// Use this for initialization
void Start()
{
Xaxis = GameObject.Find("XAxis");
Yaxis = GameObject.Find("YAxis");
Zaxis = GameObject.Find("ZAxis");
Xaxis.SetActive(false);
Yaxis.SetActive(false);
Zaxis.SetActive(false);
}
// Use this for initialization
void Start()
{
count = 1;
state = 1;
endPosition = new Vector3(.3f, 0, 1f);
//endPosition = new Vector3(.4f, .6f, 1.7f);
/*Xaxis = GameObject.Find("XAxis");
* Yaxis = GameObject.Find("YAxis");
* Zaxis = GameObject.Find("ZAxis");*/
v2.SetActive(false);
v3.SetActive(false);
v4.SetActive(false);
Yaxis.SetActive(false);
Zaxis.SetActive(false);
holderStart = false;
}
// Use this for initialization
void Start()
{
txtRef1.text = "We can represent a scalar in a one dimentional space using a point on a scaled line";
count = 1;
state = 1;
endPosition = new Vector3(.6f, 0, 1.5f);
//endPosition = new Vector3(.4f, .6f, 1.7f);
Xaxis = GameObject.Find("XAxis");
Yaxis = GameObject.Find("YAxis");
Zaxis = GameObject.Find("ZAxis");
cube1 = GameObject.Find("cube1");
cube2 = GameObject.Find("cube2");
cube3 = GameObject.Find("cube3");
Yaxis.SetActive(false);
Zaxis.SetActive(false);
cube1.SetActive(false);
cube2.SetActive(false);
cube3.SetActive(false);
holderStart = false;
}
private Box <IPlotProperty> _CreateLayoutProperties()
{
var xaxis = Scene.xaxis(Xaxis.color("red"));
var yaxis = Scene.yaxis(Yaxis.color("green"));
var zaxis = Scene.zaxis(Zaxis.color("blue"));
var camera = Camera.up(Up.x(0), Up.y(1), Up.z(0));
var scene = Layout.scene(Scene.Aspectmode.data(), Scene.camera(camera), xaxis, yaxis, zaxis);
var shapes = Layout.shapes(_Shapes.ToArray());
return(Plot.layout
(Layout.autosize(true)
// , Layout.width(0)
, Layout.height(920)
// , Layout.margin(Margin.autoexpand(true))
// , Layout.margin(Margin.pad(5))
// , Layout.margin(Margin.t(5), Margin.b(5))
, scene
, shapes
));
}
private void frmTeach_Load(object sender, EventArgs e)
{
//defaultView = new PositionDefaultView();
ProductTeach = new ProductTeach(m_station1);
mCameraAxis = new CameraAxis(m_station1);
CameraRelationship = new CameraRelationship(m_station1);
RootAxis = new RootAxis(m_station1);
mYaxis = new Yaxis(m_station1);
mZaxis = new Zaxis(m_station1);
m_panelOperate = new Panel();
m_panelOperate.Dock = DockStyle.Fill;
treeView1.Nodes.Add("贴框设备");
foreach (string str in Enum.GetNames(typeof(PositionName)))
{
treeView1.Nodes[0].Nodes.Add(str);
}
treeView1.ExpandAll();
timer1.Enabled = true;
}
/// <summary>
/// 从世界坐标变换到摄像机坐标
/// </summary>
/// <param name="eye"></param>
/// <param name="at"></param>
/// <param name="up"></param>
/// <returns></returns>
public static Matrix GetViewMatrix(Vector eye, Vector at, Vector up)
{
Vector Xaxis, Yaxis, Zaxis;
Zaxis = at - eye;
Zaxis.NormalizedVector();
Xaxis = Vector.CrossMultiply(up, Zaxis);
Xaxis.NormalizedVector();
Yaxis = Vector.CrossMultiply(Zaxis, Xaxis);
Matrix mat = new Matrix();
mat[0, 0] = Xaxis.x;
mat[1, 0] = Xaxis.y;
mat[2, 0] = Xaxis.z;
mat[3, 0] = -Vector.DotMultiply(Xaxis, eye);
mat[0, 1] = Yaxis.x;
mat[1, 1] = Yaxis.y;
mat[2, 1] = Yaxis.z;
mat[3, 1] = -Vector.DotMultiply(Yaxis, eye);
mat[0, 2] = Zaxis.x;
mat[1, 2] = Zaxis.y;
mat[2, 2] = Zaxis.z;
mat[3, 2] = -Vector.DotMultiply(Zaxis, eye);
mat[0, 3] = 0;
