void Start()
{
os = FindObjectOfType <ObstacleSpawner>();
dc = FindObjectOfType <DudeController>();
a = GetComponent <Animator>();
sc = FindObjectOfType <SpeedControl>();
}
public void GetPositionTest()
{
//forward
var speedControl = new SpeedControl(30, 160, .0001, .02);
Assert.AreEqual(30, speedControl.GetPosition(-1));
Assert.AreEqual(30, speedControl.GetPosition(0));
Assert.AreEqual(30.005, speedControl.GetPosition(10));
Assert.AreEqual(30.5, speedControl.GetPosition(100));
Assert.AreEqual(48, speedControl.GetPosition(1000));
Assert.AreEqual(68, speedControl.GetPosition(2000));
Assert.AreEqual(88, speedControl.GetPosition(3000));
Assert.AreEqual(148, speedControl.GetPosition(6000));
Assert.AreEqual(158, speedControl.GetPosition(6500));
Assert.AreEqual(159.995, speedControl.GetPosition(6690));
Assert.AreEqual(160, speedControl.GetPosition(7000));
//reverse
speedControl = new SpeedControl(160, 30, .0001, .02);
Assert.AreEqual(160, speedControl.GetPosition(-1));
Assert.AreEqual(160, speedControl.GetPosition(0));
Assert.AreEqual(159.995, speedControl.GetPosition(10));
Assert.AreEqual(159.5, speedControl.GetPosition(100));
Assert.AreEqual(142, speedControl.GetPosition(1000));
Assert.AreEqual(122, speedControl.GetPosition(2000));
Assert.AreEqual(102, speedControl.GetPosition(3000));
Assert.AreEqual(42, speedControl.GetPosition(6000));
Assert.AreEqual(32, speedControl.GetPosition(6500));
Assert.AreEqual(30.004999999999995, speedControl.GetPosition(6690));
Assert.AreEqual(30, speedControl.GetPosition(7000));
}
public static void Start()
{
RuntimeObject.Init();
RigidBody.Init();
CollisionBody.Init();
CollisionSensor.Init();
TransportSurface.Init();
CollisionMaterial.Init();
HingeJoint.Init();
SlidingJoint.Init();
CylindricalJoint.Init();
FixedJoint.Init();
BallJoint.Init();
AngularLimit.Init();
LinearLimit.Init();
AngularSpring.Init();
LinearSpring.Init();
SpeedControl.Init();
PositionControl.Init();
BreakingConstraint.Init();
GearCoupling.Init();
CamCoupling.Init();
ElecCamCoupling.Init();
PreventCollision.Init();
ChangeMaterial.Init();
ComponentPart.Init();
SourceBehavior.Init();
SinkBehavior.Init();
GraphControl.Init();
ExternalConnection.Init();
SignalAdapter.Init();
Signal.Init();
ProxyObject.Init();
RuntimeParameters.Init();
}
// Use this for initialization
void Start()
{
speedScript = GetComponent <SpeedControl>();
origHeight = GetComponent <CapsuleCollider>().height;
motor = GetComponent <PlayerMotor> ();
crouchPosition = new Vector3(mainObject.transform.localPosition.x, mainObject.transform.localPosition.y - 0.5f, mainObject.transform.localPosition.z);
}
//used to zoom the camera into the sun to show off the AABB on the space ship
//uses the custom LERP function to bring the camera between the start position and the sun
void Update()
{
GameObject controller = GameObject.Find("SpeedController");
SpeedControl spController = controller.GetComponent <SpeedControl>();
speedScalar = spController.Speed;
if (Input.GetKeyDown(KeyCode.Keypad1))
{
PlanetSelect = GameObject.Find("Sun");
IsFollowing = true;
returntobase = false;
}
if (Input.GetKeyDown(KeyCode.Keypad0))
{
returntobase = true;
IsFollowing = false;
}
if (IsFollowing == true & returntobase == false)
{
Vector3 temp = PlanetSelect.transform.position;
Vector3 newPos = new Vector3(temp.x, temp.y + 30, temp.z - 50);
transform.position = VectorMaths.LERP(transform.position, newPos, Time.deltaTime);
}
if (IsFollowing == false & returntobase == true)
{
Vector3 temp1 = new Vector3(0, 200, -400);
transform.position = VectorMaths.LERP(transform.position, temp1, Time.deltaTime);
}
}
// Use this for initialization
void Start()
{
