private void SetRotationVariables()
{
directionConcesutiveWaypoints = MyVector3.Subtract(waypoints_position[NextTarget()], waypoints_position[target]).ToCylindrical();
rotationPosition = MyVector3.Subtract(position, waypoints_position[target]).ToCylindrical();
if (rotationPosition.getRadius() > 0)
{
angularVelocity = velocity / rotationPosition.getRadius();
rotating = true;
float angle = MyVector3_Cylindrical.DeltaAngleRadiants(rotationPosition, directionConcesutiveWaypoints);
//choose the rotation direction so that the bll always travels along the longest arc
if (angle >= Mathf.PI)
{
clockwise = true;
}
else
{
clockwise = false;
}
}
else
{//the ball is exactly on top of the waypoint.
//No rotation occurs in this case and the ball moves towards the next waypoint
MakeRed(target);
target = NextTarget();
MakeGreen(target);
MakeYellow(NextTarget());
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
}
}
public void Calculate()
{
try
{//parse strings into floating point numbers
float pos1_x = Single.Parse(pos1_inputs[0].text);
float pos1_y = Single.Parse(pos1_inputs[1].text);
float pos1_z = Single.Parse(pos1_inputs[2].text);
float pos2_x = Single.Parse(pos2_inputs[0].text);
float pos2_y = Single.Parse(pos2_inputs[1].text);
float pos2_z = Single.Parse(pos2_inputs[2].text);
float num = Single.Parse(radius_input.text);
if (num < 0)
{
throw new Exception("Only positive radii allowed!");
}
pos1 = new MyVector3(pos1_x, pos1_y, pos1_z);
pos2 = new MyVector3(pos2_x, pos2_y, pos2_z);
radius = num;
}
catch (Exception e)
{//parsing failed
Debug.LogError(e.Message);
pos1_inputs[0].text = "";
pos1_inputs[1].text = "";
pos1_inputs[2].text = "";
pos2_inputs[0].text = "";
pos2_inputs[1].text = "";
pos2_inputs[2].text = "";
radius_input.text = "";
return;
}
//printe vectors to the scene
directionalUnitVect.text = MyVector3.DirectionalUnitVector(pos1, pos2).Print();
closerThanRadius.text = MyVector3.CloserThanRadius(pos1, pos2, radius).ToString();
}
private void SetLinearMovementVariables()
{
rotationPosition = new MyVector3_Cylindrical(
rotationPosition.getRadius(),
directionConcesutiveWaypoints.getAzmuthalRad(), //place ball exctly between the current and the next waypoint
rotationPosition.getY());
rotating = false;
position = MyVector3.Add(rotationPosition.ToCartesian(), waypoints_position[target]);
MakeRed(target);
target = NextTarget();
MakeGreen(target);
MakeYellow(NextTarget());
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
}
// Start is called before the first frame update
void Start()
{
position = ToMyVector3(gameObject.transform.position);
waypoints_position = new MyVector3[waypoints.Length];
for (int i = 0; i < waypoints.Length; i++)
{
waypoints_position[i] = ToMyVector3(waypoints[i].position);
}
target = 0;
MakeGreen(target);
MakeYellow(NextTarget());
rotationPosition = MyVector3.Subtract(position, waypoints_position[target]).ToCylindrical();
movementDirection = MyVector3.DirectionalUnitVector(position, waypoints_position[target]);
rotating = false;
}