mat[1, 3] = 0;
mat[2, 3] = 0;
mat[3, 3] = 1;
//-----------------------得到旋转矩阵------------------
return(mat);
}
// Update is called once per frame
void Update()
{
timer += Time.deltaTime;
if (Vector3.Distance(this.transform.position, endPosition) > .0005f)
{
transform.position = Vector3.Lerp(this.transform.position, endPosition, Time.deltaTime);
}
else
{
transform.position = endPosition;
if (timer >= 0 && timer < 5 * speed)
{
endPosition = GameObject.Find("XAxisNumber4").transform.position;
}
if (timer >= 5 * speed && timer < 10 * speed)
{
endPosition = GameObject.Find("XAxisNumber-3").transform.position;
}
if (timer >= 10 * speed && timer < 15 * speed)
{
endPosition = GameObject.Find("XAxisNumber0").transform.position;
}
if (timer >= 15 * speed && timer < 20 * speed)
{
Yaxis.SetActive(true);
endPosition = GameObject.Find("YAxisNumber2").transform.position;
}
if (timer >= 20 * speed && timer < 25 * speed)
{
endPosition = new Vector3(0.12f + x0, .08f, z0);
}
if (timer >= 25 * speed && timer < 30 * speed)
{
endPosition = new Vector3(0.12f + x0, .14f, z0);
}
if (timer >= 30 * speed && timer < 35 * speed)
{
Zaxis.SetActive(true);
endPosition = new Vector3(.12f + x0, .08f, .08f + z0);
}
if (timer >= 35 * speed && timer < 40 * speed)
{
endPosition = new Vector3(.08f + x0, .12f, .04f + z0);
}
if (timer >= 60 * speed && timer < 65 * speed)
{
v3.SetActive(true);
}
if (timer >= 85 * speed && timer < 90 * speed)
{
v2.SetActive(true);
v4.SetActive(true);
}
if (timer >= 95 * speed && timer < 100 * speed)
{
v2.SetActive(false);
v4.SetActive(false);
}
if (timer >= 100 * speed && timer < 105 * speed)
{
MeshRenderer gameObjectRenderer = v3.transform.Find("x1").GetComponent <MeshRenderer>();
Material newMaterial = new Material(Shader.Find("Standard"));
newMaterial.color = new Color(1, 0, 0, 1);
gameObjectRenderer.material = newMaterial;
}
if (timer >= 105 * speed && timer < 110 * speed)
{
MeshRenderer gameObjectRenderer = v3.transform.Find("y1").GetComponent <MeshRenderer>();
Material newMaterial = new Material(Shader.Find("Standard"));
newMaterial.color = new Color(0, 1, 0, 1);
gameObjectRenderer.material = newMaterial;
}
if (timer >= 110 * speed && timer < 115 * speed)
{
MeshRenderer gameObjectRenderer = v3.transform.Find("z1").GetComponent <MeshRenderer>();
Material newMaterial = new Material(Shader.Find("Standard"));
newMaterial.color = new Color(0, 0, 1, 1);
gameObjectRenderer.material = newMaterial;
}
if (timer >= 115 * speed && timer < 120 * speed)
{
Material newMaterial = new Material(Shader.Find("Standard"));
newMaterial.color = new Color(1, 1, 1, 1);
MeshRenderer gameObjectRenderer1 = v3.transform.Find("x1").GetComponent <MeshRenderer>();
MeshRenderer gameObjectRenderer2 = v3.transform.Find("y1").GetComponent <MeshRenderer>();
MeshRenderer gameObjectRenderer3 = v3.transform.Find("z1").GetComponent <MeshRenderer>();
gameObjectRenderer1.material = newMaterial;
gameObjectRenderer2.material = newMaterial;
gameObjectRenderer3.material = newMaterial;
}
//switch (state){
// case(1):
// endPosition = GameObject.Find("XAxisNumber4").transform.position;//new Vector3(-0.16f, 0, 1.5f);
// state++;
// break;
// case (2):
// endPosition = GameObject.Find("XAxisNumber0").transform.position;//new Vector3(-0.16f, 0, 1.5f);
