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100644 index 00000000..1c959247 --- /dev/null +++ b/Assets/1_SelfDrivingCar/Scenes/project_5/LakeTrackAutonomous_mpc.unity.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: f380f0b0d87afc145b8e3663609e19d2 +timeCreated: 1494126855 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/1_SelfDrivingCar/Scripts/MenuOptions.cs b/Assets/1_SelfDrivingCar/Scripts/MenuOptions.cs index cab15d43..d8332b01 100644 --- a/Assets/1_SelfDrivingCar/Scripts/MenuOptions.cs +++ b/Assets/1_SelfDrivingCar/Scripts/MenuOptions.cs @@ -44,14 +44,17 @@ public void SelectMode() SceneManager.LoadScene("particle_filter_v2"); } else if (project == 3) { - SceneManager.LoadScene("LakeTrackAutonomous"); + SceneManager.LoadScene("LakeTrackAutonomous_pid"); } + else if (project == 4) { + SceneManager.LoadScene("LakeTrackAutonomous_mpc"); + } } public void Next() { - project = (project + 1) % 4; + project = (project + 1) % 5; if(project == 0) { @@ -73,17 +76,22 @@ public void Next() project_name.text = "Project 4: PID Controller"; project_image.sprite = project_4; } + else if(project == 4) + { + project_name.text = "Project 5: MPC Controller"; + project_image.sprite = project_4; + } } public void Previous() { if (project == 0) { - project = 3; + project = 4; } else { - project = (project - 1) % 4; + project = (project - 1) % 5; } if(project == 0) @@ -106,6 +114,11 @@ public void Previous() project_name.text = "Project 4: PID Controller"; project_image.sprite = project_4; } + else if(project == 4) + { + project_name.text = "Project 5: MPC Controller"; + project_image.sprite = project_4; + } } diff --git a/Assets/1_SelfDrivingCar/Scripts/project_4.meta b/Assets/1_SelfDrivingCar/Scripts/project_4.meta new file mode 100644 index 00000000..528e85c0 --- /dev/null +++ b/Assets/1_SelfDrivingCar/Scripts/project_4.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: af6a47e0449ac784382ec35d1e982ea0 +folderAsset: yes +timeCreated: 1494125745 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/1_SelfDrivingCar/Scripts/CommandServer.cs b/Assets/1_SelfDrivingCar/Scripts/project_4/CommandServer_pid.cs similarity index 95% rename from Assets/1_SelfDrivingCar/Scripts/CommandServer.cs rename to Assets/1_SelfDrivingCar/Scripts/project_4/CommandServer_pid.cs index 5df891fb..ec9d9cf4 100644 --- a/Assets/1_SelfDrivingCar/Scripts/CommandServer.cs +++ b/Assets/1_SelfDrivingCar/Scripts/project_4/CommandServer_pid.cs @@ -5,13 +5,13 @@ using System; using UnityEngine.SceneManagement; -public class CommandServer : MonoBehaviour +public class CommandServer_pid : MonoBehaviour { public CarRemoteControl CarRemoteControl; public Camera FrontFacingCamera; private SocketIOComponent _socket; private CarController _carController; - private WaypointTracker wpt; + private WaypointTracker_pid wpt; // Use this for initialization void Start() @@ -22,7 +22,7 @@ void Start() _socket.On("steer", OnSteer); _socket.On("manual", onManual); _carController = CarRemoteControl.GetComponent(); - wpt = new WaypointTracker (); + wpt = new WaypointTracker_pid (); } // Update is called once per frame diff --git a/Assets/1_SelfDrivingCar/Scripts/CommandServer.cs.meta b/Assets/1_SelfDrivingCar/Scripts/project_4/CommandServer_pid.cs.meta similarity index 100% rename from Assets/1_SelfDrivingCar/Scripts/CommandServer.cs.meta rename to Assets/1_SelfDrivingCar/Scripts/project_4/CommandServer_pid.cs.meta diff --git a/Assets/1_SelfDrivingCar/Scripts/project_5.meta b/Assets/1_SelfDrivingCar/Scripts/project_5.meta new file mode 100644 index 00000000..0b973544 --- /dev/null +++ b/Assets/1_SelfDrivingCar/Scripts/project_5.