void Update()
{
detectDoor = GameObject.FindWithTag("MainCamera").GetComponent <DetectObject>(); // This will give me the state of DetectDoor from the DetectObject script
if (detectDoor.DetectDoor == true)
{
if (Locked == false) // If the key was destroyed the door will open and play the Door_Open audio clip
{
StateMachine.SetBool(AnimationName, true); // Starts the DoorOpen animation by setting the DoorOpenBool to true
soundSource.clip = soundFiles[0];
soundSource.Play();
}
else
{
soundSource.clip = soundFiles[1]; // If the key has not been found and the game object is not destroyed, the door will not open and the Door_Locked audio clip will play
soundSource.Play();
}
}
}
// Update is called once per frame
void Update()
{
if (gd_loop)
{
urg.Write(SCIP_library.SCIP_Writer.GD(0, 1080));
}
// center offset rect
Rect detectAreaRect = areaRect;
detectAreaRect.x *= scale;
detectAreaRect.y *= scale;
detectAreaRect.width *= scale;
detectAreaRect.height *= scale;
detectAreaRect.x = -detectAreaRect.width / 2;
//
float d = Mathf.PI * 2 / 1440;
float offset = d * 540;
// cache directions
if (urg.distances.Count > 0)
{
if (!cached)
{
directions = new Vector3[urg.distances.Count];
for (int i = 0; i < directions.Length; i++)
{
float a = d * i + offset;
directions[i] = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
}
cached = true;
}
}
// strengths
try{
if (urg.strengths.Count > 0)
{
strengths.Clear();
strengths.AddRange(urg.strengths);
}
}catch {
}
// distances
try{
if (urg.distances.Count > 0)
{
distances.Clear();
distances.AddRange(urg.distances);
}
}catch {
}
// List<long> distances = urg.distances;
if (debugDraw)
{
// strengths
for (int i = 0; i < strengths.Count; i++)
{
//float a = d * i + offset;
//Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
Vector3 dir = directions[i];
long dist = strengths[i];
Debug.DrawRay(Vector3.zero, Mathf.Abs(dist) * dir * scale, strengthColor);
}
// distances
// float colorD = 1.0f / 1440;
for (int i = 0; i < distances.Count; i++)
{
//float a = d * i + offset;
//Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
Vector3 dir = directions[i];
long dist = distances[i];
//color = (dist < limit && dir.y > 0) ? detectColor : new Color(colorD * i, 0,0,1.0f);
//Color color = (dist < limit && dir.y > 0) ? detectColor : distanceColor;
// Debug.DrawRay(Vector3.zero, dist * dir * scale, color);
Debug.DrawRay(Vector3.zero, dist * dir * scale, distanceColor);
}
}
//-----------------
// group
detectObjects = new List <DetectObject>();
//
//------
// bool endGroup = true;
// for(int i = 0; i < distances.Count; i++){
// int id = i;
// long dist = distances[id];
//
// float a = d * i + offset;
// Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
//
// if(dist < limit && dir.y > 0){
// DetectObject detect;
// if(endGroup){
// detect = new DetectObject();
// detect.idList.Add(id);
// detect.distList.Add(dist);
//
// detect.startDist = dist;
// detectObjects.Add(detect);
//
// endGroup = false;
// }else{
// detect = detectObjects[detectObjects.Count-1];
// detect.idList.Add(id);
// detect.distList.Add(dist);
//
// if(dist > detect.startDist){
// endGroup = true;
// }
// }
// }else{
// endGroup = true;
// }
// }
//------
// bool endGroup = true;
// for(int i = 1; i < distances.Count-1; i++){
// long dist = distances[i];
// float delta = Mathf.Abs((float)(distances[i] - distances[i-1]));
// float delta1 = Mathf.Abs((float)(distances[i+1] - distances[i]));
//
// float a = d * i + offset;
// Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
//
// if(dir.y > 0){
// DetectObject detect;
// if(endGroup){
// if(dist < limit && delta > 50){
// detect = new DetectObject();
// detect.idList.Add(i);
// detect.distList.Add(dist);
//
// detect.startDist = dist;
// detectObjects.Add(detect);
//
// endGroup = false;
// }
// }else{
// if(delta < 50){
// detect = detectObjects[detectObjects.Count-1];
// detect.idList.Add(i);
// detect.distList.Add(dist);
