//运动到卸货点
 public void gotoUnloadPoint()
 {
     if (speedChangeable)
     {
         carMessage.speed = moveSpeed;
     }
     carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
                                                       task.unloadGoods_Edge.vertexNum1];
     //若小车已经在最后一条边上
     if (carMessage.carEdge.vertexNum1 == task.unloadGoods_Edge.vertexNum1)
     {
         //判断是否已经到达卸货点
         Vector3 unloadPos1 = new Vector3(task.unloadGoodsPos.x,
                                          task.unloadGoodsPos.y + carMessage.carSize.y / 2, task.unloadGoodsPos.z);
         if (transform.localPosition == unloadPos1)
         {
             carMessage.workState = WorkState.Unloading;
             carMessage.speed     = 0.0f;
             unloadStartTime      = Time.time;
         }
         else
         {
             gotoPos(task.unloadGoodsPos);
         }
     }
     else
     {
         //得到车的下一个节点
         int nextVertexNum = carMessage.carEdge.vertexNum2;
         TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
         gotoVertex(nextVertex);
     }
 }
Exemplo n.º 2
0
 //模拟运动到取货点
 public void gotoLoadPoint()
 {
     if (speedChangeable)
     {
         carMessage.speed = moveSpeed;
     }
     carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
                                                       task.loadGoods_Edge.vertexNum1];
     //若小车已经在最后一条边上
     if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
     {
         //判断是否已经到达取货点
         Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
                                        task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
         if (carMessage.carPos == loadPos1)
         {
             carMessage.workState = WorkState.Loading;
             carMessage.speed     = 0.0f;//之后车是静止的
         }
         else
         {
             gotoPos(task.loadGoodsPos);
         }
     }
     else
     {
         //得到车的下一个节点
         int nextVertexNum = carMessage.carEdge.vertexNum2;
         TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
         gotoVertex(nextVertex);
     }
 }
    //运动到取货点
    public void gotoLoadPoint()
    {
        if (speedChangeable)
        {
            carMessage.speed = moveSpeed;
        }
        carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
                                                          task.loadGoods_Edge.vertexNum1];
        //若小车已经在最后一条边上
        if (carMessage.carEdge.vertexNum1 == task.loadGoods_Edge.vertexNum1)
        {
            //判断是否已经到达取货点
            Vector3 loadPos1 = new Vector3(task.loadGoodsPos.x,
                                           task.loadGoodsPos.y + carMessage.carSize.y / 2, task.loadGoodsPos.z);
            if (transform.localPosition == loadPos1)
            {
                carMessage.workState = WorkState.Loading;
                carMessage.speed     = 0.0f;//之后车是静止的
                loadStartTime        = Time.time;
                //更新可分配的车和任务
                Car carToRemove = new Car();
                foreach (Car c in GlobalVaribles.allocableCars)
                {
                    if (c.carName.Equals(this.carMessage.carName))
                    {
                        carToRemove = c;
                    }
                }
                GlobalVaribles.allocableCars.Remove(carToRemove);

                Task taskRemoveALLT = new Task();
                foreach (Task t in GlobalVaribles.allocableTasks)
                {
                    if (t.taskID == task.taskID)
                    {
                        taskRemoveALLT = t;
                    }
                }
                GlobalVaribles.allocableTasks.Remove(taskRemoveALLT);

                //更新UnAllocableMatch
                GlobalVaribles.UnAllocableMatch.Add(carMessage, task);
            }
            else
            {
                gotoPos(task.loadGoodsPos);
            }
        }
        else
        {
            //得到车的下一个节点
            int nextVertexNum = carMessage.carEdge.vertexNum2;
            TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
            gotoVertex(nextVertex);
        }
    }
 // Update is called once per frame
 void FixedUpdate()
 {
     if (carPathData != null)//防止循环从0->0
     {
         if (carPathData.pathList[0].index == carPathData.pathList[1].index)
         {
             carPathData = null;
         }
     }
     CarMovement();
     AvoidCrash();
 }
Exemplo n.º 5
0
 //模拟update函数
 public void SimuUpdate()
 {
     if (carPathData != null)
     {
         if (carPathData.pathList[0].index == carPathData.pathList[1].index)
         {
             carPathData = null;
         }
     }
     SimuCarMovement();
     SimuAvoidCrash();
 }
 //取货
 public void loadingGoods()
 {
     speedChangeable = false;
     if (Time.time >= loadStartTime + task.loadTime)
     {
         carMessage.workState = WorkState.WayToUnload;
         speedChangeable      = true;
         carMessage.speed     = moveSpeed;
         //现在表示从取货点到卸货点的路径
         carPathData = GlobalVaribles.trailerGraph.pathMap[task.loadGoods_Edge.vertexNum1,
                                                           task.unloadGoods_Edge.vertexNum1];
     }
 }
Exemplo n.º 7
0
 //卸货
 public void unloadingGoods()
 {
     if (unloadAccumuTime >= task.unloadTime)
     {
         carMessage.workState = WorkState.Empty;
         speedChangeable      = true;
         carMessage.speed     = 0.0f;
         task             = null;//清空任务
         carPathData      = null;
         unloadAccumuTime = 0;
     }
     unloadAccumuTime += GlobalVaribles.frameTime;
 }
    //运动到某个点
    public void gotoVertex(TrailerGraph.Vertex vertex)
    {
        Vector3 vPos1 = vertex.vertexPos;

