void Start()
{
rigidbody2D = GetComponent<Rigidbody2D>();
collider2D = GetComponent<Collider2D>();
animator = GetComponent<Animator>();
raycasting = GetComponent<Raycasting>();
}
private void InitializeRenderers()
{
Renderers = new Dictionary <string, Renderer>();
Renderer raytracing = new Raytracing(
canvas: Canvas,
scene: CurrentScene,
cameraPos: CameraPos,
maxDepth: 10
);
Renderers.Add("Raytracing", raytracing);
Renderer raycasting = new Raycasting(
canvas: Canvas,
scene: CurrentScene,
cameraPos: CameraPos
);
Renderers.Add("Raycasting", raycasting);
Renderer zbuffer = new ZBuffer(
canvas: Canvas,
scene: CurrentScene
);
Renderers.Add("ZBuffer", zbuffer);
RendererComboBox.DataSource = new BindingSource(Renderers, null);
RendererComboBox.DisplayMember = "Key";
RendererComboBox.ValueMember = "Value";
}
public override void OnInspectorGUI()
{
raycasting = (Raycasting)target;
foreach (var ray in raycasting.RaycastHits)
{
//Handles.DrawLine(ray.from, ray.to);
}
}
// Start is called before the first frame update
void Start()
{
grabbing = false;
playable = true;
sc_grabmesh = go_grabmesh.GetComponent <Raycasting>();
}
// Checks if all edges of the rectangle are in the bounding polygon
public bool isInPolygon(Vector2[] boundingPolygon)
{
for (int i = 0; i < vertices.Length; i++)
{
if (!Raycasting.insidePolygon(vertices [i].pos.x, vertices [i].pos.z, boundingPolygon))
{
return(false);
}
}
return(true);
}
public override List <PointInfo> completePath(PointInfo curPointInfo, PointInfo goalPointInfo, World world, bool collisionCheck = true)
{
List <PointInfo> path = new List <PointInfo> ();
while (Vector3.Distance(goalPointInfo.pos, curPointInfo.pos) != 0)
{
curPointInfo = moveTowards(curPointInfo, goalPointInfo.pos);
if (collisionCheck && Raycasting.insideObstacle(curPointInfo.pos.x, curPointInfo.pos.z, world.obstacles))
{
return(null);
}
path.Add(curPointInfo);
}
return(path);
}
void OnSceneGUI()
{
Raycasting fow = (Raycasting)target;
Handles.color = Color.white;
Handles.DrawWireArc(fow.transform.position, Vector3.up, Vector3.forward, 360, fow.viewRadius);
Vector3 viewAngleA = fow.DirFromAngle(-fow.viewAngle / 2, false);
Vector3 viewAngleB = fow.DirFromAngle(fow.viewAngle / 2, false);
Handles.DrawLine(fow.transform.position, fow.transform.position + viewAngleA * fow.viewRadius);
Handles.DrawLine(fow.transform.position, fow.transform.position + viewAngleB * fow.viewRadius);
Handles.color = Color.red;
foreach (Transform visibleTarget in fow.visibleTargets)
{
Handles.DrawLine(fow.transform.position, visibleTarget.position);
}
}
private bool canSee(World.VisibilityVertex v1, World.VisibilityVertex v2)
{
var visible = true;
if (v1.obstacleVertex && v2.obstacleVertex && v1.obstacleIndex == v2.obstacleIndex &&
Raycasting.insidePolygon((v1.vertex.x + v2.vertex.x) / 2, (v1.vertex.y + v2.vertex.y) / 2, world.obstacles [v1.obstacleIndex]))
{
return(false);
}
else
{
for (var k = 0; k < world.obstacleEdges.Count; k++)
{
if (Raycasting.segmentsIntersect(v1.vertex, v2.vertex, world.obstacleEdges [k].vertex1, world.obstacleEdges [k].vertex2))
{
return(false);
}
}
}
return(true);
}
void Awake()
{
// Controller only ever needs to be setup once
Raycasting ray = GetComponent <Raycasting>();
if (ray.controllerLeft != null && ray.controllerRight != null)
{
return;
}
GameObject leftController = null, rightController = null;
#if SteamVR_Legacy
SteamVR_ControllerManager CameraRigObject = FindObjectOfType <SteamVR_ControllerManager>();
if ((CameraRigObject = FindObjectOfType <SteamVR_ControllerManager>()) != null)
{
leftController = CameraRigObject.left;
rightController = CameraRigObject.right;
ray.controllerRight = rightController;
ray.controllerLeft = leftController;
}
#elif SteamVR_2
SteamVR_Behaviour_Pose[] controllers = FindObjectsOfType <SteamVR_Behaviour_Pose>();
if (controllers.Length > 1)
{
leftController = controllers[0].inputSource.ToString() == "LeftHand" ? controllers[0].gameObject : controllers[1].inputSource.ToString() == "LeftHand" ? controllers[1].gameObject : null;
rightController = controllers[0].inputSource.ToString() == "RightHand" ? controllers[0].gameObject : controllers[1].inputSource.ToString() == "RightHand" ? controllers[1].gameObject : null;
}
else
{
leftController = controllers[0].inputSource.ToString() == "LeftHand" ? controllers[0].gameObject : null;
rightController = controllers[0].inputSource.ToString() == "RightHand" ? controllers[0].gameObject : null;
}
ray.controllerRight = rightController;
ray.controllerLeft = leftController;
#endif
}
// Leaf Constructor
public CSGNode(float3x3 Q, float3 P, float R) : this(CSGOperation.None)
{
Geometry = Raycasting.Quadric(Q, P, R);
}
private void Awake()
{
current = this;
playerCamera = Camera.main;
}
//public
public static void initVisibilityGraph(World world, IEnumerable <Vector2> additionalPoints = null)
{
var vertices = new List <World.VisibilityVertex> ();
