private void Awake()
{
count = 0;
orientationSequence = new List <float>();
playerTransform = GameObject.Find("Player").GetComponent <Transform>();
timer = 0;
timerOrientation = 0;
timerVelocity = 0;
carryBit = 0;
timerDataRecord = 0;
presentPosition = lastPosition = GeneralVector3.Vector3NoHeight(playerTransform.position);
presentDirection = lastDirection = playerTransform.rotation.eulerAngles.y;
Corner1 = GameObject.Find("Corner1").GetComponent <Transform>();
Corner2 = GameObject.Find("Corner2").GetComponent <Transform>();
Corner3 = GameObject.Find("Corner3").GetComponent <Transform>();
Corner4 = GameObject.Find("Corner4").GetComponent <Transform>();
Center = GameObject.Find("Center").GetComponent <Transform>();
wayPoint = gameObject.GetComponent <WayPoint>();
action = Redirector.Action.Zero;
}
// Update is called once per frame
void Update()
{
TimerIncrease();
CalculateDeltaPar();
MovePlayer(player);
//Apply Redirection
switch (action)
{
case Redirector.Action.Zero: break;
case Redirector.Action.PositiveRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainEnlarge);
break;
case Redirector.Action.NegativeRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainDecrease);
break;
case Redirector.Action.ClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: true, radius: redirector.curvatureRadius);
break;
case Redirector.Action.CounterClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: false, radius: redirector.curvatureRadius);
break;
default: break;
}
//velocity data record
if ((timer - timerVelocity * velocityInterval) >= velocityInterval)
{
velocity = distance / velocityInterval;
timerVelocity++;
distance = 0;
}
//exponentially smoothed orientation
if ((timerOrientation - timerOrientation * orientationInterval) >= orientationInterval)
{
//ExponentiallySmoothedSample(true);
}
else
{
//ExponentiallySmoothedSample(false);
}
//data record
if ((timer - timeHorizon * timerDataRecord) >= timeHorizon)
{
data.velocity = velocity;
data.virtualOrientation = player.transform.eulerAngles.y;//没有使用指数平滑
data.virtualPosition = GeneralVector3.Vector3NoHeight(playerTransform.position);
Vector3 originPoint = GeneralVector3.Vector3NoHeight(Corner4.position);
Vector3 xAxis = GeneralVector3.Vector3NoHeight(Corner3.position);
Vector3 zAxis = GeneralVector3.Vector3NoHeight(Corner1.position);
data.realPosition = GeneralVector3.GetRealPoint(originPoint, xAxis, zAxis, data.virtualPosition);
data.realOrientation = player.transform.eulerAngles.y - Center.rotation.eulerAngles.y;
timerDataRecord++;
WayPointsReal[] wayPointsReals = CalWayPoint2DCoor(wayPoint.wayPoints, playerTransform, wayPoint.wayPoints.Length, data.realOrientation, data.velocity * redirector.planningDepth * timeHorizon * 2, originPoint, xAxis, zAxis);
Debug.Log(data.realPosition);
Debug.Log(wayPointsReals[0].realPosition);
action = redirector.Plan(data, wayPointsReals, redirector.planningDepth).action;
Debug.Log(action);
}
}