void CheckIfMoveFinished()
{
if (Vector3.Distance(startingPosition, transform.position) >= desiredDistance || Time.time > timeToEnd ||
Time.time > timeOfStart + timeOut)
{
movementDesired = false;
ControllScript.GetInstance().notifyRobotReady();
}
}
// Start is called before the first frame update
void Start()
{
sensor = GetComponentInChildren <SensorSuite>();
rigid = GetComponent <Rigidbody>();
Rotate(-30);
gameObject.layer = Physics.IgnoreRaycastLayer;
ControllScript.GetInstance().RegisterRobot(this);
ControllScript.GetInstance().notifyRobotReady();
}
void OnDestroy()
{
try
{
Destroy(gameObject, .2f);
ControllScript.GetInstance().DeRegisterGhost(this);
}
catch (System.Exception e)
{
}
}
// Update is called once per frame
void Update()
{
if (rotationDesired)
{
rigid.AddTorque(0, currentTorque, 0);
float virtualRotation = transform.rotation.eulerAngles.y;
float virtualDesiredRotation = desiredRotation;
if (Mathf.Abs(lastFrameRotation - virtualRotation) > 50)
{
needsToCrossThreshold = false;
}
lastFrameRotation = virtualRotation;
if (!needsToCrossThreshold && currentTorque > 0 && virtualRotation > virtualDesiredRotation)
{
rotationDesired = false;
ControllScript.GetInstance().notifyRobotReady();
}
if (!needsToCrossThreshold && currentTorque < 0 && virtualRotation < virtualDesiredRotation)
{
rotationDesired = false;
ControllScript.GetInstance().notifyRobotReady();
}
}
if (!movementDesired)
{
return;
}
rigid.AddForce(transform.forward * desiredPower);
if (rigid.velocity.magnitude > MaxVelocity)
{
rigid.velocity.Normalize();
rigid.velocity *= MaxVelocity;
}
CheckIfMoveFinished();
}
void Start()
{
ControllScript.GetInstance().RegisterGhost(this);
}