private static void HandleMouseDown(SceneView view, int id, int button)
{
SceneViewMotion.s_CurrentState = SceneViewMotion.MotionState.kInactive;
if (Tools.viewToolActive)
{
ViewTool viewTool = Tools.viewTool;
if (Tools.s_LockedViewTool != viewTool)
{
Event current = Event.current;
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = viewTool;
SceneViewMotion.s_StartZoom = view.size;
SceneViewMotion.s_ZoomSpeed = Mathf.Max(Mathf.Abs(SceneViewMotion.s_StartZoom), 0.3f);
SceneViewMotion.s_TotalMotion = 0f;
if (view)
{
view.Focus();
}
if (Toolbar.get)
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
current.Use();
SceneViewMotion.s_CurrentState = SceneViewMotion.MotionState.kActive;
GUIUtility.ExitGUI();
}
}
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
s_Dragged = false;
if (Tools.viewToolActive)
{
UnityEditor.ViewTool viewTool = Tools.viewTool;
if (Tools.s_LockedViewTool != viewTool)
{
Event current = Event.current;
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = viewTool;
s_StartZoom = view.size;
s_ZoomSpeed = Mathf.Max(Mathf.Abs(s_StartZoom), 0.3f);
s_TotalMotion = 0f;
if (view != null)
{
view.Focus();
}
if (Toolbar.get != null)
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
current.Use();
GUIUtility.ExitGUI();
}
}
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
Event evt = Event.current;
// Set up zoom parameters
s_StartZoom = view.size;
s_ZoomSpeed = Mathf.Max(Mathf.Abs(s_StartZoom), .3f);
s_TotalMotion = 0;
if (view)
{
view.Focus();
}
if (Toolbar.get)
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
s_ActiveSceneView = s_CurrentSceneView;
if (Tools.s_LockedViewTool == ViewTool.None && Tools.current == Tool.View)
{
bool controlKeyOnMac = (evt.control && Application.platform == RuntimePlatform.OSXEditor);
bool actionKey = EditorGUI.actionKey;
bool noModifiers = (!actionKey && !controlKeyOnMac && !evt.alt);
if (evt.button == 0 && noModifiers)
{
TemporaryPan(new ShortcutArguments()
{
stage = ShortcutStage.Begin
});
}
}
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
SceneViewMotion.s_Dragged = false;
if (!Tools.viewToolActive)
{
return;
}
ViewTool viewTool = Tools.viewTool;
if (Tools.s_LockedViewTool == viewTool)
{
return;
}
Event current = Event.current;
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = viewTool;
SceneViewMotion.s_StartZoom = view.size;
SceneViewMotion.s_ZoomSpeed = Mathf.Max(Mathf.Abs(SceneViewMotion.s_StartZoom), 0.3f);
SceneViewMotion.s_TotalMotion = 0.0f;
if ((bool)((Object)view))
{
view.Focus();
}
if ((bool)((Object)Toolbar.get))
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
current.Use();
GUIUtility.ExitGUI();
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
s_CurrentState = MotionState.kInactive;
if (Tools.viewToolActive)
{
ViewTool wantedViewTool = Tools.viewTool;
// Check if we want to lock a view tool
if (Tools.s_LockedViewTool != wantedViewTool)
{
Event evt = Event.current;
// Set the hotcontrol and then lock the viewTool (important to set the hotControl AFTER the Tools.viewTool has been evaluated)
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = wantedViewTool;
// Set up zoom parameters
s_StartZoom = view.size;
s_ZoomSpeed = Mathf.Max(Mathf.Abs(s_StartZoom), .3f);
s_TotalMotion = 0;
if (view)
{
view.Focus();
}
if (Toolbar.get)
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
evt.Use();
// we're not dragging yet, but enter this state so we can cleanup correctly
s_CurrentState = MotionState.kActive;