initY = transform.position.y;
speedC = GameObject.Find("GvrMain").GetComponent <SpeedControl>();
obsC = GameObject.Find("GvrMain").GetComponent <ObstacleControl>();
moveC = GameObject.Find("GvrMain").GetComponent <MoveNew> ();
}
// Use this for initialization
void Start()
{
state = State.grounded;
_initialPos = InitialPosition.position;
_initialRot = InitialPosition.rotation;
_initialScale = InitialPosition.localScale;
_jumpFuelTime = JumpFuelTime;
_xSpeedControl = new SpeedControl(walkDragForce, airDragForce, brakeForce, airBrakeForce, speed, speedRun);
}
// Update is called once per frame
void Update()
{
GameObject controller = GameObject.Find("SpeedController");
SpeedControl spController = controller.GetComponent <SpeedControl>();
speedScalar = spController.Speed;
Rotate();
orbit();
}
public void TestHelperMethod001_GivenSpeedControl_WhenGetDistanceSegmentsHelperMethodIsCalled_ThenReturnTheDistanceBetweenEachSegment()
{
double[] distanceSamples = new double[] { 0.0, 0.19, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25 };
double[] expectedResult = new double[] { 0.19, 0.31, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25 };
double[] actualResult = SpeedControl.GetDistanceSegments(distanceSamples);
CollectionAssert.AreEqual(expectedResult, actualResult);
}
public void TestHelperMethod002_GivenSpeedControl_WhenGetSegmentsAverageSpeedsMethodIsCalled_ThenReturnTheFloorIntegerAverageSpeedPerSegment()
{
double[] distanceSegments = new double[] { 0.19, 0.31, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.25 };
int seconds = 15;
int[] expectedResult = new int[] { 45, 74, 60, 60, 60, 60, 60, 60, 60 };
int[] actualResult = SpeedControl.GetSegmentsAverageSpeeds(distanceSegments, seconds);
CollectionAssert.AreEqual(expectedResult, actualResult);
}
public void Test003_GivenSpeedControl_WhenMoreThanTwoDistanceSamplesExist_ThenReturnTheCorrectSpeed()
{
double[] distanceSamples = new double[] { 0.0, 0.19, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25 };
int seconds = 15;
int expectedResult = 74;
int actualResult = SpeedControl.GetMaxAverageSpeedPerHour(seconds, distanceSamples);
Assert.AreEqual(expectedResult, actualResult);
}
public void Test001_GivenSpeedControl_WhenLessThanTwoDistanceSamplesExist_ThenZeroIsReturned()
{
double[] distanceSamples = new double[] { 0.0 };
int seconds = 25;
int expectedResult = 0;
int actualResult = SpeedControl.GetMaxAverageSpeedPerHour(seconds, distanceSamples);
Assert.AreEqual(expectedResult, actualResult);
}
public void TestSpeedControl(byte speedControl)
{
var expected = new SpeedControl(speedControl).Compile();
using var ns = PacketTestUtilities.CreateTestNetState();
ns.SendSpeedControl((SpeedControlSetting)speedControl);
var result = ns.SendPipe.Reader.TryRead();
AssertThat.Equal(result.Buffer[0].AsSpan(0), expected);
}
// Use this for initialization
void Start()
{
tu = GetComponent <TownUpgrade>();
du = GetComponent <DudeUpgrade>();
slider.value = sliderVal;
sc = FindObjectOfType <SpeedControl>();
ChangeSpeed(startSpeed);
dude = FindObjectOfType <DudeController>();
ec = GetComponent <EndingControl>();
}
public void TestSpeedControl(byte speedControl)
{
var data = new SpeedControl(speedControl).Compile();
Span <byte> expectedData = stackalloc byte[6];
var pos = 0;
expectedData.Write(ref pos, (byte)0xBF); // Packet ID
expectedData.Write(ref pos, (ushort)6); // Length
expectedData.Write(ref pos, (ushort)0x26); // Command
expectedData.Write(ref pos, speedControl);
AssertThat.Equal(data, expectedData);
}
public void Dispose()
{
FilteredSource.Dispose();
FilteredSource = null;
SpeedControl.Dispose();
SpeedControl = null;
audio.Dispose();