// }else{
// endGroup = true;
// }
// }
// }
// }
//------
bool endGroup = true;
float deltaLimit = 100; // 認識の閾値 連続したもののみを取得するため (mm)
for (int i = 1; i < distances.Count - 1; i++)
{
//float a = d * i + offset;
//Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
Vector3 dir = directions[i];
long dist = distances[i];
float delta = Mathf.Abs((float)(distances[i] - distances[i - 1]));
float delta1 = Mathf.Abs((float)(distances[i + 1] - distances[i]));
if (dir.y > 0)
{
DetectObject detect;
if (endGroup)
{
Vector3 pt = dist * dir * scale;
if (dist < limit && (delta < deltaLimit && delta1 < deltaLimit))
{
// bool isArea = detectAreaRect.Contains(pt);
// if(isArea && (delta < deltaLimit && delta1 < deltaLimit)){
detect = new DetectObject();
detect.idList.Add(i);
detect.distList.Add(dist);
detect.startDist = dist;
detectObjects.Add(detect);
endGroup = false;
}
}
else
{
if (delta1 >= deltaLimit || delta >= deltaLimit)
{
endGroup = true;
}
else
{
detect = detectObjects[detectObjects.Count - 1];
detect.idList.Add(i);
detect.distList.Add(dist);
}
}
}
}
//-----------------
// draw
drawCount = 0;
for (int i = 0; i < detectObjects.Count; i++)
{
DetectObject detect = detectObjects[i];
// noise
if (detect.idList.Count < noiseLimit)
{
continue;
}
int offsetCount = detect.idList.Count / 3;
int avgId = 0;
for (int n = 0; n < detect.idList.Count; n++)
{
avgId += detect.idList[n];
}
avgId = avgId / (detect.idList.Count);
long avgDist = 0;
for (int n = offsetCount; n < detect.distList.Count - offsetCount; n++)
{
avgDist += detect.distList[n];
}
avgDist = avgDist / (detect.distList.Count - offsetCount * 2);
//float a = d * avgId + offset;
//Vector3 dir = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
Vector3 dir = directions[avgId];
long dist = avgDist;
//float a0 = d * detect.idList[offsetCount] + offset;
//Vector3 dir0 = new Vector3(-Mathf.Cos(a0), -Mathf.Sin(a0), 0);
int id0 = detect.idList[offsetCount];
Vector3 dir0 = directions[id0];
long dist0 = detect.distList[offsetCount];
//float a1 = d * detect.idList[detect.idList.Count-1 - offsetCount] + offset;
//Vector3 dir1 = new Vector3(-Mathf.Cos(a1), -Mathf.Sin(a1), 0);
int id1 = detect.idList[detect.idList.Count - 1 - offsetCount];
Vector3 dir1 = directions[id1];
long dist1 = detect.distList[detect.distList.Count - 1 - offsetCount];
Color gColor;
if (drawCount < groupColors.Length)
{
gColor = groupColors[drawCount];
}
else
{
gColor = Color.green;
}
for (int j = offsetCount; j < detect.idList.Count - offsetCount; j++)
{
//float _a = d * detect.idList[j] + offset;
//Vector3 _dir = new Vector3(-Mathf.Cos(_a), -Mathf.Sin(_a), 0);
int _id = detect.idList[j];
Vector3 _dir = directions[_id];
long _dist = detect.distList[j];
Debug.DrawRay(Vector3.zero, _dist * _dir * scale, gColor);
}
Debug.DrawLine(dist0 * dir0 * scale, dist1 * dir1 * scale, gColor);
Debug.DrawRay(Vector3.zero, dist * dir * scale, Color.green);
drawCount++;
}
DrawRect(detectAreaRect, Color.green);
}
void Update()
{
detectKey = GameObject.FindWithTag("MainCamera").GetComponent <DetectObject>(); // This will give me the state of DetectKey from the DetectObject script
}
private void CalcUrgPosition()
{
m_DebugLineVector3.Clear();
m_UrgGUI.Clear();
if (m_UrgDevice == null)
{
return;
}
// cache directions
if (m_UrgDevice.distances.Count > 0)
{
if (!m_Cached)
{
float d = Mathf.PI * 2 / 1440;
float offset = d * 540;
m_Directions = new Vector3[m_UrgDevice.distances.Count];
for (int i = 0; i < m_Directions.Length; i++)
{
float a = d * i + offset;
//directions[i] = new Vector3(-Mathf.Cos(a), -Mathf.Sin(a), 0);
m_Directions[i] = new Vector3(Mathf.Cos(a), Mathf.Sin(a), 0);
}
m_Cached = true;
}
}
// strengths
try
{
if (m_UrgDevice.strengths.Count > 0)
{
m_Strengths.Clear();
m_Strengths.AddRange(m_UrgDevice.strengths);
}
}
catch
{
}
// distances
try
{
if (m_UrgDevice.distances.Count > 0)
{
m_Distances.Clear();
m_Distances.AddRange(m_UrgDevice.distances);
}
}
catch
{
}
if (m_DebugDraw)