var obstEdges = new List <Segment> ();
for (var i = 0; i < world.obstacles.Count; i++)
{
var obstacle = world.obstacles[i];
var prevVertex = obstacle [obstacle.Length - 1];
foreach (var obstVertex in obstacle)
{
obstEdges.Add(new Segment(prevVertex, obstVertex));
vertices.Add(new World.VisibilityVertex(obstVertex, true, i));
prevVertex = obstVertex;
}
}
if (additionalPoints != null)
{
foreach (var point in additionalPoints)
{
vertices.Add(new World.VisibilityVertex(point, false));
}
}
var visibilityGraph = new float[vertices.Count][];
for (var i = 0; i < vertices.Count; i++)
{
var v1 = vertices [i];
visibilityGraph [i] = new float[vertices.Count];
for (var j = 0; j < vertices.Count; j++)
{
if (i == j)
{
visibilityGraph [i] [j] = 0;
continue;
}
var v2 = vertices [j];
var visible = true;
// Check if the two vertices are of the same polygon and their middle point is inside the polygon
// (this case is not handled by the intersection checking below)
if (v1.obstacleVertex && v2.obstacleVertex && v1.obstacleIndex == v2.obstacleIndex &&
Raycasting.insidePolygon((v1.vertex.x + v2.vertex.x) / 2, (v1.vertex.y + v2.vertex.y) / 2, world.obstacles [v1.obstacleIndex]))
{
visible = false;
}
else
{
for (var k = 0; k < obstEdges.Count; k++)
{
if (Raycasting.segmentsIntersect(v1.vertex, v2.vertex, obstEdges [k].vertex1, obstEdges [k].vertex2))
{
visible = false;
break;
}
}
}
if (visible)
{
visibilityGraph [i] [j] = Vector2.Distance(v1.vertex, v2.vertex);
}
else
{
visibilityGraph [i] [j] = float.MaxValue;
}
}
}
world.visibilityGraph = visibilityGraph;
world.graphVertices = vertices;
world.obstacleEdges = obstEdges;
}
// Use this for initialization
void Start()
{
raycasting = GetComponent <Raycasting>();
raycasting.layerChangeObservers += SetCursorOnLayerChange;
}
void Start()
{
Button btn = startButton.GetComponent <Button>();
btn.onClick.AddListener(TaskOnClick);
if (data.name == "P25" || data.name == "P26")
{
world = World.FromJson(data.text, trajectoryData.text);
}
else
{
world = World.FromJson(data.text);
}
initializeVelocities();
spawnObstacle(world.boundingPolygon, "Bounding polygon", boundingPolygon);
spawnObstacles();
spawnActors();
initializeMotionModel();
if (data.name == "P22")
{
solveVRP(world);
}
else if (data.name == "P25")
{
Visualizer.visualizeTrajectory(world.trajectory.x, world.trajectory.y);
GameObject tmp = new GameObject("LeaderFormationController");
tmp.AddComponent <LeaderFormationController> ();
tmp.GetComponent <LeaderFormationController> ().initializeController(agents, world.trajectory, world.formationPositions, agents [0].transform.localScale.y / 2, formationDecreasingGoalVelocity);
}
else if (data.name == "P26")
{
// Formation problems
GameObject plane = GameObject.Find("Plane");
Renderer ren = plane.GetComponent <Renderer> ();
ren.material = fieldMaterial;
//for (int i = 0; i < world.trajectory.x.Length; i++) {
//world.trajectory.x [i] += -10.0f;
//world.trajectory.y [i] += 35.0f;
//}
Visualizer.visualizeTrajectory(world.trajectory.x, world.trajectory.y);
agentParent.AddComponent <VirtualStructure> ();
// Add virtual center to formation positions
Vector2[] formationPositions = new Vector2[world.formationPositions.Length + 1];
for (int i = 0; i < formationPositions.Length - 1; i++)
{
formationPositions [i] = world.formationPositions [i];
}
formationPositions [formationPositions.Length - 1] = new Vector2(agents [agents.Length - 1].transform.position.x, agents [agents.Length - 1].transform.position.z); //position of virtual center.
Debug.Log(formationPositions [formationPositions.Length - 1]);
agentParent.GetComponent <VirtualStructure> ().initializeController(agents, world.boundingPolygon, world.trajectory, formationPositions, agents [0].transform.localScale.y / 2, deltaX, deltaY,
simulationSpeedFactor, world.vehicle.dt, formationDecreasingGoalVelocity);
}
else if (data.name == "P27")
{
float[] minMaxes = VirtualStructure.getMinMaxes(world.boundingPolygon);
Vector2[] points = new Vector2[pivotSamples];
for (int i = 0; i < pivotSamples; i++)
{
do
{
points[i].x = (float)(rand.NextDouble() * (minMaxes [2] - minMaxes [0]) + minMaxes [0]);
points[i].y = (float)(rand.NextDouble() * (minMaxes [3] - minMaxes [1]) + minMaxes [1]);
} while ((!Raycasting.insidePolygon(points[i].x, points[i].y, world.boundingPolygon)) || Raycasting.insideObstacle(points[i].x, points[i].y, world.obstacles));
}
List <Vector2> addPoints = new List <Vector2> (points);
foreach (var point in world.startPositions)
{
addPoints.Add(point);
}
foreach (var point in world.enemyPositions)
{
addPoints.Add(point);
}
VisibilityGraph.initVisibilityGraph(world, addPoints);
agentParent.AddComponent <ShooterController> ();
List <ShootingPlanner.OneStepPlan> gamePlan = (new ShootingPlanner(world, weaponType)).getPlan();
agentParent.GetComponent <ShooterController> ().initializeController(gamePlan, agents);
}
}
