private void initalizeMove(float rotationalOffset)
{
state = ThrusterState.Rotating;
targetRotation = Angle.RotationAngle(transform.parent, destination, rotationalOffset);
startingRotation = transform.parent.rotation.eulerAngles.z;
if (startingRotation > 180)
{
startingRotation -= 360;
}
curRotation = 0f;
if (Mathf.Abs(targetRotation) < 3)
{
// know when to stop
state = ThrusterState.Thrusting;
}
}
private void UpdateRotationDirection()
{
bool R1 = (_Type == RotorType.FRONT_LEFT) || (_Type == RotorType.BACK_RIGHT);
bool R2 = (_Type == RotorType.FRONT_RIGHT) || (_Type == RotorType.BACK_LEFT);
// Check vertical Speed
ThrusterState T = _Main._States.GetThrusterState();
if (T == ThrusterState.UPWARDS)
{
_RotationDirection = RotorRotationDirection.COUNTER_CLOCKWISE;
}
else if (T == ThrusterState.DOWNWARDS)
{
_RotationDirection = RotorRotationDirection.CLOCKWISE;
}
else if (T == ThrusterState.STILL)
{
if (R1)
{
_RotationDirection = RotorRotationDirection.CLOCKWISE;
}
else if (R2)
{
_RotationDirection = RotorRotationDirection.COUNTER_CLOCKWISE;
}
else
{
_RotationDirection = RotorRotationDirection.NULL;
}
}
else
{
_RotationDirection = RotorRotationDirection.NULL;
}
}
public void UpdateStates(ref Quadcopter.Settings Settings)
{
// Thrusters
thrusters = QuadcopterControls.GetAnalog(Settings._ThrusterControl);
if (thrusters < 0.0f)
{
thrusterState = ThrusterState.DOWNWARDS;
}
else if (thrusters > 0.0f)
{
thrusterState = ThrusterState.UPWARDS;
}
else if (Settings._ThrusterRest)
{
thrusterState = ThrusterState.STILL;
}
else
{
thrusterState = ThrusterState.OFF;
}
// Pitch
float Pitch = QuadcopterControls.GetAnalog(Settings._PitchControl);
if (Pitch < 0.0f)
{
pitchrotation = PitchRotation.CCW;
}
else if (Pitch > 0.0f)
{
pitchrotation = PitchRotation.CW;
}
else
{
pitchrotation = PitchRotation.NONE;
}
// Yaw
float Yaw = QuadcopterControls.GetAnalog(Settings._YawControl);
if (Yaw < 0.0f)
{
yawrotation = YawRotation.CCW;
}
else if (Yaw > 0.0f)
{
yawrotation = YawRotation.CW;
}
else
{
yawrotation = YawRotation.NONE;
}
// Roll
float Roll = QuadcopterControls.GetAnalog(Settings._RollControl);
if (Roll < 0.0f)
{
rollrotation = RollRotation.CCW;
}
else if (Roll > 0.0f)
{
rollrotation = RollRotation.CW;
}
else
{
rollrotation = RollRotation.NONE;
}
// Return Euler Changes
eulerchanges = new Vector3(Pitch, Yaw, Roll);
}
// Update is called once per frame
void Update()
{
/* better approach, will implement later. Also, needed for force based movement
* // calculate the current angle adjustment required and distance to target
* Quaternion rotation = Quaternion.LookRotation(destination - transform.position);
* if (rotation.eulerAngles.z < THRESHOLD) {
*
* }
*
* // if within thruster angle, apply force
*
* // rotate to face the location
* transform.rotation = Quaternion.Slerp(transform.rotation, rotation, Time.deltaTime * rotationSpeed);
*
*/
Debug.Log("State is " + state);
if (state == ThrusterState.Rotating)
{
if (targetRotation < 0)
{
curRotation -= rotationSpeed;
if (curRotation < targetRotation)
{
curRotation = targetRotation;
if (faceTargetOnly)
{
state = ThrusterState.Stopped;
}
else
{
state = ThrusterState.Thrusting;
}
}
}
else
{
curRotation += rotationSpeed;
if (curRotation > targetRotation)
{
curRotation = targetRotation;
if (faceTargetOnly)
{
state = ThrusterState.Stopped;
}
else
{
state = ThrusterState.Thrusting;
}
}
}
transform.parent.rotation = Quaternion.AngleAxis(curRotation + startingRotation, Vector3.forward);
}
else if (state == ThrusterState.Thrusting)
{
transform.parent.position = Vector2.MoveTowards(transform.parent.position, destination, movementSpeed);
Debug.Log("moving towards" + transform.parent.position + destination + "||" + movementSpeed);
if (Vector2.Distance(new Vector2(transform.parent.position.x, transform.parent.position.y), new Vector2(destination.x, destination.y)) <= THRESHOLD)
{
Debug.Log("stopped");
state = ThrusterState.Stopped;
}
}
}
public void stopMove()
{
state = ThrusterState.Stopped;
}
