// <summary>
// Use this for initialization
// </summary>
void Start()
{
startTime = Time.realtimeSinceStartup;
input = GetComponent <GetInput> ();
//GameObject o = GameObject.Find("Kart " + kartNum);
Debug.Log("here");
//Debug.Log("rrr"+o.transform);
rb = GetComponent <Rigidbody> ();
Debug.Log("rrr" + rb);
boost = 1f;
fr = GameObject.Find("wcfr " + kartNum).GetComponent <WheelCollider>();
fl = GameObject.Find("wcfl " + kartNum).GetComponent <WheelCollider>();
br = GameObject.Find("wcbr " + kartNum).GetComponent <WheelCollider>();
bl = GameObject.Find("wcbl " + kartNum).GetComponent <WheelCollider>();
fr.enabled = true;
fl.enabled = true;
br.enabled = true;
bl.enabled = true;
if (isAI)
{
ItemsAI.updateItems();
PathPlanningDataStructures.initializePathPlanning();
kartp = GetComponentInChildren <PathPlanningKart> ();
kartp.PathPlanInitialSegment();
MAX_SPEED *= .8f;
}
}
public float Estimate(Node n, bool useItems)
{
int numCarsClaiming = PathPlanningDataStructures.nodeToCount [n.position];
if (numCarsClaiming > 0)
{
return(((numCarsClaiming * 0.1f) + 1.0f) * heuristicCost [n] /
(useItems ? ItemsAI.getReduction(n) : 1.0f));
}
else
{
return(heuristicCost [n] / (useItems ? ItemsAI.getReduction(n) : 1.0f));
}
}
//movement variable descriptions
//force from motor
// maxTourque (scaling for forward input)
// Effeciency (assume 1)
// Gear Ratio (1 - 150 some int)
// Angular speed (rpms)
// Wheel Radius
// uphill vs downhill (1 for uphill -1 for downhill)
// m =mass
// g = 9.8
// Gradient Angle (Gradient alpha) (angle of slope - 0)
//
//rolling resistance
// rolling resistance coeffecient (fr)
// wieight
// cos(alpha) slope
//
//drag force
// density of air (p=1.21 kg/m^3)
// drag coeffecient (cd=1.2)
// Area (cross sectional = .004 m^2)
// Velocity vector (y) squared magnitude
// Lw = car geoemetry = 0.15
//mass m - ydot squared = velocity squared in forward direction
//tan(phi) phi is max turning angle (30 degrees) * turning input to get current phi
// Use this for initialization
void Start()
{
input = GetComponent <GetInput>();
position.Set(50, 50, 0);
motorOutForce = (mTor * effec * gearRatio * angularSpeed / 60) / wheelRad;
//resistForce = 0;
rollingResistForce = rollResist * mass * g * Mathf.Cos(gradAngle);
//rollingResistForce = 0;
airResistForce = .5f * airDensity * dragCoef * areaCross;
centripetalForce = mass / lW;
if (isAI)
{
ItemsAI.updateItems();
PathPlanningKart k = GetComponent <PathPlanningKart> ();
k.PathPlanInitialSegment();
MAX_SPEED = MAX_SPEED * .95f;
}
}
//uncomment for original movement code
void FixedUpdate()
{
if (isAI)
{
PathPlanningKart k = GetComponent <PathPlanningKart>();
k.PathPlanNextSegment();
Tuple <float, float> t = carController.speedAndTurn(this.gameObject);
turnInput = (float)t.Second;
forwardInput = (float)t.First;
ItemsAI.updateItems();
k.UseItem();
}
else if (Input.GetKeyUp(KeyCode.P))
{
Time.timeScale = paused ? 1 : 0;
paused = !paused;
}
else
{
turnInput = input.getTurnInput();
forwardInput = input.getForwardInput();
}
//how quickly do we want to turn
currentDeltaTurn = DELTA_TURN * turnInput;
//takes care of ideling to go back straight && also turning
//Debug.Log ("(turnValue + currentDeltaTurn): "+(turnValue + currentDeltaTurn)+" MAXTU: "+(MAX_TURN)+" speed: "+speed);
if (Mathf.Abs(turnInput) < .1 && turnValue > 0)
{
turnValue = 0;
// Debug.Log("Idle Pos");
if (turnValue < DELTA_TURN)
{
turnValue = 0;
}
else
{
turnValue -= DELTA_TURN;
}
}
else if (Mathf.Abs(turnInput) < .1 && turnValue < 0)
{
turnValue = 0;
// Debug.Log("Idle Neg");
if (turnValue > -DELTA_TURN)
{
turnValue = 0;
}
else
{
turnValue += DELTA_TURN;
}
}
else if ((turnValue + currentDeltaTurn) < (MAX_TURN) && (turnValue + currentDeltaTurn) > (-MAX_TURN))
{
// Debug.Log("Turn");
turnValue += currentDeltaTurn;
}
//Debug.Log("DeltaTurn: " + currentDeltaTurn);
//Debug.Log("turnValue: " + turnValue);
//Debug.Log("Vert: "+Input.GetAxis(vertical));
//which way do we want to go
//takes care of ACCELeration
speed += ACCEL * forwardInput;
if (speed < -MAX_SPEED)
{
speed = -MAX_SPEED;
}
if (speed > MAX_SPEED)
{
speed = MAX_SPEED;
}
if (forwardInput == 1 && speed < MAX_SPEED)
{
speed += ACCEL;
}
else if (forwardInput == -1 && speed > -MAX_SPEED)
{
speed -= ACCEL;
}
else if (forwardInput == 0 && speed < 0)
{
if (speed > -IDLE_ACCEL)