// state++;
// break;
// case (3):
// //txtRef1.text ="This number can refer to other directions of axes";
// Yaxis.SetActive(true);
// endPosition = GameObject.Find("YAxisNumber2").transform.position;//new Vector3(-0.16f, 0, 1.5f);
// state++;
// break;
// case (4):
// //txtRef1.text = "These components can represent a vector in a space, in this case a two dimensional space";
// endPosition = new Vector3(0.6f, .4f, .5f);
// state++;
// break;
// case (5):
// endPosition = new Vector3(0.6f, .4f, .5f);
// state++;
// break;
// case (6):
// //txtRef1.text = "If we use a third demension we can represent it like this";
// Zaxis.SetActive(true);
// endPosition = new Vector3(.6f, .4f, .9f);
// state++;
// break;
// case (7):
// //txtRef1.text = "and also represent it as a vector... we can represent the values of each dimen";
// endPosition = new Vector3(.4f, .6f, .7f);
// state++;
// break;
// case (8):
// //txtRef1.text = "Now we can represent the values of each component of a vector as colors in cubes. ";
// Xaxis.SetActive(false);
// Yaxis.SetActive(false);
// Zaxis.SetActive(false);
// state++;
// break;
// case (9):
// //txtRef1.text = "and also represent it as a vector by concatenating cubes";
// endPosition = new Vector3(0, 0, 20f);
// holderStart = true;
// //Camera.current.transform.Translate(new Vector3(0, 0, -3.5f));
// state++;
// break;
// case (10):
// // txtRef1.text = "now if we concatenate these cube vectores we can represnt a matrix, accessing each component with two indices.";
// //txtRef2.text = "";
// endPosition = new Vector3(0, 0, 0);
// //Camera.current.transform.Translate(new Vector3(-.5f, 0, 1.8f));
// //Camera.current.transform.Rotate(Vector3.up, -90);
// state++;
// break;
// case (11):
// //txtRef1.text = "if we go furthur and concatenate matrices we can find a rank 3 tensor represented liek this";
// //Camera.current.transform.Translate(new Vector3(-1.0f, 0, 0));
// endPosition = new Vector3(0, 0, 20f);
// state++;
// break;
// case (12):
// // txtRef1.text = "Tensors can have higher or lower ranks. scalar is a rank 0 tensor, vector is a rank 1 tensor and matrix is rank 2 vector.";
// //Camera.current.transform.Rotate(Vector3.up, 90);
// //Camera.current.transform.Translate(new Vector3(0, 0, -2.3f));
// endPosition = new Vector3(0, 0, 0);
// state++;
// break;
// default:
// break;
//}
}
}
// Update is called once per frame
void Update()
{
timer += Time.deltaTime;
float speed = 1;
if (Vector3.Distance(this.transform.position, endPosition) > .005f)
{
transform.position = Vector3.Lerp(this.transform.position, endPosition, speed * Time.deltaTime);
}
else
{
transform.position = endPosition;
switch (state)
{
case (1):
endPosition = GameObject.Find("XAxisNumber-4").transform.position; //new Vector3(-0.16f, 0, 1.5f);
state++;
break;
case (2):
endPosition = GameObject.Find("XAxisNumber0").transform.position; //new Vector3(-0.16f, 0, 1.5f);
state++;
break;
case (3):
txtRef1.text = "This number can refer to other directions of axes";
Yaxis.SetActive(true);
endPosition = GameObject.Find("YAxisNumber2").transform.position; //new Vector3(-0.16f, 0, 1.5f);
state++;
break;
case (4):
