//public bool showParticles = true;
//public GameObject[] thrusterClockwise;
//public GameObject[] thrusterCounterClockwise;
// Start is called before the first frame update
void Start()
{
desired_angle = 0;
lightSensors = GetComponentsInChildren <LightSensor2>();
solarPanels = GetComponentsInChildren <SolarPanel2>();
rgbd = GetComponent <Rigidbody>();
//pidRotate = new PIDController(0.000001f, 0.025f, 0.0000f);
pidRotate = new PIDController(5f, 1f, 0.01f);
//pidRotate = new PIDController(1f, 0f, 0f);
//pidRotate = new PIDController(1f, 0.001f, 0.001f);
//pidRotate = new PIDController(0.001f, 0f, 0f);
//AnimateThrusters(thrusterClockwise, false);
//AnimateThrusters(thrusterCounterClockwise, false);
socket = FindObjectOfType <NetworkHandler>().client;
socket.On("connect", () =>
{
//socket.FillSendBuffer<string>("u","\"float\"");
socket.FillSendBuffer <string>("actual_angle", "\"float\"");
socket.FillSendBuffer <string>("desired_angle", "\"float\"");
socket.SendAvailableData();
});
}
// Update is called once per frame
void FixedUpdate()
{
//desired_angle =
Vector3 vecToSun = CalculatedSolarDir();
Vector3 desiredSolarPanelDir = Vector3.ProjectOnPlane(vecToSun, transform.right);
Vector3 desiredRotateDir = Vector3.ProjectOnPlane(vecToSun, transform.up);
Debug.DrawRay(transform.position, desiredSolarPanelDir * 3, Color.magenta);
Debug.DrawRay(transform.position, desiredRotateDir * 3, Color.green);
//if (showParticles)
//{
// AnimateThrusters(thrusterClockwise, true);
// AnimateThrusters(thrusterCounterClockwise, true);
//}
//else
//{
// AnimateThrusters(thrusterClockwise, false);
// AnimateThrusters(thrusterCounterClockwise, false);
//}
//Debug.DrawRay(transform.position, (sun.position - transform.position).normalized * 5f, Color.white);
//if (rotateClockwise)
//{
// rgbd.AddRelativeTorque(transform.up, ForceMode.Acceleration);
//}
//else
//{
// rgbd.AddRelativeTorque(-transform.up, ForceMode.Acceleration);
//}
if (!disableRotate)
{
HandleRotate(desiredRotateDir);
}
if (!disableSolarPanel)
{
HandleSolarPanels(desiredSolarPanelDir);
}
socket.FillSendBuffer <float>("actual_angle", Vector3.SignedAngle(transform.forward, Vector3.right, Vector3.up));
socket.FillSendBuffer <float>("desired_angle", Vector3.SignedAngle(desiredRotateDir, Vector3.right, Vector3.up));
socket.SendBuffer();
}