コード例 #1
0
ファイル: Sensors.cs プロジェクト: Aksh-dev/Msc-Project
        // can be used to find the nearest obstacle being tracked
        public static bool nearestObstacle(Dictionary <int, VRObstacle> obs, out VRObstacle nearest)
        {
            nearest = new VRObstacle();

            if (obs.Count == 0)
            {
                return(false);
            }

            float min = Mathf.Infinity;

            foreach (KeyValuePair <int, VRObstacle> o in obs)
            {
                if (o.Value.Distance < min)
                {
                    min     = o.Value.Distance;
                    nearest = o.Value;
                }
            }

            return(true);
        }
コード例 #2
0
ファイル: Sensors.cs プロジェクト: Aksh-dev/Msc-Project
        public bool Scan(out Dictionary <int, VRObstacle> obstacles)
        {
            obstacles = new Dictionary <int, VRObstacle> ();

            if (m_shortRangeSensorsEnable)
            {
                RaycastHit shortSensorsHit;
                Vector3    shortRangeSensorsStart = transform.position;
                shortRangeSensorsStart.y += shortRangeSensorsHeight;

                InitShortRangeSensors();

                // Scan for nearby obstacles
                foreach (VRSensor scan in shortRangeSensorsArray)
                {
                    Debug.DrawRay(shortRangeSensorsStart, scan.Direction * m_shortSensorLength, Color.green);

                    if (Physics.Raycast(shortRangeSensorsStart, scan.Direction, out shortSensorsHit, m_shortSensorLength, layerMask))
                    {
                        if (shortSensorsHit.collider.CompareTag(VRStrings.Obstacle) ||
                            shortSensorsHit.collider.CompareTag(VRStrings.AI_Car) ||
                            shortSensorsHit.collider.CompareTag(VRStrings.Crazy_AI_Car))
                        {
                            if (!obstacles.ContainsKey(scan.ID))
                            {
                                Debug.DrawLine(shortRangeSensorsStart, shortSensorsHit.point, Color.yellow);
                                VRObstacle vo = new VRObstacle();
                                vo.obstacle    = shortSensorsHit;
                                vo.obstacleTag = shortSensorsHit.collider.tag;
                                vo.Distance    = shortSensorsHit.distance;
                                obstacles.Add(scan.ID, vo);
                            }
                        }
                    }
                }
            }

            if (m_longRangeSensorsEnable)
            {
                RaycastHit longSensorsHit;

                Vector3 longRangeSensorsStart = transform.position;
                longRangeSensorsStart.y += longRangeSensorsHeight;

                // long sensors
                InitLongRangeSensors();

                for (uint i = 0; i < numLongRangeSensors; ++i)
                {
                    Vector3 sensorStart = longRangeSensorsStart;

                    if (i == 1)
                    {
                        sensorStart += transform.right * m_lateralSensorShift;
                    }
                    else if (i == 2)
                    {
                        sensorStart -= transform.right * m_lateralSensorShift;
                    }

                    Debug.DrawRay(sensorStart, longRangeSensorsArray [i].Direction * m_longSensorLength, Color.red);

                    if (Physics.Raycast(sensorStart, longRangeSensorsArray [i].Direction, out longSensorsHit, m_longSensorLength, layerMask))
                    {
                        if (longSensorsHit.collider.CompareTag(VRStrings.Obstacle) ||
                            longSensorsHit.collider.CompareTag(VRStrings.AI_Car))
                        {
                            if (!obstacles.ContainsKey(longRangeSensorsArray[i].ID))
                            {
                                Debug.DrawLine(sensorStart, longSensorsHit.point, Color.yellow);
                                VRObstacle vo = new VRObstacle();
                                vo.obstacle    = longSensorsHit;
                                vo.obstacleTag = longSensorsHit.collider.tag;
                                vo.Distance    = (longSensorsHit.point - transform.position).magnitude;
                                obstacles.Add(longRangeSensorsArray[i].ID, vo);
                            }
                        }
                    }
                }
            }

            return(obstacles.Count == 0 ? false : true);
        }