protected virtual void SetObstacleState()
{
if (obstacleTimer.isOnCooldown("Electric") == false)
{
obstacleState = ObstacleState.Run;
}
}
// Start is called before the first frame update
void Start()
{
ConstWheelDist = (Wheel_FL.position - Wheel_BL.position).magnitude;
_carState.position = transform.position;
_carState.turnTheta = 0;
_carState.speed = 0;
_carState.goalPosition = new Vector2(Goal.position.x, Goal.position.y);
ObstacleState o1 = new ObstacleState();
o1.position = new Vector2(0, 0);
o1.radius = 5;
_obstacleStates.Add(o1);
ObstacleState o2 = new ObstacleState();
o2.position = new Vector2(20, 0);
o2.radius = 5;
_obstacleStates.Add(o2);
ObstacleState o3 = new ObstacleState();
o3.position = new Vector2(-20, 0);
o3.radius = 5;
_obstacleStates.Add(o3);
resultLayers = TrainRearAxelBicycleModel();
trained = true;
transform.position = _carState.position;
}
public void UpdateSettings(ObstacleState upperLeftSensor, ObstacleState leftSensor, ObstacleState upperRightSensor, ObstacleState rightSensor, LogicOp operation)
{
this.upperLeftSensor = upperLeftSensor;
this.leftSensor = leftSensor;
this.upperRightSensor = upperRightSensor;
this.rightSensor = rightSensor;
this.operation = operation;
}
/// <summary>
/// Changing enemies states
/// </summary>
protected virtual void ChangeState(ObstacleState obstacleState)
{
if (this.obstacleState != obstacleState)
{
prevState = this.obstacleState;
this.obstacleState = obstacleState;
}
}
public ObstacleAction(string key, ObstacleState upperLeftSensor, ObstacleState leftSensor, ObstacleState upperRightSensor, ObstacleState rightSensor, LogicOp operation)
{
this.key = key;
this.upperLeftSensor = upperLeftSensor;
this.leftSensor = leftSensor;
this.upperRightSensor = upperRightSensor;
this.rightSensor = rightSensor;
this.operation = operation;
}
private void Awake()
{
containsEnemy = false;
destroyingInGame = false;
treasureObstacleLinked = false;
state = ObstacleState.Idle;
animator = GetComponent <Animator>();
}
private void Going()
{
if (Mathf.Abs(transform.position.y - finalposition.y) >= 0.1f)
{
transform.position += transform.up * Time.deltaTime * speed;
}
else
{
obstate = ObstacleState.leaving;
}
}
private void Leaving()
{
if (Mathf.Abs(transform.position.y - startposition.y) >= 0.1f)
{
transform.position -= transform.up * Time.deltaTime * speed;
}
else
{
obstate = ObstacleState.going;
}
}
void Start()
{
joystick = FindObjectOfType <Joystick>();
obstacleStates = FindObjectOfType <ObstacleState>();
for (int i = 0; i < obstacleStates.transform.childCount; i++)
{
if (obstacleStates.transform.GetChild(i).GetComponent <CombinigColors>() == null)
{
cancombiningAmount++;
}
}
}
void Start()
{
obstate = ObstacleState.going;
startposition = transform.position;
if (transform.rotation.x == 0)
{
finalposition = startposition + movementVector;
}
else
{
finalposition = startposition - movementVector;
}
}
//SpawnObstacle
public void SpawnObstacle()
{
ObstacleState whichObstacle = (ObstacleState)UnityEngine.Random.Range(0, obStateCount);
SpawnPlayer();
