/// <summary>
/// Called by Unity every frame. This method uses the sensor CanSee to change the color of the robot.
/// It moves the robot linearly along the path defined by the waypoints
///
/// Date Author Description
/// 2017-11-02 BRB Initial Testing
/// </summary>
void Update()
{
myRenderer.material.color = sensor.CanSee(target)?Color.red:Color.green; // Use of sensor
int back = Mathf.FloorToInt(u);
int ahead = (back + 1) % wayPoint.Length;
Vector3 delta = wayPoint[ahead] - transform.position;
delta.Normalize();
Quaternion facing = Quaternion.LookRotation(delta);
if (Vector3.Dot(delta, transform.forward) > CLOSE_ENOUGH_COSINE)
{
transform.rotation = facing;
transform.position = Vector3.Lerp(wayPoint[back], wayPoint[ahead], u - back);
u += SPEED * Time.deltaTime;
if (u >= wayPoint.Length)
{
u -= wayPoint.Length;
}
}
else
{
transform.rotation = Quaternion.RotateTowards(transform.rotation, facing, ANGLE + Time.deltaTime);
}
}
void Update()
{
//myRenderer.material.color = sensor.CanSee(target)?Color.red:Color.green; // Use of sensor
foreach (Transform x in targets)
{
target = x;
if (sensor.CanSee(target))
{
Debug.Log("Found Target!");
tracker.Tracking(target);
}
}
}