txtRef1.text = "These components can represent a vector in a space, in this case a two dimensional space";
endPosition = new Vector3(0.6f, .4f, 1.5f);
state++;
break;
case (5):
endPosition = new Vector3(0.6f, .4f, 1.5f);
state++;
break;
case (6):
txtRef1.text = "If we use a third demnsion we can represent it like this";
Zaxis.SetActive(true);
endPosition = new Vector3(.6f, .4f, 1.9f);
state++;
break;
case (7):
txtRef1.text = "and also represent it as a vector... we can represent the values of each dimen";
endPosition = new Vector3(.4f, .6f, 1.7f);
state++;
break;
case (8):
txtRef1.text = "Now we can represent the values of each component of a vector as colors in cubes. ";
//Xaxis.SetActive(false);
//Yaxis.SetActive(false);
//Zaxis.SetActive(false);
cube1.SetActive(true);
cube2.SetActive(true);
cube3.SetActive(true);
if (timer > 50)
{
state++;
}
break;
case (9):
txtRef1.text = "and also represent it as a vector by concatenating cubes";
//endPosition = new Vector3(0, 0, 20f);
//cube1.SetActive(false);
//cube2.SetActive(false);
//cube3.SetActive(false);
if (timer > 60)
{
holderStart = true;
//Camera.current.transform.Translate(new Vector3(0, 0, -3.5f));
state++;
}
break;
case (10):
txtRef1.text = "now if we concatenate these cube vectores we can represnt a matrix, accessing each component with two indices.";
//endPosition = new Vector3(0, 0, 0);
//Camera.current.transform.Translate(new Vector3(-.5f, 0, 1.8f));
//Camera.current.transform.Rotate(Vector3.up, -90);
state++;
break;
case (11):
txtRef1.text = "if we go furthur and concatenate matrices we can find a rank 3 tensor represented liek this";
//Camera.current.transform.Translate(new Vector3(-1.0f, 0, 0));
//endPosition = new Vector3(0, 0, 20f);
state++;
break;
case (12):
txtRef1.text = "Tensors can have higher or lower ranks. scalar is a rank 0 tensor, vector is a rank 1 tensor and matrix is rank 2 vector.";
//Camera.current.transform.Rotate(Vector3.up, 90);
//Camera.current.transform.Translate(new Vector3(0, 0, -2.3f));
//endPosition = new Vector3(0, 0, 0);
state++;
break;
default:
break;
}
}
}
public override void Running(RunningModes runningMode)
{
var step = 0;
var ScrewIsDone = 0;
var CannotTorIn = false;
var GetScrewPos = new Point3D <int>();
var ScrewHolePos = new Point3D <int>();
var ZaxisScrewpos = 0;
var watchCameratimeout = new Stopwatch();
//var watchScrewtimeout = new Stopwatch();
var tempPut1 = false;
var tempPut2 = false;
var GetScrew1 = false;
var GetScrew2 = false;
var pressPulse = false;
var startForbid = false;
var _watch = new Stopwatch();
_watch.Start();
PlateformAlarm alarm = 0;
while (true)
{
Thread.Sleep(10);
InhaleCylinder.Condition.External = externalSign;
#region 判断后端设备交互信号
if (tempPut1 && !GetScrew2)
{
tempPut1 = false;
GetScrew1 = true;
}
if (tempPut2 && !GetScrew1)
{
tempPut2 = false;
GetScrew2 = true;
}
if (!IoPoints.TDI7.Value && !Global.GetScrew1SignSheild)
{
tempPut1 = false;
}
if (!IoPoints.TDI8.Value && !Global.GetScrew2SignSheild)
{
tempPut2 = false;
}
if ((IoPoints.TDI7.Value || Global.GetScrew1SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut1 = true;
}
if ((IoPoints.TDI8.Value || Global.GetScrew2SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut2 = true;
}
#endregion
#region 自动流程
