public virtual void AssertEqualsExpected(FeatureInfo expected)
{
if (!BoundingBox.Equals(expected.BoundingBox, boundingBoxTolerance))
{
throw new BoundingBoxException($"Bounding boxes aren't equal; expected {expected.BoundingBox}, got {BoundingBox}");
}
if (!MathUtil.EpsilonEqual(Extrusion, expected.Extrusion, extrusionTolerance))
{
throw new CumulativeExtrusionException($"Cumulative extrusion amounts aren't equal; expected {expected.Extrusion}, got {Extrusion}");
}
if (!MathUtil.EpsilonEqual(Duration, expected.Duration, durationTolerance))
{
throw new CumulativeDurationException($"Cumulative durations aren't equal; expected {expected.Duration}, got {Duration}");
}
if (!MathUtil.EpsilonEqual(Distance, expected.Distance, distanceTolerance))
{
throw new CumulativeDistanceException($"Cumulative distances aren't equal; expected {expected.Distance}, got {Distance}");
}
if (!CenterOfMass.EpsilonEqual(expected.CenterOfMass, centerOfMassTolerance))
{
throw new CenterOfMassException($"Centers of mass aren't equal; expected {expected.CenterOfMass}, got {CenterOfMass}");
}
}
Steering Pursue(GameObject target)
{
Vector3 direction = target.transform.position - transform.position;
float dist = direction.magnitude;
float speed = cVel.magnitude;
float preditction = 0f;
if (speed <= dist / maxPrediction)
{
preditction = maxPrediction;
}
else
{
maxPrediction = dist / speed;
}
Vector3 tVel = Vector3.zero;
if (target.GetComponent <Movement> ())
{
Movement temp = target.GetComponent <Movement> ();
tVel = temp.cVel;
}
else if (target.GetComponent <CenterOfMass> ())
{
CenterOfMass temp = target.GetComponent <CenterOfMass> ();
tVel = temp.Avg_Vel;
}
//Face (target.transform.position);
//Seek (target.transform.position + tVel * preditction);
Debug.DrawLine(transform.position, target.transform.position + tVel * preditction, Color.red);
return(Seek(target.transform.position + tVel * preditction));
}
void SetCenterOfMass()
{
Vector3 v = CenterOfMass.getCenterOfMass(totalMass, massCenter, rb.mass, transform.position);
totalMass += rb.mass;
massCenter = v;
Debug.Log("Mass: " + totalMass + " center: " + massCenter);
Debug.DrawRay(v, Vector3.down, Color.white, 5f);
}
public AIHelper(Robot robotEntity)
{
robot = robotEntity;
com = new CenterOfMass();
previousTrajectoryPoint = CoordinateHelper.INVALID_POINT;
}
public AIHelper(Robot robotEntity)
{
robot = robotEntity;
com = new CenterOfMass();
previousTrajectoryPoint = CoordinateHelper.INVALID_POINT;
}
public Group(byte groupId)
{
id = groupId;
centerOfMass = new CenterOfMass();
}
private void OnEnable()
{
centerOfMass = (CenterOfMass)target;
}
void FixedUpdate()
{
HandleRigidbody();//just dealing with some rigidbody bs here
if (!Active)
{
return;
}
if (overrides)
{
return;
}
if (joystick == null)
{
Debug.LogError("Unable to find joystick, has not been assigned to player");
return;
}
if (canMove)
{
isGrounded = SetIsGrounded();
if (isGrounded)
{
parachuteMode = false;
}
if (pogoMode && oldIsGrounded != isGrounded)
{
if (isGrounded)
{
OnPogoGrounded();
}
else
{
OnPogoLaunched();
}
oldIsGrounded = isGrounded;
}
if (hasJumped && !isGrounded)
{
hasJumped = false;
}
if (isGrounded)
{
if (pogoMode)
{
CheckPogoBounce();
doJump = false;
}
else
{
doJump = doingSwipe && input.GetUp();
}
}
else
{
doJump = false;
}
//handle some change COM stuff
CenterOfMass newCOM = GetCurrentCenterOfMass();
if (newCOM != currentCenterOfMass)
{
changingCOM = true;
}
if (isGrounded)
{
changingCOM = false;
}
currentCenterOfMass = newCOM;
HandleRotation();
HandleMovement();
HandleSubStuff();
if (joystick.active)
{
tsi = 0f;
}
else
{
tsi += Time.fixedDeltaTime;
}
}
if (prevCanMove != canMove)
{
joystick.ready = canMove;
}
prevCanMove = canMove;
//turns off wind renderers and resets gravity strength
if (isGrounded)
{
gravStrength = defaultGravityStrength;
GameObject windTrail = transform.GetChild(4).gameObject;
if (windTrail != null)
{
for (int i = 0; i < windTrail.transform.childCount; i++)
{
GameObject wind = windTrail.transform.GetChild(i).gameObject;
wind.GetComponent <TrailRenderer>().emitting = false;
}
}
}
}