void OnEnable()
{
motionScript = (GlobalMove)gameObject.AddComponent ("GlobalMove");
switch (motionModel){
case motionModels.DISCRETE:
controlComponent = (MonoBehaviour)gameObject.AddComponent("ControlDiscrete");
motionScript.changeMotionModel(motionModels.DISCRETE);
break;
case motionModels.KINEMATIC:
controlComponent = (MonoBehaviour)gameObject.AddComponent("ControlKinematic");
motionScript.changeMotionModel(motionModels.KINEMATIC);
break;
case motionModels.DYNAMIC:
controlComponent = (MonoBehaviour)gameObject.AddComponent("ControlDynamic");
motionScript.changeMotionModel(motionModels.DYNAMIC);
break;
case motionModels.DIFFERENTIAL:
controlComponent = (MonoBehaviour)gameObject.AddComponent("ControlDifferential");
motionScript.changeMotionModel(motionModels.DIFFERENTIAL);
break;
case motionModels.CAR:
controlComponent = (MonoBehaviour)gameObject.AddComponent("ControlCar");
motionScript.changeMotionModel(motionModels.CAR);
break;
}
}
GameObject instatiateNewRobot(GameObject prefab,GlobalControl.motionModels _motionModel)
{
Vector3 currentPosition = currentObject.transform.position;
Quaternion currentRotation = currentObject.transform.rotation;
//Remove current object
DestroyImmediate(currentObject);
//Create new one
currentObject = (GameObject)Object.Instantiate(prefab,currentPosition,currentRotation);
currentObject.name = robotName;
currentObject.gameObject.SetActive(true);
//Add control script
gm = currentObject.gameObject.AddComponent<GlobalMove>();
gm.changeMotionModel (_motionModel);
move = currentObject.AddComponent<moveTo> ();
move.changeMotionModel (_motionModel);
this.motionModel = _motionModel;
return currentObject;
}
public void createRobot()
{
print ("CREATING ROBOT: " + motionModel);
if (robot != null){
GameObject.DestroyImmediate(robot);
}
switch(motionModel){
case GlobalControl.motionModels.DISCRETE:
robot = (GameObject) Instantiate(Resources.Load("SphereCamera", typeof(GameObject)));
break;
case GlobalControl.motionModels.KINEMATIC:
robot = (GameObject) Instantiate(Resources.Load("SphereCamera", typeof(GameObject)));
break;
case GlobalControl.motionModels.DYNAMIC:
robot = (GameObject) Instantiate(Resources.Load("SphereCamera", typeof(GameObject)));
break;
case GlobalControl.motionModels.DIFFERENTIAL:
robot = (GameObject) Instantiate(Resources.Load("DifferentialRobotCamera", typeof(GameObject)));
robot.transform.localScale = new Vector3(0.3f,0.3f,0.3f);
break;
case GlobalControl.motionModels.CAR:
robot = (GameObject) Instantiate(Resources.Load("CarCamera", typeof(GameObject)));
break;
}
//Sample a position
bool found = false;
float x=0, z=0;
while (!found) {
x = Random.Range(-xBound,xBound);
z = Random.Range(-yBound,yBound);
found = !grid.isRectOccupied(new Vector3(x,0.5f,z),robot.collider.bounds.extents);
}
robot.transform.position = new Vector3(x, 0.5f, z);
robot.transform.rotation = Quaternion.identity;
robot.name = "robot";
robot.tag = "robot";
robot.SetActive (true);
GameObject rCam = GameObject.Find ("RobotCamera");
rCam.camera.enabled = false;
rCam.camera.gameObject.AddComponent<CameraControl> ();
//Add MoveTo script
moveComponent =robot.gameObject.AddComponent<GlobalMove> ();
moveComponent.changeMotionModel (motionModel);
moveComponent.changeMaxVelocity (maxV);
if (motionModel == GlobalControl.motionModels.DIFFERENTIAL) {
MoveDifferential md = robot.gameObject.GetComponent<MoveDifferential>();
md.maxW = 0.1f;
}
moveToComponent=robot.gameObject.AddComponent<moveTo> ();
moveToComponent.changeMotionModel(motionModel);
// robot.gameObject.AddComponent<LocalCollisionAvoidance> ();
}
void Start()
{
//Create Sphere
gtext.text = "Kinematic";
Vector3 initialPosition = new Vector3 (0, 0.5f, 0);
currentObject = (GameObject)Object.Instantiate (sphere, initialPosition, Quaternion.identity);
currentObject.gameObject.SetActive (true);
currentObject.name = robotName;
Rigidbody r = currentObject.gameObject.AddComponent<Rigidbody> ();
r.constraints = RigidbodyConstraints.FreezePositionY | RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationZ;
//Add control script
gm = currentObject.gameObject.AddComponent<GlobalMove>();
gm.changeMotionModel (motionModel);
move = currentObject.AddComponent<moveTo> ();
move.changeMotionModel (motionModel);
collisionAvoidance = currentObject.AddComponent<LocalCollisionAvoidance> ();
collisionAvoidance.motionModel = motionModel;
}
void Start()
{
//Create Sphere
gtext.text = "Kinematic";
Vector3 initialPosition = new Vector3 (0, 0.5f, 0);
currentObject = (GameObject)Object.Instantiate (sphere, initialPosition, Quaternion.identity);
currentObject.gameObject.SetActive (true);
currentObject.name = robotName;
//Add control script
gm = currentObject.gameObject.AddComponent<GlobalMove>();
gm.changeMotionModel (motionModel);
move = currentObject.AddComponent<moveTo> ();
move.changeMotionModel (motionModel);
}