if (stationOperate.Running)
{
switch (step)
{
case 0:
Marking.CoderResult.SN = "";
Marking.CoderResult.Result = "";
step = 10;
Marking.watchCT.Restart();
break;
case 10: //触发读码器读码
ReadCodePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
step = 20;
break;
case 20: //判断读码器是否读到SN
Thread.Sleep(300);
if (Marking.CoderResult.SN == "")
{
step = 10;
}
else
{
step = 30;
}
break;
case 30: //双按钮启动，双按钮按下的时间间隔必须小于500ms才正常启动设备
if (!pressPulse && (IoPoints.TDI15.Value || IoPoints.TDI16.Value))
{
pressPulse = true;
startForbid = true;
_watch.Restart();
}
if (startForbid && IoPoints.TDI15.Value && IoPoints.TDI16.Value)
{
step = 40;
startForbid = false;
pressPulse = false;
}
else
{
if (500 <= _watch.ElapsedMilliseconds)
{
startForbid = false;
}
}
if (!IoPoints.TDI15.Value && !IoPoints.TDI16.Value)
{
pressPulse = false;
startForbid = false;
}
break;
case 40: //判断哪个螺丝整列机优先准备好
if (GetScrew1 && !GetScrew2)
{
GetScrewPos = Position.Put1ScrewPosition;
step = 50;
}
else if (!GetScrew1 && GetScrew2)
{
GetScrewPos = Position.Put2ScrewPosition;
step = 50;
}
break;
case 50: //判断Z轴是否在0位置，X轴移动到取螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(GetScrewPos.X, AxisParameter.XvelocityCurve);
step = 60;
}
break;
case 60: //X轴到达取螺丝位置，Z轴下降
if (Xaxis.IsInPosition(GetScrewPos.X))
{
Zaxis.MoveTo(GetScrewPos.Z, AxisParameter.ZvelocityCurve);
step = 70;
}
break;
case 70: //Z轴到达取螺丝位置，吸真空
if (Zaxis.IsInPosition(GetScrewPos.Z))
{
InhaleCylinder.Set();
step = 80;
}
break;
case 80: //Z轴上升0位置
if (InhaleCylinder.OutMoveStatus)
{
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
ScrewHolePos = Position.ScrewHolePosition[Marking.WorkIndex - 1];
step = 90;
}
break;
case 90: //Z轴到达0位置，XY轴移动拧螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(ScrewHolePos.X, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(ScrewHolePos.Y, AxisParameter.YvelocityCurve);
step = 100;
}
break;
case 100: //XY轴到达拧螺丝位置，Z轴下降
if (Xaxis.IsInPosition(ScrewHolePos.X) && Yaxis.IsInPosition(ScrewHolePos.Y))
{
Zaxis.MoveTo(ScrewHolePos.Z, AxisParameter.ZvelocityCurve);
step = 110;
}
break;
case 110: //Z轴到达拧螺丝位置，启动电批,并Z轴慢速下行
if (Zaxis.IsInPosition(ScrewHolePos.Z))
{
IoPoints.TDO11.Value = true;
ZaxisScrewpos = ScrewHolePos.Z + Position.ScrewDepth;
if (IoPoints.TDI9.Value)
{
Zaxis.MoveTo(ZaxisScrewpos, new VelocityCurve(0, (double)Position.ZScrewSpeed, 0));
step = 120;
}
}
break;
case 120: //Z轴到达位置，判断螺丝是否拧紧
if (Zaxis.IsInPosition(ZaxisScrewpos))
{
if (alarm == PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号)
{
CannotTorIn = true;
alarm = PlateformAlarm.无消息;
IoPoints.TDO11.Value = false;
IoPoints.TDO12.Value = true;
Thread.Sleep(200);
IoPoints.TDO12.Value = false;
step = 130;
}
if (IoPoints.TDI10.Value || IoPoints.TDI11.Value)
{
step = 130;
}
else
{
if (ScrewIsDone > 2)
{
alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
m_Alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
}
Thread.Sleep(100);
ScrewIsDone++;
}
}
break;
case 130: //触发读取数据
ScrewPort.Trigger(new TriggerArgs()
{
tryTimes = 1,
message = "0,TR"
});
HeightGaugePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
Thread.Sleep(200);
step = 140;
break;
case 140: //判断检测结果
if (CannotTorIn)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
step = 150;
