// Use this for initialization
void Start()
{
LeaderController = Leader.GetComponent <VehiclePathController>();
LeaderController.enabled = false;
FolowerController = Folower.GetComponent <VehiclePathController>();
FolowerController.enabled = false;
string[] args = System.Environment.GetCommandLineArgs();
for (int i = 0; i < args.Length; i++)
{
Debug.Log("ARG " + i + ": " + args [i]);
if (args [i] == "-scenDuration")
{
ScenDuration = float.Parse(args [i + 1]);
}
if (args [i] == "-scenReplay")
{
string replay = args [i + 1];
if (replay == "1")
{
showReplay = true;
}
}
}
}
void PathSetup()
{
LeaderPathController = LeaderVehicle.GetComponent <VehiclePathController>();
LeaderPathController.PathWPs_PosesAndVels.Clear();
Vector2 WP = LeaderPose;
LeaderPathController.PathWPs_PosesAndVels.Add(new Vector3(WP.x, WP.y, 5));
foreach (var element in file.Descendants("Path").Descendants("WayPoint"))
{
float WPdiss = float.Parse(element.Element("wp_i_relative_distance").Value);
float WPang = float.Parse(element.Element("wp_i_relative_angle").Value);
float WPvel = float.Parse(element.Element("wp_i_velocity").Value);
Vector2 vecToNextWP = new Vector2(Mathf.Sin(WPang), Mathf.Cos(WPang)) * WPdiss;
WP = WP + vecToNextWP;
LeaderPathController.PathWPs_PosesAndVels.Add(new Vector3(WP.x, WP.y, WPvel));
pathLength += WPdiss; // used in shahid positionning
}
}
void FollowerSetup()
{
float FollowerDiss = 20; //When inserted scenario doesn't exist, the distance between the two vehicle is 20 and the
// lock works better .... it was 30;
Vector2 diffVec = new Vector2(Mathf.Sin(LeaderAzimuth), Mathf.Cos(LeaderAzimuth)) * FollowerDiss;
Vector2 FollowerPose = LeaderPose - diffVec;
float FollowerAzimuth = LeaderAzimuth;
//FollowerVehicle = Instantiate(FollowerVehicleRef);
terrainAttachment FollowerVehiclePos = FollowerVehicle.GetComponent <terrainAttachment>();
FollowerVehiclePos.moveTo(new Vector3(FollowerPose.x, FollowerPose.y, 0.0f));
FollowerVehiclePos.transform.eulerAngles = new Vector3(0, FollowerAzimuth * Mathf.Rad2Deg, 0);
Debug.Log("Follower position:" + FollowerPose.x.ToString() + "," + FollowerPose.y.ToString());
//FollowerVehicle = oshkosh
VehiclePathController FollowerPathController = FollowerVehicle.GetComponent <VehiclePathController>();
FollowerPathController.PathWPs_PosesAndVels.Clear();
VehicleFollowerPathController PathController = FollowerVehicle.GetComponent <VehicleFollowerPathController>();
PathController.leaderVehicle = LeaderVehicle.transform;
}
// Use this for initialization
void Start()
{
PathController = GetComponent <VehiclePathController>();
targetPrevPose = new Vector2(0, 0);
leaderPointsDisstances = 5;
}