// This prevents camera from moving back on mousedown... find out why... and write a comment
GUIUtility.ExitGUI();
}
}
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
SceneViewMotion.s_Dragged = false;
if (!Tools.viewToolActive)
return;
ViewTool viewTool = Tools.viewTool;
if (Tools.s_LockedViewTool == viewTool)
return;
Event current = Event.current;
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = viewTool;
SceneViewMotion.s_StartZoom = view.size;
SceneViewMotion.s_ZoomSpeed = Mathf.Max(Mathf.Abs(SceneViewMotion.s_StartZoom), 0.3f);
SceneViewMotion.s_TotalMotion = 0.0f;
if ((bool) ((Object) view))
view.Focus();
if ((bool) ((Object) Toolbar.get))
Toolbar.get.Repaint();
EditorGUIUtility.SetWantsMouseJumping(1);
current.Use();
GUIUtility.ExitGUI();
}
private static void HandleMouseDown(SceneView view, int id, int button)
{
s_Dragged = false;
if (Tools.viewToolActive)
{
ViewTool viewTool = Tools.viewTool;
if (Tools.s_LockedViewTool != viewTool)
{
Event current = Event.current;
GUIUtility.hotControl = id;
Tools.s_LockedViewTool = viewTool;
s_StartZoom = view.size;
s_ZoomSpeed = Mathf.Max(Mathf.Abs(s_StartZoom), 0.3f);
s_TotalMotion = 0f;
if (view != null)
{
view.Focus();
}
if (Toolbar.get != null)
{
Toolbar.get.Repaint();
}
EditorGUIUtility.SetWantsMouseJumping(1);
current.Use();
GUIUtility.ExitGUI();
}
}
}
// Use this for initialization
void Start()
{
goalMag = goal;
endRange = range;
zMag = level;
heightMag = height;
formMag = form;
obsMultiplier = obs;
colors = new Color[4];
colors[0] = Color.green;
colors[1] = Color.cyan;
colors[2] = Color.yellow;
colors[3] = Color.magenta;
string json = "";
using (StreamReader r = new StreamReader(problem))
{
json = r.ReadToEnd();
// List<Item> items = JsonConvert.DeserializeObject<List<Item>>(json);
}
Input2 input = JsonConvert.DeserializeObject <Input2>(json);
map = CreateMap();
Vector2[] boundaryPolygon = new Vector2[input.boundary_polygon.Length];
for (int i = 0; i < input.boundary_polygon.Length; i++)
{
boundaryPolygon[i] = new Vector2(input.boundary_polygon[i][0], input.boundary_polygon[i][1]);
}
map.boundaryPolygon = boundaryPolygon;
Triangulator boundarytr = new Triangulator(boundaryPolygon);
int[] boundaryindices = boundarytr.Triangulate();
// Create the Vector3 vertices
Vector3[] boundaryvertices = new Vector3[boundaryPolygon.Length];
for (int i = 0; i < boundaryvertices.Length; i++)
{
boundaryvertices[i] = new Vector3(boundaryPolygon[i].x, boundaryPolygon[i].y, 0.01f);
}
// Create the mesh
Mesh boundarymsh = new Mesh();
boundarymsh.vertices = boundaryvertices;
boundarymsh.triangles = boundaryindices;
boundarymsh.RecalculateNormals();
boundarymsh.RecalculateBounds();
GameObject boundaryobj = new GameObject();
// Set up game object with mesh;
boundaryobj.AddComponent(typeof(MeshRenderer));
MeshFilter filter = boundaryobj.AddComponent(typeof(MeshFilter)) as MeshFilter;
filter.mesh = boundarymsh;
boundaryobj.transform.parent = camera.transform;
boundaryobj.GetComponent <MeshRenderer>().material.SetColor("_Color", Color.cyan);
BoxCollider boxCollider = boundaryobj.AddComponent <BoxCollider>();
boxCollider.size = new Vector3(400, 400, 10);
boxCollider.center = new Vector3(0, 0, 5);
int polygonCnt = 0;
numberofGuards = 0;
Debug.Log(input.a_max);
//Debug.Log(input.polygon["polygon0"] is JArray);
//gets length to intialize each array (I know this is incredibly bad practice, but won't be too taxing in the end)
int polycount = 0;
this.itemcount = 0;