}
else
{
if (Marking.ResultScrew[Marking.WorkIndex].Result == "OK")
{
var data = Marking.ResultScrew[Marking.WorkIndex].HeightValue - Global.BaseHeight;
if (data > Position.MinHeight && data <= Position.MaxHeight)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "OK";
}
else
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
}
step = 150;
}
if (Marking.ResultScrew[Marking.WorkIndex].Result == "NG")
{
step = 150;
}
}
break;
case 150: //电批停止，真空吸气OFF,Z轴回到0位置
IoPoints.TDO11.Value = false;
InhaleCylinder.Reset();
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
step = 160;
break;
case 160: //真空吸气达到,Z轴到达0位置，计数加+1
if (InhaleCylinder.OutOriginStatus && Zaxis.IsInPosition(0))
{
Marking.WorkIndex++;
if (Marking.WorkIndex < Position.HoleNum)
{
step = 40;
}
else
{
step = 170;
}
}
break;
case 170: //判断产品拧螺丝结果
for (var i = 0; i < Position.HoleNum; i++)
{
if (Marking.ResultScrew[i].Result == "OK")
{
Marking.ProductResult &= true;
}
else
{
Marking.ProductResult &= false;
}
}
if (Marking.ProductResult)
{
Config.ProductOkTotal++;
}
else
{
Config.ProductNgTotal++;
}
step = 180;
break;
case 180: //XY轴回到0位置
Xaxis.MoveTo(0, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(0, AxisParameter.YvelocityCurve);
step = 190;
break;
case 190: //XY轴到达0位置
if (Xaxis.IsInPosition(0) && Yaxis.IsInPosition(0))
{
step = 200;
}
break;
default:
Marking.ProductResult = true;
stationOperate.RunningSign = false;
Marking.WorkIndex = 0;
step = 0;
break;
}
}
#endregion
#region 初始化流程
if (stationInitialize.Running)
{
switch (stationInitialize.Flow)
{
case 0: //清除所有标志位的状态
stationInitialize.InitializeDone = false;
stationOperate.RunningSign = false;
alarm = PlateformAlarm.无消息;
Marking.ProductResult = true;
Marking.WorkIndex = 0;
step = 0;
Xaxis.Stop();
Yaxis.Stop();
Zaxis.Stop();
if (!Xaxis.IsAlarmed && !Yaxis.IsAlarmed)
{
Xaxis.IsServon = true;
Yaxis.IsServon = true;
Zaxis.IsServon = true;
stationInitialize.Flow = 10;
}
break;
case 10: //复位Z轴，真空
IoPoints.ApsController.BackHome(Zaxis.NoId);
InhaleCylinder.InitExecute();
InhaleCylinder.Reset();
stationInitialize.Flow = 20;
break;
case 20: //判断所有气缸到位，启动Z轴回原点
if (InhaleCylinder.OutOriginStatus)
{
if (IoPoints.ApsController.CheckHomeDone(Zaxis.NoId, 10.0) == 0)
{
IoPoints.ApsController.BackHome(Xaxis.NoId);
IoPoints.ApsController.BackHome(Yaxis.NoId);
stationInitialize.Flow = 30;
}
else
{
Zaxis.Stop();
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
}
break;
case 30: //判断XY轴是否异常，为0,正常，为1：原点异常，为<0：故障
var resultX = IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0);
var resultY = IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0);
if (IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0) == 0 &&
IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0) == 0)
{
stationInitialize.InitializeDone = true;
stationInitialize.Flow = 40;
}
else //异常处理
{
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
break;
default:
break;
}
}
#endregion
//故障清除
if (externalSign.AlarmReset)
{
m_Alarm = PlateformAlarm.无消息;
}
}
}
public void UpdateAI(float DT)
{
if (firstInit)
{
waveSegment = (float)wavePosition / (float)waveSize;
initSpeed();
UpdateTransform();
AI_Functions.Instance.RandomiseHover(this);
}
// Set variables for specific wave AI.