{
//// strengths
//for (int i = 0; i < m_Strengths.Count; i++)
//{
// Vector3 dir = m_Directions[i];
// long dist = m_Strengths[i];
// //Debug.DrawRay(Vector3.zero, Mathf.Abs(dist) * dir * m_Scale, m_StrengthColor);
//}
for (int i = 0; i < m_Distances.Count; i++)
{
Vector3 dir = m_Directions[i];
long dist = m_Distances[i];
Vector3 rayend = dist * dir * m_Scale;
//Debug.DrawRay(Vector3.zero, rayend, m_DistanceColor);
m_UrgGUI.Add(new UrgGUIData()
{
start_pos = new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight),
end_pos = rayend + new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight) + OriginalOffset,
color = m_DistanceColor,
});
}
}
// group
m_DetectObjects.Clear();
//------
bool endGroup = true;
float deltaLimit = 100; // 识别阈值仅获取连续值(mm)
for (int i = 1; i < m_Distances.Count - 1; i++)
{
Vector3 dir = m_Directions[i];
long dist = m_Distances[i];
float delta = Mathf.Abs((float)(m_Distances[i] - m_Distances[i - 1]));
float delta1 = Mathf.Abs((float)(m_Distances[i + 1] - m_Distances[i]));
if (dir.y < 0)
{
DetectObject detect;
if (endGroup)
{
//Vector3 pt = dist * dir * m_Scale;
if (dist < m_Limit && (delta < deltaLimit && delta1 < deltaLimit))
{
//bool isArea = detectAreaRect.Contains(pt);
//if(isArea && (delta < deltaLimit && delta1 < deltaLimit)){
detect = new DetectObject();
detect.idList.Add(i);
detect.distList.Add(dist);
detect.startDist = dist;
m_DetectObjects.Add(detect);
endGroup = false;
}
}
else
{
if (delta1 >= deltaLimit || delta >= deltaLimit)
{
endGroup = true;
}
else
{
detect = m_DetectObjects[m_DetectObjects.Count - 1];
detect.idList.Add(i);
detect.distList.Add(dist);
}
}
}
}
//-----------------
// draw
m_DrawCount = 0;
for (int i = 0; i < m_DetectObjects.Count; i++)
{
DetectObject detect = m_DetectObjects[i];
// noise
if (detect.idList.Count < m_NoiseLimit)
{
continue;
}
int offsetCount = detect.idList.Count / 3;
int avgId = 0;
for (int n = 0; n < detect.idList.Count; n++)
{
avgId += detect.idList[n];
}
avgId = avgId / (detect.idList.Count);
long avgDist = 0;
for (int n = offsetCount; n < detect.distList.Count - offsetCount; n++)
{
avgDist += detect.distList[n];
}
avgDist = avgDist / (detect.distList.Count - offsetCount * 2);
Vector3 dir = m_Directions[avgId];
long dist = avgDist;
if (m_DebugDraw)
{
int id0 = detect.idList[offsetCount];
Vector3 dir0 = m_Directions[id0];
long dist0 = detect.distList[offsetCount];
int id1 = detect.idList[detect.idList.Count - 1 - offsetCount];
Vector3 dir1 = m_Directions[id1];
long dist1 = detect.distList[detect.distList.Count - 1 - offsetCount];
Color gColor;
if (m_DrawCount < m_GroupColors.Length)
{
gColor = m_GroupColors[m_DrawCount];
}
else
{
gColor = Color.green;
}
for (int j = offsetCount; j < detect.idList.Count - offsetCount; j++)
{
int _id = detect.idList[j];
Vector3 _dir = m_Directions[_id];
long _dist = detect.distList[j];
Vector3 rayend = _dist * _dir * m_Scale;
//Debug.DrawRay(Vector3.zero, rayend, gColor);
m_UrgGUI.Add(new UrgGUIData()
{
start_pos = new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight),
end_pos = rayend + new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight) + OriginalOffset,
color = gColor,
});
}
Vector3 start = dist0 * dir0 * m_Scale;
Vector3 end = dist1 * dir1 * m_Scale;
//Debug.DrawLine(start, end, gColor);
m_UrgGUI.Add(new UrgGUIData()
{
start_pos = start + new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight) + OriginalOffset,
end_pos = end + new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight) + OriginalOffset,
color = gColor,
});
}
Vector3 point = dist * dir * m_Scale;
// 筛选的中间点
//Debug.DrawRay(Vector3.zero, point, Color.red);
Vector3 ScreenPoint = point + new Vector3(m_ResolutionWidth / 2, m_ResolutionHeight) + OriginalOffset;
m_DebugLineVector3.Add(ScreenPoint);
GameEntry.Windows.WallUICameraRay(ScreenPoint);
m_DrawCount++;
}
}
void Update()
{
detectSign = GameObject.FindWithTag("MainCamera").GetComponent <DetectObject>();
}
