name + "target =" + target.name + target.transform.parent.name);
//print("avoidance = " + avoidance.gameObject.name);
avoidance.SetDetectDirection(target);
//print("start = " + start);
bool state = !start_translate && !start_rotate;
//print("state =" + state);
//when the wall enter in_tuen area, set the in_turn true to prepare rotating
//in_turn = In_turn.GetIn_turn();
bool trigger = EdgeTrigger(in_turn);
if (in_turn && trigger)
{
//if (In_turn.GetWall() == target.transform.GetChild(0).gameObject)
start_rotate = true;
//print("trigger up");
}
//when the target position changed
float distance = (last_target_pos - target.transform.position).magnitude;//distance between last target and current target
last_target_pos = target.transform.position;
//***************
float err_dis = 0.001f;
if (anim == null)
{
print("no animator");
}
else
{
if (anim.GetCurrentAnimatorStateInfo(0).IsName("Standby"))
{
err_dis = 0.005f;
}
else
{
err_dis = 0.001f;
}
}
//*****************
if (distance > err_dis /*|| !in_turn*/)
{
//print("translate3:" + start_translate);
start_translate = true;
//print("translate4:" + start_translate);
}
//print("start =" + start);
if (Input.GetKeyUp(KeyCode.K))
{
switch_button = !switch_button;
}
Color color = Color.blue;
Debug.DrawRay(target.transform.position, avoidance.GetAviodanceVector(), color, 0.1f, true);
if (switch_button)
{
print("PID On");
if (start)
{
//print(this.name + "target =" + target.name);
if (start_translate)
{
//print(gameObject.name + " translating");
/*if(in_turn)
* controll.SetErrDistance(0.1f);
* else
* controll.SetErrDistance(0.3f);*/
//print("translate1:" + start_translate);
//print("wallnum:" + wallnum);
/*if(target = standBy)
* start_translate = !controll.Translation(target.transform.position, wall, wallnum, true, p1, p2);
* else*/
avoidTarget = target.transform.position + avoidance.GetAviodanceVector();
//Debug.DrawRay(avoidTarget, Vector3.forward * 1f, color,0.1f,true);
//Debug.DrawRay(target.transform.position, avoidance.GetAviodanceVector(), color, 0.1f, true);
if (robotic_wall_dir == Wall_Mov_Dir.Left_Right)
{
start_translate = !controll.Translation_LR(controll.FindRoomba(avoidTarget, target.transform.forward), wall, wallnum, true, p1, p2);
}
else
{
start_translate = !controll.Translation_FB(controll.FindRoomba(avoidTarget, target.transform.forward), wall, wallnum, true, p1, p2);
}
//print("translate2:" + start_translate);
}
}
//**********************************************
if (!start_translate /*&& start_rotate*/)
{
print("rotating");
double angle = AngleSigned(wall.transform.forward, target.transform.forward, Vector3.up);
if (angle > -90 && angle < 90)
{
start_rotate = !controll.Rotation(target.transform.forward, wall, wallnum, p, d_rotate, true);
}
else
{
start_rotate = !controll.Rotation(-target.transform.forward, wall, wallnum, p, d_rotate, true);
}
}
}
}
}