// Binary tree formation
void demo1()
{
//Create leader
leader = (GameObject)Object.Instantiate (sphere, new Vector3 (0,0.5f,0), Quaternion.identity);
leader.renderer.material.color = Color.red;
leader.name = leaderName;
leader.SetActive (true);
//Add keyboard controller
leaderControl = leader.gameObject.AddComponent<GlobalControl> ();
leaderControl.changeControlModel (GlobalControl.motionModels.KINEMATIC);
//Add leader script
leader l = leader.gameObject.AddComponent<leader> ();
l.distanceEpsilon = 0.01f;
//Create N robots as a binary tree
createRobotTree ();
//Create text
gtextRobot.text = "Robot motion: Kinematic";
gtextVS.text = "Leader motion: Kinematic";
singleFollower = false;
}
void demo2()
{
//Create leader
leader = (GameObject)Object.Instantiate (sphere, new Vector3 (0,0.5f,0), Quaternion.identity);
leader.renderer.material.color = Color.red;
leader.name = leaderName;
leader.SetActive (true);
//Add keyboard controller
leaderControl = leader.gameObject.AddComponent<GlobalControl> ();
leaderControl.changeControlModel (GlobalControl.motionModels.KINEMATIC);
//Add leader script
leader l = leader.gameObject.AddComponent<leader> ();
l.distanceEpsilon = 0.01f;
//Create following robot
GameObject f = (GameObject)Object.Instantiate (sphere, new Vector3 (10,0.5f,10), Quaternion.identity);
f.name = robotName;
f.tag = robotTag;
f.SetActive (true);
//Add follower script
f.gameObject.AddComponent<follower>();
gtextRobot.text = "Robot motion: Kinematic";
gtextVS.text = "Leader motion: Kinematic";
singleFollower = true;
}
void Start()
{
//Create leader
leader = (GameObject)Object.Instantiate (sphere, new Vector3 (0,0.5f,0), Quaternion.identity);
leader.renderer.material.color = Color.red;
leader.tag = robotTag;
leader.name = leaderName;
leader.SetActive (true);
//Add keyboard controller
leaderControl = leader.gameObject.AddComponent<GlobalControl> ();
leaderControl.changeControlModel (GlobalControl.motionModels.KINEMATIC);
//Create N robots around the leader
for (int i=0; i<N; i++) {
float theta = 2*Mathf.PI*i/N;
Vector3 position = leader.transform.position+new Vector3(originalDistance*Mathf.Cos (theta),0.5f,originalDistance*Mathf.Sin (theta));
GameObject o =(GameObject)Object.Instantiate (sphere, position, Quaternion.identity);
o.tag = robotTag;
o.SetActive(true);
o.gameObject.AddComponent<nn_kinematic>();
}
//Create text
gtextRobot.text = "Robot motion: Kinematic";
gtextVS.text = "Leader motion: Kinematic";
}