// Update is called once per frame
void Update()
{
TimerIncrease();
CalculateDeltaPar();
MovePlayer(player);
//Apply Redirection
switch (action)
{
case Redirector.ActionTaken.Zero: break;
case Redirector.ActionTaken.PositiveRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainEnlarge);
break;
case Redirector.ActionTaken.NegativeRotation:
redirector.ApplyRedirection(Redirector.RedirectorType.Rotation, player.transform, deltaDistance, deltaDiv, gain: redirector.rotateGainDecrease);
break;
case Redirector.ActionTaken.ClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: true, radius: redirector.curvatureRadius);
break;
case Redirector.ActionTaken.CounterClockwiseCurvature:
redirector.ApplyRedirection(Redirector.RedirectorType.Curvature, player.transform, deltaDistance, deltaDiv, clockwise: false, radius: redirector.curvatureRadius);
break;
default: break;
}
//velocity data record
if ((timer - timerVelocity * velocityInterval) >= velocityInterval)
{
velocity = distance / velocityInterval;
timerVelocity++;
distance = 0;
}
//exponentially smoothed orientation
if ((timerOrientation - timerOrientation * orientationInterval) >= orientationInterval)
{
//ExponentiallySmoothedSample(true);
}
else
{
//ExponentiallySmoothedSample(false);
}
//data record
if ((timer - timeHorizon * timerDataRecord) >= timeHorizon)
{
data.velocity = velocity;
data.virtualOrientation = player.transform.eulerAngles.y;//没有使用指数平滑
data.virtualPosition = GeneralVector3.Vector3NoHeight(playerTransform.position);
Vector3 originPoint = GeneralVector3.Vector3NoHeight(Corner4.position);
//Debug.Log(originPoint);
Vector3 xAxis = GeneralVector3.Vector3NoHeight(Corner3.position);
//Debug.Log(xAxis);
Vector3 zAxis = GeneralVector3.Vector3NoHeight(Corner1.position);
//Debug.Log(zAxis);
data.realPosition = GeneralVector3.GetRealPoint(originPoint, xAxis, zAxis, data.virtualPosition);
//Debug.Log(data.realPosition);
data.realOrientation = player.transform.eulerAngles.y - Center.rotation.eulerAngles.y;
timerDataRecord++;
WayPointsReal[] wayPointsReals = CalWayPoint2DCoor(wayPoint.wayPoints, playerTransform, wayPoint.wayPoints.Length, data.realOrientation, data.velocity * redirector.timeDepth * timeHorizon * 2, originPoint, xAxis, zAxis);
//Debug.Log(data.realPosition);
//Debug.Log(wayPointsReals[0].realPosition);
action = redirector.MPCRedirect(data, wayPointsReals, redirector.timeDepth).action;
Debug.Log(action);
}
}