audio = null;
audioStream.Dispose();
audioStream = null;
audioGraph.Dispose();
audioGraph = null;
audioAnalysis.Dispose();
audioAnalysis = null;
GC.Collect();
}
private void speedBar_Scroll(object sender, EventArgs e)
{
TrackBar speedBar = (TrackBar)sender;
if (speedBar.Name == "speedbarJoint")
{
speedJ_txt.Text = speedBar.Value.ToString() + " %";
}
else
{
speedXYX_txt.Text = speedBar.Value.ToString() + " %";
}
try
{
SpeedControl.SpeedChange(speedBar.Value, serialPort);
}
catch (Exception ex)
{
MessageBox.Show("Wystąpił błąd!\n" + ex.ToString(), "Error", MessageBoxButtons.OK);
}
}
public SatNavView(SatNavModel model)
{
//InitializeComponent();
this.model = model;
this.model.ModelChanged += HandleModelChanged;
northButton = new Button();
southButton = new Button();
eastButton = new Button();
westButton = new Button();
feedbackLabel = new Label();
speedControl = new SpeedControl();
this.SatNavView_Load(null, EventArgs.Empty);
}
// Use this for initialization
void Start()
{
spdControl = this.GetComponent <SpeedControl>();
second = 60f;
minute = 2;
}
public void Awake()
{
sc = FindObjectOfType <SpeedControl>();
dc = FindObjectOfType <DudeController>();
os = FindObjectOfType <ObstacleSpawner>();
}
public override void OnEnter()
{
base.OnEnter();
speedcontrol = Owner.gameObject.GetComponent <SpeedControl>();
}
//moons orbit around a planet, and as such need to find the position of the planet they orbit before calculating their orbit path
void OrbitAround()
{
GameObject controller = GameObject.Find("SpeedController");
SpeedControl spController = controller.GetComponent <SpeedControl>();
SpeedScalar = spController.Speed;
worldPos = Planet.transform.position;
OrbitRotation.y += Time.deltaTime * orbitSpeed * SpeedScalar;
Vector3[] TransformedVertices = new Vector3[ModelSpaceVertices.Length];
yawAngle += Time.deltaTime;
//create the first rotation matrix for individual planet rotation
Matrix4by4 rollMatrix = new Matrix4by4
(new Vector3(Mathf.Cos(yawAngle), Mathf.Sin(yawAngle), 0),
new Vector3(-Mathf.Sin(yawAngle), Mathf.Cos(yawAngle), 0),
new Vector3(0, 0, 1),
Vector3.zero);
Matrix4by4 pitchmatrix = new Matrix4by4(
new Vector3(1, 0, 0),
new Vector3(0, Mathf.Cos(yawAngle), Mathf.Sin(yawAngle)),
new Vector3(0, -Mathf.Sin(yawAngle), Mathf.Cos(yawAngle)),
Vector3.zero);
Matrix4by4 yawmatrix = new Matrix4by4(
new Vector3(Mathf.Cos(yawAngle), 0, -Mathf.Sin(yawAngle)),
new Vector3(0, 1, 0),
new Vector3(Mathf.Sin(yawAngle), 0, Mathf.Cos(yawAngle)),
Vector3.zero);
//create second rotation matrix for the planet's orbit
Matrix4by4 OrbitRoll = new Matrix4by4
(new Vector3(Mathf.Cos(OrbitRotation.z), Mathf.Sin(OrbitRotation.z), 0),
new Vector3(-Mathf.Sin(OrbitRotation.z), Mathf.Cos(OrbitRotation.z), 0),
new Vector3(0, 0, 1),
Vector3.zero);
Matrix4by4 OrbitPitch = new Matrix4by4(
new Vector3(1, 0, 0),
new Vector3(0, Mathf.Cos(OrbitRotation.x), Mathf.Sin(OrbitRotation.x)),
new Vector3(0, -Mathf.Sin(OrbitRotation.x), Mathf.Cos(OrbitRotation.x)),
Vector3.zero);
Matrix4by4 OrbitYaw = new Matrix4by4(
new Vector3(Mathf.Cos(OrbitRotation.y), 0, -Mathf.Sin(OrbitRotation.y)),
new Vector3(0, 1, 0),
new Vector3(Mathf.Sin(OrbitRotation.y), 0, Mathf.Cos(OrbitRotation.y)),
Vector3.zero);
Matrix4by4 RotationOfOrbit = OrbitYaw * (OrbitPitch * OrbitRoll);
Matrix4by4 R = yawmatrix * (pitchmatrix * rollMatrix);
offset = RotationOfOrbit * orbitDistance;
newPos = worldPos + offset;
Matrix4by4 T = new Matrix4by4(new Vector3(1, 0, 0),
new Vector3(0, 1, 0)
, new Vector3(0, 0, 1),
new Vector3(newPos.x + offset.x, newPos.y + offset.y, newPos.z + offset.z));
Matrix4by4 S = new Matrix4by4(new Vector3(1, 0, 0) * Scale, new Vector3(0, 1, 0) * Scale, new Vector3(0, 0, 1) * Scale, Vector3.zero);