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("polygon"))
{
polycount++;
}
else if (pair.Key.StartsWith("start_pos"))
{
numberofGuards++;
}
else if (pair.Key.StartsWith("item_"))
{
itemcount++;
}
}
Vector2[][] inputPolygon = new Vector2[polycount][];
//gets each polygon opject
Debug.Log(input.polygon);
//float[][] buildingpivots = new float[polycount][];
foreach (var pair in input.polygon) //need to add rotation to json
{
if (pair.Key.StartsWith("polygon")) //checks if name is polygon
{
Debug.Log(pair.Key);
buildingRotations.Add(new Quaternion(0, 0, 0, 0));
float[][] polygon = pair.Value.ToObject <float[][]>(); //extracts float object
buildingObjects.Add(GeneratePolygonMesh(polygon, Color.gray));
Vector2[] vertices2D = new Vector2[polygon.Length];
for (int i = 0; i < polygon.Length; i++)
{
vertices2D[i] = new Vector2(polygon[i][0], polygon[i][1]); //puts float value to vertex
}
inputPolygon[polygonCnt++] = vertices2D;
var tmp = new Vector3(0F, 0F, 0F);
for (int i = 0; i < polygon.Length; i++)
{
tmp[0] += polygon[i][0];
tmp[1] += polygon[i][1];
tmp[2] += polygon[i][2];
}
tmp[0] /= polygon.Length;
tmp[1] /= polygon.Length;
tmp[2] /= polygon.Length;
buildingPivots.Add(tmp);
}
}
buildingRotations.Add(new Quaternion(0, 0, 0, 0));
buildingObjects.Add(boundaryobj);
buildingPivots.Add(new Vector3(50, 50, 5));
// Create packageObject
foreach (var pair in input.polygon) //need to add rotation to json
{
if (pair.Key.EndsWith("package")) //checks if name is polygon
{
Debug.Log(pair.Key);
float[][] package = pair.Value.ToObject <float[][]>(); //extracts float object
packageObject = GeneratePolygonMesh(package, Color.white);
packageObject.GetComponent <MeshRenderer>().material = newMaterialRef;
break;
}
}
foreach (var pair in input.polygon) //need to add rotation to json
{
if (pair.Key.EndsWith("_rot"))
{
var buildnum = pair.Key;
int objnum = Int32.Parse(buildnum.Substring(4, 1));
Debug.Log("hyperderp");
Debug.Log(buildnum);
Debug.Log(transform.position);
float[] rot = pair.Value.ToObject <float[]>();
buildingRotations[objnum] = Quaternion.Euler(rot[0], rot[1], rot[2]);
buildingObjects[objnum].transform.rotation = Quaternion.Euler(rot[0], rot[1], rot[2]);
Debug.Log(transform.position);
//buildingObjects[objnum].transform.Rotate(new Vector3(rot[0], rot[1], rot[2]), Space.Self);
/*buildingObjects[objnum].transform.RotateAround(buildingPivots[objnum], transform.right, rot[0]);
*
* buildingObjects[objnum].transform.RotateAround(buildingPivots[objnum], transform.forward, rot[1]);
* buildingObjects[objnum].transform.RotateAround(buildingPivots[objnum], transform.up, rot[2]);*/
}
}
map.polygons = inputPolygon;
//buildingObjects[0].transform.Rotate(new Vector3(45F, 0F, 0F)); //pivot over x, y, z
//get start positions of guards. Assumes:
//Number of guards = number of start pos
//Guard start & end pos arrive in same order
//Can throw this into above forloop later (but it's nice to have seperate)
float[][] start_positions = new float[numberofGuards][];
int grdID = 0;
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("start_pos"))
{
// Debug.Log(pair.Key + " Number of Guards: " + grdID);
var start_pos = pair.Value.ToObject <float[]>();
start_positions[grdID] = start_pos;
grdID++;
}
}
float[][] end_positions = new float[numberofGuards][];
grdID = 0;
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("goal_pos"))
{
// Debug.Log(pair.Key + " Number of Guards: " + grdID);
var end_pos = pair.Value.ToObject <float[]>();