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 8b522b8d49fb2d644aa1dc5c89fbd7a4 +folderAsset: yes +timeCreated: 1494125811 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs b/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs new file mode 100644 index 00000000..98ec730b --- /dev/null +++ b/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs @@ -0,0 +1,120 @@ +using UnityEngine; +using System.Collections.Generic; +using SocketIO; +using UnityStandardAssets.Vehicles.Car; +using System; + +public class CommandServer_mpc : MonoBehaviour +{ + public CarRemoteControl CarRemoteControl; + public Camera FrontFacingCamera; + private SocketIOComponent _socket; + private CarController _carController; + private WaypointTracker_mpc wpt; + private int polyOrder; + + // Use this for initialization + void Start() + { + _socket = GameObject.Find("SocketIO").GetComponent(); + _socket.On("open", OnOpen); + _socket.On("steer", OnSteer); + _socket.On("manual", onManual); + _carController = CarRemoteControl.GetComponent(); + wpt = new WaypointTracker_mpc (); + polyOrder = 5; + } + + // Convert angle (degrees) from Unity orientation to + // 90 + // + // 180 0/360 + // + // 270 + // + // This is the standard format used in mathematical functions. + float convertAngle(float psi) { + if (psi >= 0 && psi <= 90) { + return 90 - psi; + } + else if (psi > 90 && psi <= 180) { + return 90 + 270 - (psi - 90); + } + else if (psi > 180 && psi <= 270) { + return 180 + 90 - (psi - 180); + } + return 270 - 90 - (psi - 270); + } + + // Update is called once per frame + void Update() + { + } + + void OnOpen(SocketIOEvent obj) + { + Debug.Log("Connection Open"); + EmitTelemetry(obj); + } + + // + void onManual(SocketIOEvent obj) + { + Debug.Log("Manual driving event ..."); + EmitTelemetry (obj); + } + + void OnSteer(SocketIOEvent obj) + { + Debug.Log("Steering data event ..."); + JSONObject jsonObject = obj.data; + CarRemoteControl.SteeringAngle = float.Parse(jsonObject.GetField("steering_angle").ToString()); + CarRemoteControl.Acceleration = float.Parse(jsonObject.GetField("throttle").ToString()); + EmitTelemetry(obj); + } + + void EmitTelemetry(SocketIOEvent obj) + { + UnityMainThreadDispatcher.Instance().Enqueue(() => + { + print("Attempting to Send..."); + // send only if it's not being manually driven + if ((Input.GetKey(KeyCode.W)) || (Input.GetKey(KeyCode.S))) { + _socket.Emit("telemetry", new JSONObject()); + } else { + // Collect Data from the Car + Dictionary data = new Dictionary(); + var cte = wpt.CrossTrackError (_carController); + Debug.Log(string.Format("In between waypoint {0} and {1}", wpt.prev_wp, wpt.next_wp)); + var pos = _carController.Position(); + var psi = _carController.Orientation().eulerAngles.y; + + // Waypoints data + var ptsx = new List(); + var ptsy = new List(); + for (int i = wpt.prev_wp; i < wpt.prev_wp+polyOrder+1; i++) { + ptsx.Add(new JSONObject(wpt.waypoints[i%wpt.waypoints.Count].x)); + ptsy.Add(new JSONObject(wpt.waypoints[i%wpt.waypoints.Count].z)); + } + data["ptsx"] = new JSONObject(ptsx.ToArray()); + data["ptsy"] = new JSONObject(ptsy.ToArray()); + + // Orientations + data["psi_unity"] = new JSONObject(psi * Mathf.Deg2Rad); + data["psi"] = new JSONObject(convertAngle(psi) * Mathf.Deg2Rad); + + // Global position. + data["x"] = new JSONObject(pos.x); + data["y"] = new JSONObject(pos.z); + // Steering angle + data["steering_angle"] = new JSONObject(_carController.CurrentSteerAngle * Mathf.Deg2Rad); + // Throttle + data["throttle"] = new JSONObject(_carController.AccelInput); + // Velocity + data["speed"] = new JSONObject(_carController.CurrentSpeed); + _socket.Emit("telemetry", new JSONObject(data)); + } + }); + + } +} \ No newline at end of file diff --git a/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs.meta b/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs.meta new file mode 100644 index 00000000..7112c306 --- /dev/null +++ b/Assets/1_SelfDrivingCar/Scripts/project_5/CommandServer_mpc.