Matrix4by4 M = T * R * S;
for (int i = 0; i < TransformedVertices.Length; i++)
{
TransformedVertices[i] = M * ModelSpaceVertices[i];
}
MeshFilter MF = GetComponent <MeshFilter>();
MF.mesh.vertices = TransformedVertices;
MF.mesh.RecalculateNormals();
MF.mesh.RecalculateBounds();
}
private void Capture_ImageGrabbed(object sender, EventArgs e)
{
try
{
int sizeOfPicBox = Convert.ToInt32(picBoxCameraView.Height);
currentFrame = cameraCapture.QueryFrame().ToImage <Bgr, Byte>();
hsvFrame = currentFrame.Convert <Hsv, Byte>();
hsvFindColorFrame = ImageProcessing.ImageProcessing.FindColor(hsvFrame);
binaryFrame = ImageProcessing.ImageProcessing.ConvertImageToBinary(hsvFindColorFrame);
rectanglesFist = fistClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesPalm = palmClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTomb = tombClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTwoFingers = twoFingersClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesFinger = fingerClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
rectanglesTwoFingers = victoryClassifier.DetectMultiScale(binaryFrame, scaleFactor: 1.1, minNeighbors: 12);
foreach (var rectangle in rectanglesPalm)
{
currentFrame.Draw(rectangle, new Bgr(50, 255, 50));
richTextBoxStatus.Text = string.Empty + "Run";
richTextBoxRecognitionData.Text = "x = " + rectangle.X + "y = " + rectangle.Y;
MovingRobotXYZ.MoveRobotXYZ(rectangle, richTextBoxRecognitionData, serialPort);
}
foreach (var rectangle in rectanglesFist)
{
currentFrame.Draw(rectangle, new Bgr(255, 0, 0));
richTextBoxStatus.Text = string.Empty + "Stop";
}
foreach (var rectangle in rectanglesTomb)
{
currentFrame.Draw(rectangle, new Bgr(128, 0, 128));
richTextBoxStatus.Text = string.Empty + "Chwytak ON";
SendingCommandsToRobot.SendCommand("HNDOFF1", serialPort);
}
foreach (var rectangle in rectanglesTwoFingers)
{
currentFrame.Draw(rectangle, new Bgr(75, 0, 130));
richTextBoxStatus.Text = string.Empty + "Chwytak OFF";
SendingCommandsToRobot.SendCommand("HNDON1", serialPort);
}
foreach (var rectangle in rectanglesVictory)
{
currentFrame.Draw(rectangle, new Bgr(0, 0, 128));
int actualSpeed = Convert.ToInt32(speedTxtBox.Text);
int newSpeed;
if (actualSpeed == 100)
{
newSpeed = 100;
}
else
{
newSpeed = actualSpeed + 10;
}
SpeedControl.SpeedChange(newSpeed, serialPort, speedTxtBox);
}
foreach (var rectangle in rectanglesFinger)
{
currentFrame.Draw(rectangle, new Bgr(135, 200, 255));
int actualSpeed = Convert.ToInt32(speedTxtBox.Text);
int newSpeed;
if (actualSpeed == 0)
{
newSpeed = 0;
}
else
{
newSpeed = actualSpeed - 10;
}
SpeedControl.SpeedChange(newSpeed, serialPort, speedTxtBox);
}
Bitmap bitmap = currentFrame.ToBitmap();
bitmap.RotateFlip(RotateFlipType.RotateNoneFlipX);
picBoxCameraView.Image = bitmap;
}
catch (Exception)
{
}
}
public void GoFaster()
{
SpeedControl.IncreaseSpeed();
}
private void Start()
{
speedScript = transform.root.GetComponent <SpeedControl>();
}
public void Connect(string strName, out SpeedControl item)
{
ExAddProperty(this.m_pSelf, strName, 4, 0x7918);
item = null;
}
public void Connect(string strName, out SpeedControl item)
{
item = RuntimeObject.FromPtr(ExGetProperty(this.m_pSelf, strName, 4, 0x7918)) as SpeedControl;
}
void Start()
{
controller = GameObject.Find("SpeedController");
spController = controller.GetComponent <SpeedControl>();
}
public void GoSlower()
{
SpeedControl.DecreaseSpeed();
}
// Update section
// ---------------------------------------------------------------------------------------------
// Read the standard input values and translate them to the internal blocks.