if (whichObstacle == ObstacleState.Spinner)
{
SpinnerSpawn();
}
else if (whichObstacle == ObstacleState.Slice)
{
SliceSpawn();
}
}
protected override void SaveSettings()
{
ObstacleState upperLeft = (ObstacleState)Enum.ToObject(typeof(ObstacleState), this.cbUpperLeft.SelectedIndex);
ObstacleState left = (ObstacleState)Enum.ToObject(typeof(ObstacleState), this.cbLeft.SelectedIndex);
ObstacleState upperRight = (ObstacleState)Enum.ToObject(typeof(ObstacleState), this.cbUpperRight.SelectedIndex);
ObstacleState right = (ObstacleState)Enum.ToObject(typeof(ObstacleState), this.cbRight.SelectedIndex);
LogicOp operation = LogicOp.And;
if (this.rbOr.Checked)
{
operation = LogicOp.Or;
}
this.action.UpdateSettings(upperLeft, left, upperRight, right, operation);
}
/// <summary>
/// 查询障碍物
/// </summary>
/// <param name="name"> mapPos的名字</param>
/// <param name="dirt">位置 0-3 代表 上下左右</param>
/// <returns> 0:没有障碍物 1：有障碍物 2 ： 墙 4：没有此name 3：下一步会有cell的障碍物</returns>
public int QuaryObstacle(string name, int dirt)
{
// 如果没有存在这个name
int value = 4;
ObstacleState obstacleState = IsObstacleofNext(name, dirt);
if (obstacleState != ObstacleState.Nothing)
{
return(1); // 有障碍
}
if (obstacle.ContainsKey(name) && dirt < DirtNum) // 防止溢出
{
value = obstacle[name][dirt];
}
return(value);
}
public void setState(ObstacleState newState)
{
switch (newState)
{
case ObstacleState.Stopped:
StateUpdate = stoppedUpdate;
break;
case ObstacleState.Moving:
StateUpdate = doMovement;
break;
default:
throw new System.ArgumentOutOfRangeException();
}
currentState = newState;
}
private IEnumerator GetPushedCoroutine(Node targetNode, bool twoTreasuresMerged = false)
{
coroutineRunning = true;
while (true)
{
if (transform.position == targetNode.worldPosition)
{
ObstaclePushedToEnd(twoTreasuresMerged);
coroutineRunning = false;
getPushedCoroutineObject = null;
yield break;
}
state = ObstacleState.Moving;
transform.position = Vector3.MoveTowards(transform.position, targetNode.worldPosition, obstaclePushSpeed * Time.deltaTime);
yield return(null);
}
}
public void ObstaclePushedToEnd(bool twoTreasuresMerged)
{
state = ObstacleState.Idle;
if (!ObstaclesManager.instance.allTreasuresMerged)
{
List <Obstacle> treasureObstacles = new List <Obstacle>();
for (int i = 0; i < ObstaclesManager.instance.totalObstaclesWithTreasure; i++)
{
treasureObstacles.Add(ObstaclesManager.instance.obstaclesList[i]);
}
//If this treasure was linked with another treasure and then moved away from the link, break the link.
if (hasTreasure && linkedTreasure != null && !twoTreasuresMerged)
{
TreasureLinkBroken();
}
//If this treasure was merged with another treasure.
if (twoTreasuresMerged && !ObstaclesManager.instance.allTreasuresMerged)
{
TreasuresLinked(linkedTreasure);
bool allTreasuresAreLinked = true;
for (int i = 0; i < treasureObstacles.Count; i++)
{
if (!ObstaclesManager.instance.obstaclesList[i].treasureObstacleLinked)
{
allTreasuresAreLinked = false;
break;
}
}
//If all Treasures are connected
CheckAllTreasuresMerged(allTreasuresAreLinked, treasureObstacles);
}
}
//Kill attached enemy, if any.
