//car driving around the waypoints
void AI_Update()
{
//avoidObject = GetComponent<ObstacleAvoid> ().avoidObstacle;
//angleObject = GetComponent<ObstacleAvoid> ().angleObstacle;
//posObject = GetComponent<ObstacleAvoid> ().obstaclePosition;
leftObj = GetComponent <ObstacleAvoid> ().leftObs;
centerObj = GetComponent <ObstacleAvoid> ().centerObs;
rightObj = GetComponent <ObstacleAvoid> ().rightObs;
LeftDis = GetComponent <ObstacleAvoid> ().LeftDis;
RightDis = GetComponent <ObstacleAvoid> ().RightDis;
CenterDis = GetComponent <ObstacleAvoid> ().CenterDis;
rb.drag = rb.velocity.magnitude / 250;
//Check if the next path segment needs to be calculated in a thread
if (pathCalculated == false && jobInProgress == false)
{
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode,
PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress)
{
if (currentThreadJob.isFinished())
{
nextWayPoints = currentThreadJob.getPathWayPoints();
pathCalculated = true;
jobInProgress = false;
Debug.Log("Finished next thread job. Size: " + nextWayPoints.Count);
}
}
GoToWayPoint();
input_rpm = (GetCollider(0).rpm + GetCollider(1).rpm) / 2 * GearRatio [CurrGear];
ShiftGears();
GetCollider(0).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(1).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(2).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(3).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(0).brakeTorque = brake_power;
GetCollider(1).brakeTorque = brake_power;
GetCollider(2).brakeTorque = brake_power;
GetCollider(3).brakeTorque = brake_power;
GetCollider(0).steerAngle = maxSteer * input_steer;
GetCollider(1).steerAngle = maxSteer * input_steer;
//print (avoidObject);
}
// <summary>
// Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
// that calculates the path in the background
// </summary>
public void PathPlanNextSegment()
{
bool noItem = (GetComponent <PowerUp>().powerUp == "");
//Check if the next path segment needs to be calculated in a thread
if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false)
{
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
else if (jobInProgress == false && dynamicReplan)
{
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress)
{
if (currentThreadJob.isFinished())
{
if (dynamicReplan)
{
dynamicWayPoints = currentThreadJob.getPathWayPoints();
nextWayPoints = null;
}
else
{
nextWayPoints = currentThreadJob.getPathWayPoints();
dynamicWayPoints = null;
}
closedNodes = currentThreadJob.getClosedNodes();
jobInProgress = false;
}
}
}
//Determines the intial path segment for the car
private void InitialPathPlan()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position);
currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
//indicate that next path segment needs to calculated
pathCalculated = false;
jobInProgress = false;
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++) {
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes ();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
// <summary>
// Performs path planning for the first path segment by utilizing a DynamicPathThreadJob
// and waiting for it to complete
// </summary>
public void PathPlanInitialSegment()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode(transform.position);
currentThreadJob = new DynamicPathThreadJob(startNode, PathPlanningDataStructures.graph.endNode, closedNodes, 15.0f, true);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
usesWaypoints = new bool[currentWayPoints.Count];
for (int i = 0; i < usesWaypoints.Length; i++)
{
usesWaypoints [i] = true;
}
closedNodes = currentThreadJob.getClosedNodes();
//indicate that next path segment needs to calculated
jobInProgress = false;
dynamicReplan = false;
}
// <summary>
// Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
// that calculates the path in the background
// </summary>
public void PathPlanNextSegment()
{
bool noItem = (GetComponent<PowerUp>().powerUp == "");
//Check if the next path segment needs to be calculated in a thread
if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false) {
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
pathStartNode = startNode;
} else {
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob (pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
currentThreadJob.Start ();
jobInProgress = true;
} else if (jobInProgress == false && dynamicReplan) {
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
pathStartNode = startNode;
} else {
pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
currentThreadJob.Start ();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress) {
if (currentThreadJob.isFinished()) {
if (dynamicReplan) {
dynamicWayPoints = currentThreadJob.getPathWayPoints ();
nextWayPoints = null;
} else {
nextWayPoints = currentThreadJob.getPathWayPoints();
dynamicWayPoints = null;
}
closedNodes = currentThreadJob.getClosedNodes ();
jobInProgress = false;
}
}
}
//Determines the intial path segment for the car
private void InitialPathPlan()
{
//first triggered thread job for this car
startNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
currentThreadJob = new DynamicPathThreadJob (startNode, PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
currentThreadJob.Join();
currentWayPoints = currentThreadJob.getPathWayPoints();
//indicate that next path segment needs to calculated
pathCalculated = false;
jobInProgress = false;
}
//car driving around the waypoints
void AI_Update()
{
//avoidObject = GetComponent<ObstacleAvoid> ().avoidObstacle;
//angleObject = GetComponent<ObstacleAvoid> ().angleObstacle;
//posObject = GetComponent<ObstacleAvoid> ().obstaclePosition;
leftObj = GetComponent<ObstacleAvoid> ().leftObs;
centerObj = GetComponent<ObstacleAvoid> ().centerObs;
rightObj = GetComponent <ObstacleAvoid> ().rightObs;
LeftDis = GetComponent <ObstacleAvoid> ().LeftDis;
RightDis = GetComponent<ObstacleAvoid> ().RightDis;
CenterDis = GetComponent <ObstacleAvoid> ().CenterDis;
rb.drag = rb.velocity.magnitude / 250;
//Check if the next path segment needs to be calculated in a thread
if (jobInProgress == false) {
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode) {
pathStartNode = startNode;
} else {
pathStartNode = PathPlanningDataStructures.graph.getClosestNode (transform.position);
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode,
PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress && nextWayPoints == null) {
if (currentThreadJob.isFinished()) {
nextWayPoints = currentThreadJob.getPathWayPoints();
jobInProgress = false;
Debug.Log ("Finished next thread job. Size: " + nextWayPoints.Count);
}
}
GoToWayPoint ();
input_rpm = (GetCollider (0).rpm + GetCollider (1).rpm) / 2 * GearRatio [CurrGear];
ShiftGears ();
GetCollider (0).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider (1).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider (2).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider (3).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider (0).brakeTorque = brake_power;
GetCollider (1).brakeTorque = brake_power;
GetCollider (2).brakeTorque = brake_power;
GetCollider (3).brakeTorque = brake_power;
GetCollider (0).steerAngle = maxSteer * input_steer;
GetCollider (1).steerAngle = maxSteer * input_steer;
//print (avoidObject);
}