// Also set the state values expected by each block.
// Called before each integration step.
protected override void DoUpdateBlocks()
{
// Collect input and settings
int[] inputData = data.Get(Channel.Input);
int[] settingsData = data.Get(Channel.Settings);
float brakePosition = Mathf.Clamp01(inputData[InputData.Brake] / 10000.0f);
float handbrakePosition = Mathf.Clamp01(inputData[InputData.Handbrake] / 10000.0f);
float throttlePosition = Mathf.Clamp01(inputData[InputData.Throttle] / 10000.0f);
float steerPosition = Mathf.Clamp(inputData[InputData.Steer] / 10000.0f, -1.0f, 1.0f);
int automaticGearInput = inputData[InputData.AutomaticGear];
int ignitionInput = inputData[InputData.Key];
// Process gear mode preventing direction changes when the vehicle is not stopped
m_gearMode = Mathf.Clamp(automaticGearInput, (int)Gearbox.AutomaticGear.R, (int)Gearbox.AutomaticGear.D);
if (m_gearMode != m_prevGearMode)
{
if (m_gearMode == (int)Gearbox.AutomaticGear.D && speed < -gearChangeMaxSpeed ||
m_gearMode == (int)Gearbox.AutomaticGear.R && speed > gearChangeMaxSpeed)
{
m_gearMode = m_prevGearMode;
}
else
{
m_prevGearMode = m_gearMode;
}
}
// No throttle if the vehicle is switched off.
if (ignitionInput < 0)
{
throttlePosition = 0.0f;
}
else
{
throttlePosition = SpeedControl.GetThrottle(speedControl, inputData, data.Get(Channel.Vehicle));
}
// Process inputs
// Input settings are configured in the car independently of the torque maps.
// Being in a separate class allows all intermediate steps to be traced separately
// (pedal > input > electrical torque > mechanical torque > wheel torque)
int gear = m_gearMode - (int)Gearbox.AutomaticGear.N;
m_throttleInput = input.GetThrottleInput(throttlePosition);
m_brakePressure = input.GetBrakePressure(brakePosition);
if (m_brakePressure > brakePressureThreshold)
{
m_throttleInput = 0.0f;
}
m_frontPowertrain.SetInputs(gear, m_throttleInput, m_brakePressure);
m_rearPowertrain.SetInputs(gear, m_throttleInput, m_brakePressure);
// Traction control
if (gear != 0)
{
// Independent traction control per axle
/*
* int tcsOverride = settingsData[SettingsData.TcsOverride];
* if (tractionControl.enabled && tcsOverride != 2 || tcsOverride == 1)
* {
* float frontFinalRatio = frontDifferential.gearRatio * Mathf.Sign(gear);
* float rearFinalRatio = rearDifferential.gearRatio * Mathf.Sign(gear);
* float maxFrontRpm = TractionControl.GetMaxEngineRpm(this, tractionControl, 0, 1, frontFinalRatio, maxDriveRpm);
* float maxRearRpm = TractionControl.GetMaxEngineRpm(this, tractionControl, 2, 3, rearFinalRatio, maxDriveRpm);
*
* // TO-DO: electric motors
* // m_frontPowertrain.directDrive.maxRpm = maxFrontRpm;
* // m_rearPowertrain.directDrive.maxRpm = maxRearRpm;
* }
*/
// Apply motor input
/*
* float motorInput = throttlePosition * Mathf.Sign(gear);
* m_rearPowertrain.electricMotor.motorInput = motorInput * frontToRearBalance;
* m_frontPowertrain.electricMotor.motorInput = motorInput * (1.0f - frontToRearBalance);
*/
}
// Steering
if (settingsData[SettingsData.SteeringAidsOverride] != 2)
{
SteeringAids.Apply(this, steering, steeringAids, ref steerPosition);
}
m_steering.steerInput = steerPosition;
m_steering.DoUpdate();
// Track changes in the inertia settings
m_inertia.DoUpdate(cachedRigidbody);
// Differential overrides
m_frontPowertrain.differentialOverride = (Powertrain.DifferentialOverride)settingsData[SettingsData.DifferentialLock];
m_rearPowertrain.differentialOverride = (Powertrain.DifferentialOverride)settingsData[SettingsData.DifferentialLock];
}
