public void SetLandMode()
{
curMode = userMode = DroneMode.Land;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = droneScr.HeightOfGround();
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterLandingState();
}
public void SetHoverMode()
{
curMode = userMode = DroneMode.Hover;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = hoverHeight;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
private void EnterAtDestinationState()
{
LeaveState();
curState = FSMDroneState.AtDestination;
if (debugFSM)
{
Debug.Log(string.Format("{0}: Entering", curState));
}
// If the user has changed the travel or motion mode, make the switch here.
SetUserTravelAndMotion();
if (curMode == DroneMode.Maintain)
{
// In Maintain mode, do not do anything.
return;
}
if (curMode == DroneMode.Hover)
{
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
if (curMode == DroneMode.Patrol || curMode == DroneMode.Follow)
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
return;
}
}
if (curMode == DroneMode.Patrol)
{
// If patrolling and waypoint reached, identify the next waypoint.
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
EnterAdjustLateralState();
}
if (curMode == DroneMode.Follow)
{
// If following, constrained to waypoints, and waypoint has been reached,
// identify the next waypoint.
if (CloseToNextWaypoint())
{
targetBehavior.AdvanceWaypoints(nextWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (CloseToPrevWaypoint())
{
targetBehavior.AdvanceWaypoints(prevWaypoint, target, thisScript);
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
}
if (!AtTargetLateralPos())
{
EnterAdjustLateralState();
}
}
}
public void SetPatrolMode()
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Patrol;
targetBehavior = targetWaypointBehavior;
targetBehavior.DroneTargetInit(thisScript);
// Find the closest waypoint. This may be any of the waypoints if the drone has been controlled manually.
DroneWaypointScript wpScript = nextWaypoint.GetComponent <DroneWaypointScript>();
nextWaypoint = wpScript.NearestWaypoint(transform.position);
//prevWaypoint = null;
target = nextWaypoint.transform.position;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
}
public void SetPatrolMode()
{
if (!nextWaypoint)
{
Debug.LogError("Error: nextWaypoint must be set in the Inspector.");
SetMaintainMode();
}
else
{
curMode = userMode = DroneMode.Patrol;
targetBehavior = targetWaypointBehavior;
targetBehavior.DroneTargetInit(thisScript);
// Find the closest waypoint. This may be any of the waypoints if the drone has been controlled manually.
DroneWaypointScript wpScript = nextWaypoint.GetComponent<DroneWaypointScript>();
nextWaypoint = wpScript.NearestWaypoint(transform.position);
//prevWaypoint = null;
target = nextWaypoint.transform.position;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
}
public void SetLandMode()
{
curMode = userMode = DroneMode.Land;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = droneScr.HeightOfGround();
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterLandingState();
}
public void SetHoverMode()
{
curMode = userMode = DroneMode.Hover;
targetBehavior = targetDirectBehavior;
target = transform.position;
target.y = hoverHeight;
effectiveTarget = targetBehavior.GetEffectiveTarget(transform, target, thisScript);
EnterAdjustHeightState();
}