switch (waveBehaviour)
{
case SPAWN_BEHAVIOUR.STRAIGHT:
UpdateStraight(DT);
break;
case SPAWN_BEHAVIOUR.ZIGZAGGED:
updateZigzagWave(DT);
break;
case SPAWN_BEHAVIOUR.FORMATION:
if (firstInit)
{
initFormationDelay(1);
}
updateFormationWave(DT);
break;
case SPAWN_BEHAVIOUR.SLOW_THEN_FAST:
if (firstInit)
{
initFormationDelay(1);
}
updateSlowThenFastWave(DT);
break;
case SPAWN_BEHAVIOUR.IN_THEN_OUT:
if (firstInit)
{
initFormationDelay(1); //this probably isn't necessary now
}
UpdateInThenOut(DT);
break;
case SPAWN_BEHAVIOUR.PATROLLING_EDGE:
UpdatePatrollingEdge(DT);
break;
case SPAWN_BEHAVIOUR.ASSAULT:
UpdateAssault(DT);
break;
case SPAWN_BEHAVIOUR.COVERT:
UpdateCovert(DT);
break;
case SPAWN_BEHAVIOUR.ROLLING_TOPBOTTOM:
UpdateRollingTopBottom(DT);
break;
case SPAWN_BEHAVIOUR.TOPBOTTOM:
UpdateTopBottom(DT);
break;
case SPAWN_BEHAVIOUR.STRAIGHT_AIMING:
UpdateStraightAiming(DT);
break;
case SPAWN_BEHAVIOUR.MIDDLE_TOPBOTTOM:
UpdateMiddleTopBottom(DT);
break;
case SPAWN_BEHAVIOUR.KAMIKAZE:
UpdateKamikaze(DT);
break;
case SPAWN_BEHAVIOUR.STRAIGHT_SLOW:
UpdateStraightSlow(DT);
break;
}
// Limit Y-axis.
if (waveFormation != SPAWN_STATE.SINGLE_FROM_SIDE && waveFormation != SPAWN_STATE.SINGLE_FROM_TOPBOTTOM)
{
if (m_Position.Y < -110)
{
m_Position.Y = -110;
}
if (m_Position.Y > 110)
{
m_Position.Y = 110;
}
}
// Fix bounding error.
if (waveFormation == SPAWN_STATE.SINGLE_FROM_SIDE || waveFormation == SPAWN_STATE.SINGLE_FROM_TOPBOTTOM)
{
if (currentMove != 0)
{
if (waveBehaviour == SPAWN_BEHAVIOUR.ASSAULT || currentMove != (totalMoves - 1))
{
if (m_Position.Y < -110)
{
Yaxis.pushValue += DT * 2;
}
if (m_Position.Y > 110)
{
Yaxis.pushValue -= DT * 2;
}
// For the rare chance that highly mobile ship ends up too close to the left, just out of range.
if (m_Position.Y < -80 && m_Position.Z > -100)
{
Yaxis.pushValue += DT;
}
if (m_Position.Y > 80 && m_Position.Z > -100)
{
Yaxis.pushValue -= DT;
}
}
}
}
rotationX = MathHelper.Clamp(rotationX, -1f, 1f);
rotationX = MathHelper.Lerp(0.0f, rotationX, 0.97f);
if (waveFormation != SPAWN_STATE.SINGLE_FROM_TOPBOTTOM)
{
rotationZ = MathHelper.Lerp(0.5f, rotationZ, 0.97f);
rotationZ = MathHelper.Clamp(rotationZ, -0.25f, 1.3f);
}
m_Position.Y += Yaxis.baseSpeed;
m_Position.Z += Zaxis.baseSpeed;
Zaxis.Update(DT);
Yaxis.Update(DT);
currentMoveTimer += DT;
}
