void Update()
    {
        currPosition = transform.position;
        currRotation = transform.rotation;
        // Stimulate for starting check and trainning time check
        var theClient = GameObject.Find("PressController").GetComponent <ForPress>();

        signal = theClient.signal;

        //--------------------------------------------------------------------------
        if (signal[1] < BeginningCommmand || signal[1] > FinalCommmand)
        {  // If exception, than default case. And checking the default command(protocol == 0).
            command = 0;
        }
        else
        {
            for (int i = BeginningCommmand; i <= FinalCommmand; i++)
            {
                if (signal[1] >= i && signal[1] < (i + 1))  // If it was 1, then (1 <= x < 2).
                {
                    command = i;
                    break;
                }
            }
        }
        //--------------------------------------------------------------------------
        if (command == 0)
        {
            Speed2p = 2;
        }
        else if (command == 1)
        {
            Speed2p = 2.5f;
        }
        else if (command == 2)
        {
            Speed2p = 3.0f;
        }
        else if (command == 3)
        {
            Speed2p = 3.3f;
        }
        else if (command == 4)
        {
            Speed2p = 3.7f;
        }
        else if (command == 5)
        {
            Speed2p = 4.0f;
        }
        else if (command == 6)
        {
            Speed2p = 4.2f;
        }
        else if (command == 7)
        {
            Speed2p = 4.3f;
        }
        else if (command == 8)
        {
            Speed2p = 4.5f;
        }
        else if (command == 9)
        {
            Speed2p = 4.8f;
        }
        else
        {
            Speed2p = 5.0f;
        }



        if (waypointIndex < waypoints.Length)
        {
            // moving forward
            //transform.position = Vector3.MoveTowards(currPosition, waypoints[waypointIndex], speed);
            // calculating rotation angle

            Vector3 standard = new Vector3(currPosition.x, currPosition.y, currPosition.z + 20);

            /*
             * double angle = Meas_Angle( standard, currPosition, waypoints[waypointIndex]);
             * if ( waypoints[waypointIndex].x - currPosition.x < 0)
             *  angle = 360 - angle;
             */

            Quaternion Right = Quaternion.identity;
            //Right.eulerAngles = new Vector3(0, (float)angle, 0);
            Quaternion Current = Quaternion.identity;

            /*
             * if (transform.eulerAngles.y != 0f)
             * {
             *  angle2 = transform.eulerAngles.y;
             * }*/
            angle2 = transform.eulerAngles.y;
            Current.eulerAngles = new Vector3(0, angle2, 0);

            float kh_angle = kh_get_angle(currPosition, standard, waypoints[waypointIndex]);
            kh_angle = Mathf.Round(kh_angle * Mathf.Pow(10, 4)) * 0.0001f;

            if (waypoints[waypointIndex].x - currPosition.x < 0)
            {
                kh_angle = 360.0f - kh_angle; // reverse?
            }
            angle2 = Mathf.Round(angle2 * Mathf.Pow(10, 4)) * 0.0001f;

            Right.eulerAngles = new Vector3(0, kh_angle, 0);


            //transform.rotation = Quaternion.Slerp(Current, Right, Time.deltaTime * 6.0f);
            transform.Translate(new Vector3(0, 0, (int)Speed2p)); // move forward (only z-axis)

            var dir_right = Quaternion.Euler(0, 55.0f, 0) * transform.forward;
            var dir_left  = Quaternion.Euler(0, -55.0f, 0) * transform.forward;
            Ray ray       = new Ray(this.transform.position, this.transform.forward);

            /*
             * Ray ray_right = new Ray(this.transform.position, (this.transform.right + this.transform.forward).normalized);
             * Ray ray_left = new Ray(this.transform.position, (this.transform.forward - this.transform.right).normalized);
             */
            Ray ray_right = new Ray(this.transform.position, dir_right);
            Ray ray_left  = new Ray(this.transform.position, dir_left);
            //transform.ri
            RaycastHit hit_forward; // forward
            RaycastHit hit_right;
            RaycastHit hit_left;
            float      diff_distance = 0;

            Physics.Raycast(ray, out hit_forward, 1000);
            Physics.Raycast(ray_right, out hit_right, 1000);
            Physics.Raycast(ray_left, out hit_left, 1000);
            diff_distance = hit_left.distance - hit_right.distance;

            // ------------------ Wheel direction control using Unity Raycast features
            // Raycast shoots layser to the assigned direction and measrues distance
            // Raycast information: forward, forward + right, and forward + left
            // Case:
            // - when left distance is shorter than right distance
            //  : turn right
            // - when right distance is shorter than left distance
            //  : turn left
            // now turning step is optimized in case of speed=3 (normalization is done in terms of 3)

            if (diff_distance > 15.0f)                                            // control sensitivity level
            {
                transform.Rotate(new Vector3(0, -1.2f * (int)Speed2p / 3.0f, 0)); // turn left with fine steps
            }
            else if (diff_distance < -15.0f)                                      // control sensitivity level
            {
                transform.Rotate(new Vector3(0, 1.2f * (int)Speed2p / 3.0f, 0));  // turn right with fine steps
            }

            /*
             * Debug.Log("forward:"+ hit_forward.distance+" left:" + hit_left.distance + " right:" + hit_right.distance + " diff:" +
             *  diff_distance+ " speed: "+speed);
             */


            if (Vector3.Distance(waypoints[waypointIndex], currPosition) <= 0.01f)
            {
                waypointIndex++;
                if (waypointIndex == 21)
                {
                    waypointIndex = 0;
                }
            }

            Marker2.transform.position = new Vector3(this.transform.position.x, -1290, this.transform.position.z);

            SpeedobarConverter2.ShowSpeed((int)Speed2p, 0, 10);
        }
    }
Esempio n. 2
0
 // Use this for initialization
 void Start()
 {
     Speedobar = this;
 }