// Use this for initialization
void Start()
{
myref = gameObject.transform;
VelController = GetComponent <VehicleVelocityController>();
TargetWP = Instantiate(targetWP_Mark);
TargetWP.name = gameObject.name + "TargetWP";
//For displaying red signs on the terrain
WPpos = TargetWP.GetComponent <terrainAttachment>();
}
void pathConstraction()
{
for (int WP_i = 0; WP_i < PathWPs_PosesAndVels.Count; WP_i++)
{
if (WP_i >= PathWPs.Count)
{
GameObject newWP_Object = Instantiate(PathWP_Mark);
newWP_Object.name = VehicleName + "_PathWP_" + WP_i.ToString();
PathWPs.Add(newWP_Object);
}
terrainAttachment WPpos = PathWPs[WP_i].GetComponent <terrainAttachment>();
WPpos.moveTo(new Vector3(PathWPs_PosesAndVels[WP_i].x, PathWPs_PosesAndVels[WP_i].y, 0));
}
}
// Use this for initialization
void Start()
{
myref = gameObject.transform;
shahid = GetComponent <ShahidController>();
string shahidName = gameObject.name;
targetWP_Mark = Instantiate(targetWP_Mark); // creating a private copy
targetWP_Mark.name = shahidName + "Target";
TargetMarkPos = targetWP_Mark.GetComponent <terrainAttachment>();
shahidTargetPoseAndVel = new Vector3(myref.position.x, myref.position.z, 0);
Debug.Log("ShahidWPController::Start - targetRadius is:" + targetRadius.ToString() + " shahidTargetPoseAndVel:" + shahidTargetPoseAndVel); //+myref.position);
}
void LeaderSetup()
{
foreach (var vehicleXML in file.Descendants("platform_pose"))
{
LeaderPose = new Vector2(float.Parse(vehicleXML.Element("initial_platform_position_on_map_X_axis").Value),
float.Parse(vehicleXML.Element("initial_platform_position_on_map_Y_axis").Value)); // * MapSize;
LeaderAzimuth = float.Parse(vehicleXML.Element("initial_platform_azimut_on_map").Value);
//LeaderVehicle = Instantiate(LeaderVehicleRef);
terrainAttachment LeaderVehiclePos = LeaderVehicle.GetComponent <terrainAttachment>();
LeaderVehiclePos.moveTo(new Vector3(LeaderPose.x, LeaderPose.y, 0.0f));
LeaderVehicle.transform.eulerAngles = new Vector3(0, LeaderAzimuth * Mathf.Rad2Deg, 0);
Debug.Log("Leader position:" + LeaderPose.x.ToString() + "," + LeaderPose.y.ToString());
}
}
void FollowerSetup()
{
float FollowerDiss = 20; //When inserted scenario doesn't exist, the distance between the two vehicle is 20 and the
// lock works better .... it was 30;
Vector2 diffVec = new Vector2(Mathf.Sin(LeaderAzimuth), Mathf.Cos(LeaderAzimuth)) * FollowerDiss;
Vector2 FollowerPose = LeaderPose - diffVec;
float FollowerAzimuth = LeaderAzimuth;
//FollowerVehicle = Instantiate(FollowerVehicleRef);
terrainAttachment FollowerVehiclePos = FollowerVehicle.GetComponent <terrainAttachment>();
FollowerVehiclePos.moveTo(new Vector3(FollowerPose.x, FollowerPose.y, 0.0f));
FollowerVehiclePos.transform.eulerAngles = new Vector3(0, FollowerAzimuth * Mathf.Rad2Deg, 0);
Debug.Log("Follower position:" + FollowerPose.x.ToString() + "," + FollowerPose.y.ToString());
//FollowerVehicle = oshkosh
VehiclePathController FollowerPathController = FollowerVehicle.GetComponent <VehiclePathController>();
FollowerPathController.PathWPs_PosesAndVels.Clear();
VehicleFollowerPathController PathController = FollowerVehicle.GetComponent <VehicleFollowerPathController>();
PathController.leaderVehicle = LeaderVehicle.transform;
}