KillAttachedEnemies();
}
public ObstacleAction(string key, XmlElement properties)
{
this.key = key;
if (properties.Name != "properties")
{
throw new ActionException("Can't create the action");
}
foreach (XmlElement property in properties.ChildNodes)
{
switch (property.Name)
{
case "version":
break;
case "upperLeftSensor":
this.upperLeftSensor = (ObstacleState)Enum.Parse(typeof(ObstacleState), property.InnerText);
break;
case "leftSensor":
this.leftSensor = (ObstacleState)Enum.Parse(typeof(ObstacleState), property.InnerText);
break;
case "upperRightSensor":
this.upperRightSensor = (ObstacleState)Enum.Parse(typeof(ObstacleState), property.InnerText);
break;
case "rightSensor":
this.rightSensor = (ObstacleState)Enum.Parse(typeof(ObstacleState), property.InnerText);
break;
case "operation":
this.operation = (LogicOp)Enum.Parse(typeof(LogicOp), property.InnerText);
break;
default:
throw new ProjectException("Error el crear la acción");
}
}
}
public static GridObstacleState FromObstacleState(ObstacleState obst, GridCarModelState state)
{
double d = ComMath.Normal(Math.Sqrt(obst.pp.position.X * obst.pp.position.X + obst.pp.position.Y * obst.pp.position.Y), GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double a = ComMath.Normal(state.TargetDist, GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double ang = Math.PI - (Math.Atan2(obst.pp.position.Y, obst.pp.position.X) + Math.PI) + state.TargetAngle - state.TargetFinishAngle;
if (ang > Math.PI)
{
ang -= 2 * Math.PI;
}
if (ang < -Math.PI)
{
ang += 2 * Math.PI;
}
double AA = -2 * d * Math.Cos(ang);
double BB = d * d;
double obstdist = Math.Sqrt(a * a + BB + AA * a);
double obstang = state.TargetAngle + Math.Sign(ang) * Math.Acos((a * a + obstdist * obstdist - d * d) / (2 * a * obstdist));
GridObstacleState gos = new GridObstacleState(obstdist, obstang, obst.radius);
return(gos);
}
public void UpdateTransparancy()
{
Vector3 headPos = DepthRayManager.Instance.HeadPosition;
Vector3 rayDirection = DepthRayManager.Instance.RayDirection;
float distanceMarkerHead = DepthRayManager.Instance.DistanceHeadDepthMarker;
Vector3 dirHeadObj = transform.position - headPos;
angleBetweenRayObj = Vector3.Angle(rayDirection, dirHeadObj);
float distanceObjHead = Vector3.Distance(transform.position, headPos);
if (angleBetweenRayObj < 30 && angleBetweenRayObj > -30 &&
distanceMarkerHead > distanceObjHead - 0.05)
{
if (ClickManager.Instance.CurrentFocusedObject == gameObject)
{
state = ObstacleState.InFocusTransparent;
}
else
{
state = ObstacleState.Transparent;
}
}
else
{
if (ClickManager.Instance.CurrentFocusedObject == gameObject)
{
state = ObstacleState.InFocus;
}
else
{
state = ObstacleState.Default;
}
}
}
protected void NewWaitTime()
{
waitTimer = Random.Range(Obstacle.WaitingTimeMin, Obstacle.WaitingTimeMax);
obstacleState = ObstacleState.Waiting;
}
private void Start()
{
material = GetComponent <Renderer>().material;
defaultColor = material.color;
state = ObstacleState.Default;
}
void FixedUpdate()
{
//This if statement will query the Planner for a new plan every second
if (frameCounter++ % (int)(1.0f / Time.fixedDeltaTime) == 0)
{
isAggresive = myRand.Next(0, 11) == 0;
if (currentState != null && currentState.otherCars != null && currentState.otherCars.Length == 0)
{
isAggresive = false;
}
currentState = new State();// Generate a state representing the world to be passed to the HTNPlanner
currentState.myCar = new CarState(myCarController.carUniqueID, transform.position, GetComponent <Rigidbody>().velocity, transform.forward);
if (allCars.Length > 0)
{
int otherCarCount = 0;
foreach (GameObject car in allCars)
{
if (car == gameObject)
{
continue;
}
if (car == null)
{
continue;
}
otherCarCount++;
}
currentState.otherCars = new CarState[otherCarCount];
otherCarCount = 0;
foreach (GameObject car in allCars)
{
if (car == gameObject)
{
continue;
}
if (car == null)
{
continue;
}
currentState.otherCars[otherCarCount++] = new CarState(car.GetComponent <CarController>().carUniqueID, car.transform.position, car.GetComponent <Rigidbody>().velocity, car.transform.forward);
}
}
if (GameLogic.myInstance != null)
{
System.Collections.Generic.List <GameObject> obstacleList = GameLogic.myInstance.obstacleList;
ObstacleState[] obstacles = new ObstacleState[obstacleList.Count];
for (int i = 0; i < obstacleList.Count; i++)
{
Vector3 vel = new Vector3(0, 0, 0);
Rigidbody obstacleRB = obstacleList[i].transform.GetComponent <Rigidbody>();
if (obstacleRB != null)
{
vel = obstacleRB.velocity;
}
obstacles[i] = new ObstacleState(obstacleList[i].transform.position, vel, obstacleList[i].transform.forward, obstacleList[i].GetComponent <MeshRenderer>().bounds);
}
currentState.obstacles = obstacles;
}
//Use raycasting to calculate the direction of the track
float zPos = Mathf.Max(myCarController.GetComponent <Rigidbody>().velocity.z * 1.0f, 5.0f);
Vector3 midPos = new Vector3(transform.position.x, 0.5f, transform.position.z + zPos);
Ray targetRay = new Ray(midPos - new Vector3(1, 0, 0) * rayWidth / 2, new Vector3(1, 0, 0));
RaycastHit[] hits = Physics.RaycastAll(targetRay, rayWidth, 1 << LayerMask.NameToLayer("AIGuide"));
Vector3[] targetPos = new Vector3[hits.Length];
for (int i = 0; i < hits.Length; i++)
{
targetPos[i] = hits[i].point;
}
currentState.targetPositions = targetPos;
//If cannot find road, assume it is lost somehow - destroy car to respawn.
