using UnityEngine; using System.Collections; using System.Collections.Generic; using UnityEngine.UI; using System; public class AgvController : MonoBehaviour { public float mass = 250F; public float initialMaxTorque = 20F; // maximum torque the motor can apply to wheel public float initialMaxSpeed = 60F; // 60 meters / min public float slowDownMaxTorque = 5F; public float slowDownMaxSpeed = 10F; public float wheelDampingRate = 0.8F; public bool showInfo = false; Rigidbody rb; GameObject bar1; GameObject bar2; GameObject body1; GameObject body2; GameObject guard; GameObject loadingPlatform; GameObject sensorFront; GameObject sensorRear; GameObject leftFrontLineTracker; GameObject rightFrontLineTracker; GameObject leftRearLineTracker; GameObject rightRearLineTracker; GameObject leftFrontLineTracker2; GameObject rightFrontLineTracker2; GameObject leftRearLineTracker2; GameObject rightRearLineTracker2; GameObject leftFrontWheel; GameObject rightFrontWheel; GameObject leftRearWheel; GameObject rightRearWheel; WheelCollider leftFrontWheelCollider; WheelCollider rightFrontWheelCollider; WheelCollider leftRearWheelCollider; WheelCollider rightRearWheelCollider; PhysicMaterial metalMaterial; PhysicMaterial woodMaterial; PhysicMaterial rubberMaterial; PhysicMaterial floorMaterial; GameObject[] obstacles; Text textSpeed; Button buttonStart; Button buttonClear; float maxTorque; float maxSpeed; float maxSpeedInSiUnit; float deltaTorque; float currentTorque = 0F; bool emergencyStop = false; GameObject obstacleInHazardArea = null; private float RoundTo1st(float value) { return Mathf.RoundToInt(value * 10F) / 10F; } public void Start() { metalMaterial = Resources.Load("Metal", typeof(Material)) as PhysicMaterial; woodMaterial = Resources.Load("Wood", typeof(Material)) as PhysicMaterial; rubberMaterial = Resources.Load("Rubber", typeof(Material)) as PhysicMaterial; floorMaterial = Resources.Load("Floor", typeof(Material)) as PhysicMaterial; bar1 = transform.Find("Bar1").gameObject; bar2 = transform.Find("Bar2").gameObject; body1 = transform.Find("Body1").gameObject; body2 = transform.Find("Body2").gameObject; guard = transform.Find("Guard").gameObject; loadingPlatform = transform.Find("LoadingPlatform").gameObject; sensorFront = transform.Find("SensorFront").gameObject; sensorRear = transform.Find("SensorRear").gameObject; leftFrontLineTracker = transform.Find("LeftFrontLineTracker").gameObject; rightFrontLineTracker = transform.Find("RightFrontLineTracker").gameObject; leftRearLineTracker = transform.Find("LeftRearLineTracker").gameObject; rightRearLineTracker = transform.Find("RightRearLineTracker").gameObject; leftFrontLineTracker2 = transform.Find("LeftFrontLineTracker2").gameObject; rightFrontLineTracker2 = transform.Find("RightFrontLineTracker2").gameObject; leftRearLineTracker2 = transform.Find("LeftRearLineTracker2").gameObject; rightRearLineTracker2 = transform.Find("RightRearLineTracker2").gameObject; leftFrontWheel = transform.Find("LeftFrontWheel").gameObject; rightFrontWheel = transform.Find("RightFrontWheel").gameObject; leftRearWheel = transform.Find("LeftRearWheel").gameObject; rightRearWheel = transform.Find("RightRearWheel").gameObject; gameObject.AddComponent(); rb = gameObject.GetComponent(); rb.mass = mass; bar1.AddComponent(); MeshCollider bar1Collider = bar1.GetComponent(); bar1Collider.convex = true; bar1Collider.material = metalMaterial; bar2.AddComponent(); MeshCollider bar2Collider = bar2.GetComponent(); bar2Collider.convex = true; bar2Collider.material = metalMaterial; body1.AddComponent(); MeshCollider body1Collider = body1.GetComponent(); body1Collider.convex = true; body1Collider.material = metalMaterial; body2.AddComponent(); MeshCollider body2Collider = body2.GetComponent(); body2Collider.convex = true; body2Collider.material = metalMaterial; guard.AddComponent(); MeshCollider guardCollider = guard.GetComponent(); guardCollider.convex = true; guardCollider.material = rubberMaterial; loadingPlatform.AddComponent(); BoxCollider loadingPlatformCollider = loadingPlatform.GetComponent(); loadingPlatformCollider.material = metalMaterial; // Wheel colliders List wheelColliders = new List(); leftFrontWheel.AddComponent(); rightFrontWheel.AddComponent(); leftRearWheel.AddComponent(); rightRearWheel.AddComponent(); leftFrontWheelCollider = leftFrontWheel.GetComponent(); wheelColliders.Add(leftFrontWheelCollider); rightFrontWheelCollider = rightFrontWheel.GetComponent(); wheelColliders.Add(rightFrontWheelCollider); leftRearWheelCollider = leftRearWheel.GetComponent(); wheelColliders.Add(leftRearWheelCollider); rightRearWheelCollider = rightRearWheel.GetComponent(); wheelColliders.Add(rightRearWheelCollider); foreach (WheelCollider wc in wheelColliders) { wc.radius = 0.09F; wc.center = new Vector3(0, 0, 0.01F); wc.suspensionDistance = 0.02F; wc.wheelDampingRate = wheelDampingRate; JointSpring ss = wc.suspensionSpring; ss.spring = 35000F * 1F; ss.damper = 4500F * 0.5F; ss.targetPosition = 0.5F; wc.suspensionSpring = ss; } textSpeed = GameObject.FindWithTag("TextSpeed").GetComponent(); buttonStart = GameObject.FindWithTag("buttonStart").GetComponent

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