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 852c40caf54b59d4799e982375fe7c13 +timeCreated: 1494125818 +licenseType: Free +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/CarController.cs b/Assets/Standard Assets/Vehicles/Car/Scripts/CarController.cs index d22afe6e..282ca383 100644 --- a/Assets/Standard Assets/Vehicles/Car/Scripts/CarController.cs +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/CarController.cs @@ -9,99 +9,109 @@ namespace UnityStandardAssets.Vehicles.Car { - internal enum CarDriveType - { - FrontWheelDrive, - RearWheelDrive, - FourWheelDrive - } - - internal enum SpeedType - { - MPH, - KPH - } - - public class CarController : MonoBehaviour - { - [SerializeField] private CarDriveType m_CarDriveType = CarDriveType.FourWheelDrive; - [SerializeField] private WheelCollider[] m_WheelColliders = new WheelCollider[4]; - [SerializeField] private GameObject[] m_WheelMeshes = new GameObject[4]; - [SerializeField] private WheelEffects[] m_WheelEffects = new WheelEffects[4]; - [SerializeField] private Vector3 m_CentreOfMassOffset; - [SerializeField] private float m_MaximumSteerAngle; - [Range (0, 1)] [SerializeField] private float m_SteerHelper; - // 0 is raw physics , 1 the car will grip in the direction it is facing - [Range (0, 1)] [SerializeField] private float m_TractionControl; - // 0 is no traction control, 1 is full interference - [SerializeField] private float m_FullTorqueOverAllWheels; - [SerializeField] private float m_ReverseTorque; - [SerializeField] private float m_MaxHandbrakeTorque; - [SerializeField] private float m_Downforce = 100f; - [SerializeField] private SpeedType m_SpeedType; - [SerializeField] private float m_Topspeed = 200; - [SerializeField] private static int NoOfGears = 5; - [SerializeField] private float m_RevRangeBoundary = 1f; - [SerializeField] private float m_SlipLimit; - [SerializeField] private float m_BrakeTorque; - - public const string CSVFileName = "driving_log.csv"; - public const string DirFrames = "IMG"; - - [SerializeField] private Camera CenterCamera; - [SerializeField] private Camera LeftCamera; - [SerializeField] private Camera RightCamera; - - private Quaternion[] m_WheelMeshLocalRotations; - private Vector3 m_Prevpos, m_Pos; - private float m_SteerAngle; - private int m_GearNum; - private float m_GearFactor; - private float m_OldRotation; - private float m_CurrentTorque; - private Rigidbody m_Rigidbody; - private const float k_ReversingThreshold = 0.01f; - private string m_saveLocation = ""; - private Queue carSamples; + internal enum CarDriveType + { + FrontWheelDrive, + RearWheelDrive, + FourWheelDrive + } + + internal enum SpeedType + { + MPH, + KPH + } + + public class CarController : MonoBehaviour + { + [SerializeField] private CarDriveType m_CarDriveType = CarDriveType.FourWheelDrive; + [SerializeField] private WheelCollider[] m_WheelColliders = new WheelCollider[4]; + [SerializeField] private GameObject[] m_WheelMeshes = new GameObject[4]; + [SerializeField] private WheelEffects[] m_WheelEffects = new WheelEffects[4]; + [SerializeField] private Vector3 m_CentreOfMassOffset; + [SerializeField] private float m_MaximumSteerAngle; + [Range (0, 1)] [SerializeField] private float m_SteerHelper; + // 0 is raw physics , 1 the car will grip in the direction it is facing + [Range (0, 1)] [SerializeField] private float m_TractionControl; + // 0 is no traction control, 1 is full interference + [SerializeField] private float m_FullTorqueOverAllWheels; + [SerializeField] private float m_ReverseTorque; + [SerializeField] private float m_MaxHandbrakeTorque; + [SerializeField] private float m_Downforce = 100f; + [SerializeField] private SpeedType m_SpeedType; + [SerializeField] private float m_Topspeed = 