end_positions[grdID] = end_pos;
grdID++;
}
}
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("package_waypoints"))
{
// Debug.Log(pair.Key + " Number of Guards: " + grdID);
float[][] waypoints = pair.Value.ToObject <float[][]>();
foreach (float[] waypoint in waypoints)
{
Vector3 w = new Vector3(waypoint[0], waypoint[1], waypoint[2]);
packageWaypoints.Add(w);
formation_sizes.Add(waypoint[3]);
Debug.Log("Waypoint: " + w);
}
}
}
drone_offset_positions[0] = new Vector3(-formation_sizes[currentCheckpoint] / 2, -formation_sizes[currentCheckpoint] / 2, -1);
drone_offset_positions[1] = new Vector3(formation_sizes[currentCheckpoint] / 2, -formation_sizes[currentCheckpoint] / 2, -1);
drone_offset_positions[2] = new Vector3(formation_sizes[currentCheckpoint] / 2, formation_sizes[currentCheckpoint] / 2, -1);
drone_offset_positions[3] = new Vector3(-formation_sizes[currentCheckpoint] / 2, formation_sizes[currentCheckpoint] / 2, -1);
float[][] items = new float[itemcount][];
grdID = 0;
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("item_"))
{
// Debug.Log(pair.Key + " Number of Guards: " + grdID);
var item_pos = pair.Value.ToObject <float[]>();
items[grdID] = item_pos;
grdID++;
}
}
map.items = items;
map.seen = new float[items.Length][];
foreach (var pair in input.polygon)
{
if (pair.Key.StartsWith("sensor_range"))
{
map.sensor_range = pair.Value.ToObject <float>();
break;
}
}
//Create players
this.point = new Point[numberofGuards];
for (int i = 0; i < numberofGuards; i++)
{
Debug.Log("Guard Number: " + i);
point[i] = CreateAI();
point[i].name = ("Guard" + i);
//point[i].useSaved = useSaved;
//point[i].startPos = input.start_pos; //need to update for multiple
point[i].startPos = start_positions[i];
point[i].transform.position = new Vector3(start_positions[i][0], start_positions[i][1], start_positions[i][2]);
//point[i].goalPos = end_positions[i];
Vector3 goalV = drone_offset_positions[i] + packageWaypoints[currentCheckpoint];
point[i].goalPos = new float[] { goalV.x, goalV.y, goalV.z };
point[i].startVel = input.start_vel;
point[i].goalVel = input.goal_vel;
point[i].MAX_SPEED = input.v_max;
point[i].MAX_ACCEL = input.a_max;
point[i].MAX_OMEGA = input.omega_max;
point[i].MAX_PHI = input.phi_max;
point[i].L_CAR = input.L_car;
point[i].K_FRICTION = input.k_friction;
point[i].guardID = i;
point[i].polygons = inputPolygon;
point[i].startVel = input.start_vel;
point[i].goalVel = input.goal_vel;
point[i].boundaryPolygon = boundaryPolygon;
point[i].Kp = Kp;
point[i].Ki = Ki;
point[i].Kd = Kd;
Vector3 pos = point[i].transform.position;
Vector3 vClosest = new Vector3(100, 100, 100);
for (int j = 0; j < buildingObjects.Count; j++)
{
Vector3 v = buildingObjects[j].GetComponent <BoxCollider>().ClosestPointOnBounds(pos);
if (Vector3.Distance(v, pos) < Vector3.Distance(vClosest, pos))
{
vClosest = v;
}
}
point[i].closestBuildingPoint = vClosest;
}
for (int i = 0; i < numberofGuards; i++)
{
for (int j = 0; j < numberofGuards; j++)
{
if (j != i)
{
var x = point[j].goalPos[0] - point[i].goalPos[0];
var y = point[j].goalPos[1] - point[i].goalPos[1];
point[i].formation.Add(new Vector2(x, y));
}
}
}
packagePos = findPackage();
packageSpeed = packagePos;
// Power of Cheetah
//Cheetah.instance.CreateOrLoad(problem, boundaryPolygon, inputPolygon);
if (UnityEditor.SceneView.sceneViews.Count > 0)
{
UnityEditor.SceneView sceneView = (UnityEditor.SceneView)UnityEditor.SceneView.sceneViews[0];
sceneView.Focus();
}
Debug.Break();
}