        vPos1.y = transform.localPosition.y;
        if (!VectorTool.IsCloseEnough(vPos1, transform.localPosition, carMessage.speed))
        {
            //判断车在直线还是曲线
            if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
            {
                //旋转运动
                MyRotateAround(carMessage.carEdge.curveCenter, new Vector3(0, 1, 0), carMessage.speed * Time.deltaTime);
                carMessage.carPos = transform.localPosition;
            }
            else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
            {
                //直线运动
                transform.localPosition = Vector3.MoveTowards(transform.localPosition, vPos1, carMessage.speed * Time.deltaTime);
                carMessage.carPos       = transform.localPosition;
            }
            else
            {
            }
        }
        else//已经到达该点
        {
            transform.localPosition = vPos1;
            carMessage.carPos       = transform.localPosition;

            carPathData = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
            if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
            }
            else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
            }
            else
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
            }
            //进入新的曲线, 更新angled
            carMessage.angled = carMessage.carEdge.startDeg;
            //旋转值的修正
            Vector3 rotation = transform.localEulerAngles;
            rotation.y = carMessage.carEdge.endDeg;
            transform.localEulerAngles = rotation;
            return;
        }
    }
Exemplo n.º 9
0
 //取货
 public void loadingGoods()
 {
     if (loadAccumuTime >= task.loadTime)
     {
         carMessage.workState = WorkState.WayToUnload;
         speedChangeable      = true;
         carMessage.speed     = moveSpeed;
         //现在表示从取货点到卸货点的路径
         carPathData = GlobalVaribles.trailerGraph.pathMap[task.loadGoods_Edge.vertexNum1,
                                                           task.unloadGoods_Edge.vertexNum1];
         loadAccumuTime = 0;
     }
     loadAccumuTime += GlobalVaribles.frameTime;
 }
Exemplo n.º 10
0
    //运动到某个点
    public void gotoVertex(TrailerGraph.Vertex vertex)
    {
        Vector3 vPos1 = vertex.vertexPos;

        vPos1.y = carMessage.carPos.y;
        if (!VectorTool.IsCloseEnough(vPos1, carMessage.carPos, carMessage.speed))
        {
            //判断车在直线还是曲线
            if (carMessage.carEdge.lineType.Equals(LineType.Curve))//曲线
            {
                //模拟旋转运动
                SimuRotateAround(curveRadius, carMessage.carEdge.curveCenter, carMessage.speed * GlobalVaribles.frameTime);
            }
            else if (carMessage.carEdge.lineType.Equals(LineType.Straight))
            {
                //模拟直线运动
                SimuMoveTowards(vPos1, carMessage.speed * GlobalVaribles.frameTime);
            }
            else
            {
            }
        }
        else//已经到达该点
        {
            carMessage.carPos = vPos1;
            carPathData       = GlobalVaribles.trailerGraph.pathMap[vertex.index, carPathData.pathList[carPathData.pathList.Count - 1].index];
            if (carMessage.workState == WorkState.WayToLoad && vertex.index == task.loadGoods_Edge.vertexNum1)
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.loadGoods_Edge.vertexNum2];
            }
            else if (carMessage.workState == WorkState.WayToUnload && vertex.index == task.unloadGoods_Edge.vertexNum1)
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[vertex.index, task.unloadGoods_Edge.vertexNum2];
            }
            else
            {
                carMessage.carEdge = GlobalVaribles.trailerGraph.adjMatrix[carPathData.pathList[0].index, carPathData.pathList[1].index];
            }
            carMessage.angled = carMessage.carEdge.startDeg;
            return;
        }
    }
Exemplo n.º 11
0
    //卸货
    public void unloadingGoods()
    {
        speedChangeable = false;
        if (Time.time >= unloadStartTime + task.unloadTime)
        {
            carMessage.workState = WorkState.Empty;
            speedChangeable      = true;
            carMessage.speed     = 0.0f;