200; + [SerializeField] private static int NoOfGears = 5; + [SerializeField] private float m_RevRangeBoundary = 1f; + [SerializeField] private float m_SlipLimit; + [SerializeField] private float m_BrakeTorque; + + public const string CSVFileName = "driving_log.csv"; + public const string DirFrames = "IMG"; + + [SerializeField] private Camera CenterCamera; + [SerializeField] private Camera LeftCamera; + [SerializeField] private Camera RightCamera; + [SerializeField] private GameObject MPCLine; + + private Quaternion[] m_WheelMeshLocalRotations; + private Vector3 m_Prevpos, m_Pos; + private float m_SteerAngle; + private int m_GearNum; + private float m_GearFactor; + private float m_OldRotation; + private float m_CurrentTorque; + private Rigidbody m_Rigidbody; + private const float k_ReversingThreshold = 0.01f; + private string m_saveLocation = ""; + private Queue carSamples; private int TotalSamples; private bool isSaving; private Vector3 saved_position; private Quaternion saved_rotation; - public bool Skidding { get; private set; } + public bool Skidding { get; private set; } - public float BrakeInput { get; private set; } + public float BrakeInput { get; private set; } public Vector3 Position () { - return transform.position; + return transform.position; } public Quaternion Orientation () { return transform.rotation; } - - - private bool m_isRecording = false; - public bool IsRecording { - get - { - return m_isRecording; - } - - set - { - m_isRecording = value; - if(value == true) - { + + public void ToggleMPCLine() { + var val = MPCLine.GetComponent().enabled; + MPCLine.GetComponent().enabled = !val; + } + + public void DrawMPCLine(List points) { + var lr = MPCLine.GetComponent(); + lr.SetPositions(points.ToArray()); + } + + private bool m_isRecording = false; + public bool IsRecording { + get + { + return m_isRecording; + } + + set + { + m_isRecording = value; + if(value == true) + { Debug.Log("Starting to record"); carSamples = new Queue(); StartCoroutine(Sample()); - } + } else - { - Debug.Log("Stopping record"); - StopCoroutine(Sample()); - Debug.Log("Writing to disk"); + { + Debug.Log("Stopping record"); + StopCoroutine(Sample()); + Debug.Log("Writing to disk"); //save the cars coordinate parameters so we can reset it to this properly after capturing data saved_position = transform.position; saved_rotation = transform.rotation; @@ -110,10 +120,10 @@ public bool IsRecording { isSaving = true; StartCoroutine(WriteSamplesToDisk()); - }; - } + }; + } - } + } public bool checkSaveLocation() @@ -129,291 +139,291 @@ public bool checkSaveLocation() return false; } - public float CurrentSteerAngle { - get { return m_SteerAngle; } - set { m_SteerAngle = value; } - } - - public float CurrentSpeed{ get { return m_Rigidbody.velocity.magnitude * 2.23693629f; } } - - public float MaxSpeed{ get { return m_Topspeed; } } - - public float Revs { get; private set; } - - public float AccelInput { get; set; } - - // Use this for initialization - private void Start () - { - m_WheelMeshLocalRotations = new Quaternion[4]; - for (int i = 0; i < 4; i++) { - m_WheelMeshLocalRotations [i] = m_WheelMeshes [i].transform.localRotation; - } - m_WheelColliders [0].attachedRigidbody.centerOfMass = m_CentreOfMassOffset; - - m_MaxHandbrakeTorque = float.MaxValue; - - m_Rigidbody = GetComponent (); - m_CurrentTorque = m_FullTorqueOverAllWheels - (m_TractionControl * m_FullTorqueOverAllWheels); - } - - private void GearChanging () - { - float f = Mathf.Abs (CurrentSpeed / MaxSpeed); - float upgearlimit = (1 / (float)NoOfGears) * (m_GearNum + 1); - float downgearlimit = (1 / (float)NoOfGears) * m_GearNum; - - if (m_GearNum > 0 && f < downgearlimit) { - m_GearNum--; - } - - if (f > upgearlimit && (m_GearNum < (NoOfGears - 1))) { - m_GearNum++; - } - } - - - // simple