// Check if ball is near waypoint
bool isTargetPositionReached(Vector3 vec, Vector3 vec2)
{
if (VectorLibrary.getMagnitude(VectorLibrary.subVectors(vec, vec2)) <= centerRadius)
{
return(true);
}
else
{
return(false);
}
}
// Start is called before the first frame update
void Start()
{
Vector3 a = new Vector3(1, 3, 2);
Vector3 b = new Vector3(4, 7, 1);
Vector3 point = new Vector3(2.66f, 0f, 2.66f);
Vector3 start = new Vector3(2f, 0f, 2f);
Vector3 end = new Vector3(12f, 0f, 12f);
float scalarNum = 2;
float radius = 5f;
float theta = 2.214298f;
Vector3 n = new Vector3(-3, 0f, 4);
Vector3 b1 = new Vector3(1, 10, 1);
Vector3 b2 = new Vector3(1, 20, 1);
Debug.Log("Vector 1: " + a + " Vector 2: " + b + " Scalar Number: " + scalarNum);
Debug.Log("Angle between 2 3D Vectors - Output: " + VectorLibrary.angleOfVectors(a, b) + "\nExpected Output: 0.47 radians");
Debug.Log("3D Vector addition - Output: " + VectorLibrary.addVectors(a, b) + "\nExpected Output: (5, 10, 3)");
Debug.Log("3D Vector subtraction - Output: " + VectorLibrary.subVectors(a, b) + "\nExpected Output: (-3, -4, 1)");
Debug.Log("3D Dot Product Vector - Output: " + VectorLibrary.dotProduct(a, b) + "\nExpected Output: 27");
Debug.Log("Unit vector of a 3D Vector - Output: " + VectorLibrary.getUnitVector(a) + "\nExpected Output: (0.3, 0.8 , 0.5)");
Debug.Log("Vector reflection (axis aligned X) Output: " + VectorLibrary.getVectorReflection(point, true) + "\nExpected Output: (-2.66f,0f,2.66f) ");
Debug.Log("Vector reflection (axis aligned Z) Output: " + VectorLibrary.getVectorReflection(point, false) + "\nExpected Output: (2.66f,0f,-2.66f) ");
Debug.Log("Polar to Cartesian - Output: " + VectorLibrary.convertToCartesian(radius, theta) + "\nExpected Output: -3, 4");
Debug.Log("Cartesian to Polar - Output: " + VectorLibrary.convertToPolar(n).x + " " + VectorLibrary.convertToPolar(n).z + "\nExpected Output: 5 2.214 ");
Debug.Log("Unit Direction Vector - Output: " + VectorLibrary.getUnitDirection(a, b) + "\nExpected Output: (0.6, 0.8, -0.2)");
Debug.Log("Magnitude of a 3D Vector - Output: " + VectorLibrary.getMagnitude(a) + "\nExpected Output: 3.7416");
Debug.Log("Scalar Multiple of a 3D Vector - Output: " + VectorLibrary.getScalarMultiple(a, scalarNum) + "\nExpected Output: 2,6,4");
Debug.Log("Vectors nearly equal with radius - Output: " + VectorLibrary.circleCollision(b1, b2, radius) + "\nExpected Output: False");
Debug.Log("3D zero Vector - Output: " + VectorLibrary.getScalarMultiple(a, scalarNum) + "\nExpected Output: (2,6,4)");
Debug.Log("A point is on a Line - Output: " + VectorLibrary.isPointOnLine(point, start, end) + "\nExpected Output: True");
}
void Update()
{
if (isTargetPositionReached(this.transform.position, waypoints[waypointID].position) && !isRotating)
{
isRotating = true;
}
// Get new CenterPoint for each update
centerPoint = waypoints[waypointID].position;
if (isRotating)
{
centerPoint = waypoints[waypointID].position;
// Transpose the ball to world cooridnate center
pos = VectorLibrary.subVectors(this.transform.position, centerPoint);
//float yof = this.transform.position.y;
// Convert to Polar Coordinates
Vector3 polarcoord = VectorLibrary.convertToPolar(pos);
float radius = polarcoord.x;
float theta = polarcoord.z;
// Creating a angle for 1 turn
angle += speed * angularSpeed * Time.deltaTime;
// Adding the same speed to obejcts angle
theta += speed * angularSpeed * Time.deltaTime;
// Check if 1 Turn has been reached
if (angle >= 360f * Mathf.Deg2Rad)
{
isRotating = false;
waypointID++;
// If last waypoint reached reset to first
if (waypointID >= waypoints.Length)
{
waypointID = 0;
}
angle = 0;
}
//Converting back to cartesian Coordinates and also resetting y position
Vector3 cartesiancoord = VectorLibrary.convertToCartesian(centerRadius, theta); // Using a Fixed radius, so distance from ball to waypoint is always the same
// Tranposing it back to its original position
pos = VectorLibrary.addVectors(cartesiancoord, centerPoint);
//pos.y = yof;
// Assigning p_old = p_new
this.transform.position = pos;
}
else
{
// v = d * s (d is direction and s speed)
Vector3 direction = VectorLibrary.getUnitDirection(this.transform.position, waypoints[waypointID].position);
Vector3 velocity = VectorLibrary.getScalarMultiple(direction, speed);
// p = p_old + vel * deltaT
Vector3 velTimesdeltaT = VectorLibrary.getScalarMultiple(velocity, Time.deltaTime);
this.transform.position = VectorLibrary.addVectors(this.transform.position, velTimesdeltaT);
}
}