            //任务完成,变为白色
            GameObject taskLoadPoint   = GameObject.Find("Task" + task.taskID + "_loadPoint");
            GameObject taskUnLoadPoint = GameObject.Find("Task" + task.taskID + "_unloadPoint");
            taskLoadPoint.GetComponent <MeshRenderer>().material.color       =
                taskUnLoadPoint.GetComponent <MeshRenderer>().material.color = Color.white;
            //去除该任务
            Task taskToRemove = new Task();
            foreach (Task t in GlobalVaribles.allTasks)
            {
                if (t.taskID == task.taskID)
                {
                    taskToRemove = t;
                }
            }
            GlobalVaribles.allTasks.Remove(taskToRemove);

            KeyValuePair <Car, Task> kvpToRemove = new KeyValuePair <Car, Task>();
            foreach (KeyValuePair <Car, Task> kvp in GlobalVaribles.UnAllocableMatch)
            {
                if (kvp.Key.carName == carMessage.carName)
                {
                    kvpToRemove = kvp;
                }
            }
            GlobalVaribles.UnAllocableMatch.Remove(kvpToRemove.Key); //删除UnAllocableMatch对应项
            GlobalVaribles.allocableCars.Add(carMessage);            //小车重新可分配


            task        = null;//清空任务
            carPathData = null;
        }
    }
Exemplo n.º 12
0
 //模拟在碰撞时修改小车速度
 public void SimuChangeSpeed(Car targetCar)
 {
     if (speedChangeable)
     {
         bool isfront = isFront(targetCar);
         if (isfront)
         {
             if (carPathData == null)//只有可能在empty时发生,此时前车需要先获得路径
             {
                 carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum2,
                                                                   carMessage.carEdge.vertexNum1];
             }
             carMessage.speed = moveSpeed;
         }
         else
         {
             carMessage.speed = targetCar.speed;
             speedChangeable  = false;
         }
     }
 }
Exemplo n.º 13
0
    //计算小车之间的方向(前后)并 修改小车速度
    public void changeSpeed(GameObject target)
    {
        Car targetCar = target.GetComponent <ShowCarMessage>().carMessage;

        if (speedChangeable)
        {
            bool isfront = isFront(target); //判断前后关系
            if (isfront)                    //本车在前,修改自己的速度
            {
                if (carPathData == null)    //只有可能在empty时发生,此时前车需要先获得路径
                {
                    carPathData = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum2,
                                                                      carMessage.carEdge.vertexNum1];
                }
                carMessage.speed = moveSpeed;
            }
            else//本车在后面,自己的速度变为前车的速度,同时速度不能在更改了(除非脱离了当前的碰撞)
            {
                carMessage.speed = targetCar.speed;
                speedChangeable  = false;
            }
        }
    }
Exemplo n.º 14
0
    //车的运动函数
    public void CarMovement()
    {
        if (task != null)//有任务了
        {
            switch (carMessage.workState)
            {
            case WorkState.Empty:
                carMessage.workState = WorkState.WayToLoad;
                carPathData          = GlobalVaribles.trailerGraph.pathMap[carMessage.carEdge.vertexNum1,
                                                                           task.loadGoods_Edge.vertexNum1];
                if (speedChangeable)
                {
                    carMessage.speed = moveSpeed;
                }
                break;

            case WorkState.WayToLoad:
                gotoLoadPoint();
                break;

            case WorkState.Loading:
                loadingGoods();
                break;

            case WorkState.WayToUnload:
                gotoUnloadPoint();
                break;

            case WorkState.Unloading:
                unloadingGoods();
                break;

            default:
                break;
            }
        }
        else
        {
            switch (carMessage.workState)
            {
            case WorkState.Empty:
                break;

            case WorkState.WayToLoad:
                carMessage.workState = WorkState.Empty;
                carMessage.speed     = 0;
                carPathData          = null;
                break;

            case WorkState.Loading:
                break;

            case WorkState.WayToUnload:
                break;

            case WorkState.Unloading:
                break;

            default:
                break;
            }
            if (carPathData != null)
            {
                int nextVertexNum = carMessage.carEdge.vertexNum2;//得到车要运动到的下一个节点
                TrailerGraph.Vertex nextVertex = GlobalVaribles.trailerGraph.vertexes[nextVertexNum];
                if (speedChangeable)
                {
                    carMessage.speed = moveSpeed;
                }
                gotoVertex(nextVertex);
            }
        }
    }