{
speed = 0;
}
else
{
speed += IDLE_ACCEL;
}
}
else if (forwardInput == 0 && speed > 0)
{
if (speed < IDLE_ACCEL)
{
speed = 0;
}
else
{
speed -= IDLE_ACCEL;
}
}
else if (Mathf.Abs(speed) > MAX_SPEED)
{
speed = Mathf.Sign(speed) * MAX_SPEED;
}
//applies boost, if any
speed = speed * boost;
//calculates the direction displacement vector
rotationVector.Set(0, turnValue * speed * Time.deltaTime, 0);
direction = Quaternion.Euler(rotationVector) * direction;
//Debug.Log ("Direction: "+ direction);
//Debug.Log ("Speed: " +speed);
transform.position += direction * (speed * Time.deltaTime);
if (!goingBackwards)
{
transform.rotation = Quaternion.LookRotation(direction);
}
else
{
transform.rotation = Quaternion.LookRotation(-1 * direction);
}
//newEquations ();
//equations();
//updateLogVectors ();
if (writePositionsToFile)
{
WriteToRepo();
}
//uncomment for original movement code
}
// <summary>
// Update is called once per frame
// </summary>
void FixedUpdate()
{
if (Time.realtimeSinceStartup - startTime > 4.5f)
{
print("counting down");
start = true;
}
if (start)
{
//Debug.Log("Delta Time: " + Time.deltaTime);
Debug.Log("boost: " + boost);
WheelHit hit;
float travelL = 1.0f;
float travelR = 1.0f;
float AntiRoll = 5000;
bool groundedL = fl.GetGroundHit(out hit);
if (groundedL)
{
travelL = (-fl.transform.InverseTransformPoint(hit.point).y - fl.radius) / fl.suspensionDistance;
}
bool groundedR = fr.GetGroundHit(out hit);
if (groundedR)
{
travelR = (-fr.transform.InverseTransformPoint(hit.point).y - fr.radius) / fr.suspensionDistance;
}
var antiRollForce = (travelL - travelR) * AntiRoll;
if (groundedL)
{
rb.AddForceAtPosition(fl.transform.up * -antiRollForce,
fl.transform.position);
}
if (groundedR)
{
rb.AddForceAtPosition(fr.transform.up * antiRollForce,
fr.transform.position);
}
bool bgroundedL = bl.GetGroundHit(out hit);
if (bgroundedL)
{
travelL = (-bl.transform.InverseTransformPoint(hit.point).y - bl.radius) / bl.suspensionDistance;
}
bool bgroundedR = br.GetGroundHit(out hit);
if (bgroundedR)
{
travelR = (-br.transform.InverseTransformPoint(hit.point).y - br.radius) / br.suspensionDistance;
}
if (bgroundedL)
{
rb.AddForceAtPosition(bl.transform.up * -antiRollForce,
bl.transform.position);
}
if (bgroundedR)
{
rb.AddForceAtPosition(br.transform.up * antiRollForce,
br.transform.position);
}
if (isAI)
{
//PathPlanningKart k = GetComponentInChildren<PathPlanningKart>();
kartp.PathPlanNextSegment();
Tuple <float, float> t = carController.speedAndTurn(this.gameObject);
turnInput = (float)t.Second;
forwardInput = (float)t.First;
//Debug.Log("Forward Input:" + forwardInput + " Turn Input:" + turnInput);
ItemsAI.updateItems();
kartp.UseItem();
}
else
{
turnInput = input.getTurnInput();
forwardInput = input.getForwardInput();
//Debug.Log("Forward Input:" + forwardInput + " Turn Input:" + turnInput);
}
brakeInput = input.getBraking();
if (rb.velocity.magnitude < MAX_SPEED && forwardInput != 0)
{
//print("Y" + rb.velocity.magnitude + " X:" + forwardInput + " Z:" + boost);
br.motorTorque = forwardInput * motorForce * boost;
bl.motorTorque = forwardInput * motorForce * boost;
}
else
{
br.motorTorque = 0;
bl.motorTorque = 0;
}
// } else {
// br.brakeTorque = -1*forwardInput * brakeForce;
// bl.brakeTorque = -1*forwardInput * brakeForce;
// fr.brakeTorque = -1*forwardInput * brakeForce;
// fl.brakeTorque = -1*forwardInput * brakeForce;
// }
// if (brakeInput > 0) {
// br.motorTorque = 0;
// bl.motorTorque = 0;
// }
fr.steerAngle = turnInput * turnForce;
fl.steerAngle = turnInput * turnForce;
br.brakeTorque = brakeInput * brakeForce * boost;
bl.brakeTorque = brakeInput * brakeForce * boost;
fr.brakeTorque = brakeInput * brakeForce * boost;
fl.brakeTorque = brakeInput * brakeForce * boost;
br.brakeTorque += studder * brakeForce;
bl.brakeTorque += studder * brakeForce;
fr.brakeTorque += studder * brakeForce;
fl.brakeTorque += studder * brakeForce;
if (writePositionsToFile)
{
WriteToRepo();
}
Quaternion temp = transform.rotation;
Vector3 tt = temp.eulerAngles;
if (tt.x > 300 && tt.x < 357)
{
tt.x = 359.5f;
}
if (tt.x < 50 && tt.x > .5f)
{
tt.x = .5f;
}
if (tt.z > 300 && tt.z < 359.5f)
{
tt.z = 359.5f;
}
if (tt.z < 50 && tt.z > .5f)
{
tt.z = .5f;
}
tt.Set(tt.x, tt.y, tt.z);
temp.eulerAngles = tt;
transform.rotation = temp;
}
}