function to add a curved bias towards 1 for a value in the 0-1 range - private static float CurveFactor (float factor) - { - return 1 - (1 - factor) * (1 - factor); - } - - - // unclamped version of Lerp, to allow value to exceed the from-to range - private static float ULerp (float from, float to, float value) - { - return (1.0f - value) * from + value * to; - } - - - private void CalculateGearFactor () - { - float f = (1 / (float)NoOfGears); - // gear factor is a normalised representation of the current speed within the current gear's range of speeds. - // We smooth towards the 'target' gear factor, so that revs don't instantly snap up or down when changing gear. - var targetGearFactor = Mathf.InverseLerp (f * m_GearNum, f * (m_GearNum + 1), Mathf.Abs (CurrentSpeed / MaxSpeed)); - m_GearFactor = Mathf.Lerp (m_GearFactor, targetGearFactor, Time.deltaTime * 5f); - } - - - private void CalculateRevs () - { - // calculate engine revs (for display / sound) - // (this is done in retrospect - revs are not used in force/power calculations) - CalculateGearFactor (); - var gearNumFactor = m_GearNum / (float)NoOfGears; - var revsRangeMin = ULerp (0f, m_RevRangeBoundary, CurveFactor (gearNumFactor)); - var revsRangeMax = ULerp (m_RevRangeBoundary, 1f, gearNumFactor); - Revs = ULerp (revsRangeMin, revsRangeMax, m_GearFactor); - } - - public void Update() - { - if (IsRecording) - { - //Dump(); - } - } - - public void Move (float steering, float accel, float footbrake, float handbrake) - { - for (int i = 0; i < 4; i++) { - Quaternion quat; - Vector3 position; - m_WheelColliders [i].GetWorldPose (out position, out quat); - m_WheelMeshes [i].transform.position = position; - m_WheelMeshes [i].transform.rotation = quat; - } - - //clamp input values - steering = Mathf.Clamp (steering, -1, 1); - AccelInput = accel = Mathf.Clamp (accel, 0, 1); - BrakeInput = footbrake = -1 * Mathf.Clamp (footbrake, -1, 0); - handbrake = Mathf.Clamp (handbrake, 0, 1); - - //Set the steer on the front wheels. - //Assuming that wheels 0 and 1 are the front wheels. - m_SteerAngle = steering * m_MaximumSteerAngle; - m_WheelColliders [0].steerAngle = m_SteerAngle; - m_WheelColliders [1].steerAngle = m_SteerAngle; - - - - SteerHelper (); - ApplyDrive (accel, footbrake); - CapSpeed (); - - //Set the handbrake. - //Assuming that wheels 2 and 3 are the rear wheels. - if (handbrake > 0f) - { - var hbTorque = handbrake * m_MaxHandbrakeTorque; - m_WheelColliders [2].brakeTorque = hbTorque; - m_WheelColliders [3].brakeTorque = hbTorque; - } - - CalculateRevs (); - GearChanging (); - - AddDownForce (); - CheckForWheelSpin (); - TractionControl (); - } - - private void CapSpeed () - { - float speed = m_Rigidbody.velocity.magnitude; - switch (m_SpeedType) { - case SpeedType.MPH: - - speed *= 2.23693629f; - if (speed > m_Topspeed) - m_Rigidbody.velocity = (m_Topspeed / 2.23693629f) * m_Rigidbody.velocity.normalized; - break; - - case SpeedType.KPH: - speed *= 3.6f; - if (speed > m_Topspeed) - m_Rigidbody.velocity = (m_Topspeed / 3.6f) * m_Rigidbody.velocity.normalized; - break; - } - } - - - private void ApplyDrive (float accel, float footbrake) - { - - float thrustTorque; - switch (m_CarDriveType) { - case CarDriveType.FourWheelDrive: - thrustTorque = accel * (m_CurrentTorque / 4f); - for (int i = 0; i < 4; i++) { - m_WheelColliders [i].motorTorque = thrustTorque; - } - break; - - case CarDriveType.FrontWheelDrive: - thrustTorque = accel * (m_CurrentTorque / 2f); - m_WheelColliders [0].motorTorque = m_WheelColliders [1].motorTorque = thrustTorque; - break; - - case CarDriveType.RearWheelDrive: - thrustTorque = accel * (m_CurrentTorque / 2f); - m_WheelColliders [2].motorTorque = m_WheelColliders [3].motorTorque = thrustTorque; - break; - - } - - for (int i = 0; i < 