if (currentState.targetPositions.Length == 0)
{
GameLogic.myInstance.DestroyCar(myCarController.myPlayerData, true);
Debug.LogWarning("Error : Could not find target position for car " + transform.gameObject.name + ". Killing car");
}
//Set the waitHandle to make sure that the planner can retrieve a new planning
waitHandle.Set();
}
}
void FixedUpdate()
{
//This if statement will query the Planner for a new plan every second
if (frameCounter++ % (int)(1.0f / Time.fixedDeltaTime) == 0)
{
isAggresive = myRand.Next(0, 11) == 0;
if (currentState != null && currentState.otherCars != null && currentState.otherCars.Length == 0)
isAggresive = false;
currentState = new State();// Generate a state representing the world to be passed to the HTNPlanner
currentState.myCar = new CarState(myCarController.carUniqueID, transform.position, GetComponent<Rigidbody>().velocity, transform.forward);
if (allCars.Length > 0)
{
int otherCarCount = 0;
foreach (GameObject car in allCars)
{
if (car == gameObject) continue;
if (car == null) continue;
otherCarCount++;
}
currentState.otherCars = new CarState[otherCarCount];
otherCarCount = 0;
foreach (GameObject car in allCars)
{
if (car == gameObject) continue;
if (car == null) continue;
currentState.otherCars[otherCarCount++] = new CarState(car.GetComponent<CarController>().carUniqueID, car.transform.position, car.GetComponent<Rigidbody>().velocity, car.transform.forward);
}
}
if (GameLogic.myInstance != null)
{
System.Collections.Generic.List<GameObject> obstacleList = GameLogic.myInstance.obstacleList;
ObstacleState[] obstacles = new ObstacleState[obstacleList.Count];
for (int i = 0; i < obstacleList.Count; i++)
{
Vector3 vel = new Vector3(0, 0, 0);
Rigidbody obstacleRB = obstacleList[i].transform.GetComponent<Rigidbody>();
if (obstacleRB != null)
vel = obstacleRB.velocity;
obstacles[i] = new ObstacleState(obstacleList[i].transform.position, vel, obstacleList[i].transform.forward, obstacleList[i].GetComponent<MeshRenderer>().bounds);
}
currentState.obstacles = obstacles;
}
//Use raycasting to calculate the direction of the track
float zPos = Mathf.Max(myCarController.GetComponent<Rigidbody>().velocity.z * 1.0f, 5.0f);
Vector3 midPos = new Vector3(transform.position.x, 0.5f, transform.position.z + zPos);
Ray targetRay = new Ray(midPos - new Vector3(1, 0, 0) * rayWidth / 2, new Vector3(1, 0, 0));
RaycastHit[] hits = Physics.RaycastAll(targetRay, rayWidth, 1 << LayerMask.NameToLayer("AIGuide"));
Vector3[] targetPos = new Vector3[hits.Length];
for (int i = 0; i < hits.Length; i++)
targetPos[i] = hits[i].point;
currentState.targetPositions = targetPos;
//If cannot find road, assume it is lost somehow - destroy car to respawn.
if (currentState.targetPositions.Length == 0)
{
GameLogic.myInstance.DestroyCar(myCarController.myPlayerData, true);
Debug.LogWarning("Error : Could not find target position for car " + transform.gameObject.name + ". Killing car");
}
//Set the waitHandle to make sure that the planner can retrieve a new planning
waitHandle.Set();
}
}