4; i++) { - if (CurrentSpeed > 5 && Vector3.Angle (transform.forward, m_Rigidbody.velocity) < 50f) { - m_WheelColliders [i].brakeTorque = m_BrakeTorque * footbrake; - } else if (footbrake > 0) { - m_WheelColliders [i].brakeTorque = 0f; - m_WheelColliders [i].motorTorque = -m_ReverseTorque * footbrake; - } - } - } - - - private void SteerHelper () - { - for (int i = 0; i < 4; i++) { - WheelHit wheelhit; - m_WheelColliders [i].GetGroundHit (out wheelhit); - if (wheelhit.normal == Vector3.zero) - return; // wheels arent on the ground so dont realign the rigidbody velocity - } - - // this if is needed to avoid gimbal lock problems that will make the car suddenly shift direction - if (Mathf.Abs (m_OldRotation - transform.eulerAngles.y) < 10f) { - var turnadjust = (transform.eulerAngles.y - m_OldRotation) * m_SteerHelper; - Quaternion velRotation = Quaternion.AngleAxis (turnadjust, Vector3.up); - m_Rigidbody.velocity = velRotation * m_Rigidbody.velocity; - } - m_OldRotation = transform.eulerAngles.y; - } - - - // this is used to add more grip in relation to speed - private void AddDownForce () - { - m_WheelColliders [0].attachedRigidbody.AddForce (-transform.up * m_Downforce * - m_WheelColliders [0].attachedRigidbody.velocity.magnitude); - } - - - // checks if the wheels are spinning and is so does three things - // 1) emits particles - // 2) plays tiure skidding sounds - // 3) leaves skidmarks on the ground - // these effects are controlled through the WheelEffects class - private void CheckForWheelSpin () - { - // loop through all wheels - for (int i = 0; i < 4; i++) { - WheelHit wheelHit; - m_WheelColliders [i].GetGroundHit (out wheelHit); - - // is the tire slipping above the given threshhold - if (Mathf.Abs (wheelHit.forwardSlip) >= m_SlipLimit || Mathf.Abs (wheelHit.sidewaysSlip) >= m_SlipLimit) { - m_WheelEffects [i].EmitTyreSmoke (); - continue; - } - - // if it wasnt slipping stop all the audio - if (m_WheelEffects [i].PlayingAudio) { - m_WheelEffects [i].StopAudio (); - } - // end the trail generation - m_WheelEffects [i].EndSkidTrail (); - } - } - - // crude traction control that reduces the power to wheel if the car is wheel spinning too much - private void TractionControl () - { - WheelHit wheelHit; - switch (m_CarDriveType) { - case CarDriveType.FourWheelDrive: - // loop through all wheels - for (int i = 0; i < 4; i++) { - m_WheelColliders [i].GetGroundHit (out wheelHit); - - AdjustTorque (wheelHit.forwardSlip); - } - break; - - case CarDriveType.RearWheelDrive: - m_WheelColliders [2].GetGroundHit (out wheelHit); - AdjustTorque (wheelHit.forwardSlip); - - m_WheelColliders [3].GetGroundHit (out wheelHit); - AdjustTorque (wheelHit.forwardSlip); - break; - - case CarDriveType.FrontWheelDrive: - m_WheelColliders [0].GetGroundHit (out wheelHit); - AdjustTorque (wheelHit.forwardSlip); - - m_WheelColliders [1].GetGroundHit (out wheelHit); - AdjustTorque (wheelHit.forwardSlip); - break; - } - } - - - private void AdjustTorque (float forwardSlip) - { - if (forwardSlip >= m_SlipLimit && m_CurrentTorque >= 0) { - m_CurrentTorque -= 10 * m_TractionControl; - } else { - m_CurrentTorque += 10 * m_TractionControl; - if (m_CurrentTorque > m_FullTorqueOverAllWheels) { - m_CurrentTorque = m_FullTorqueOverAllWheels; - } - } - } + public float CurrentSteerAngle { + get { return m_SteerAngle; } + set { m_SteerAngle = value; } + } + + public float CurrentSpeed{ get { return m_Rigidbody.velocity.magnitude * 2.23693629f; } } + + public float MaxSpeed{ get { return m_Topspeed; } } + + public float Revs { get; private set; } + + public float AccelInput { get; set; } + + // Use this for initialization + private void Start () + { + m_WheelMeshLocalRotations = new Quaternion[4]; + for (int i = 0; i < 4; i++) { + m_WheelMeshLocalRotations [i] = m_WheelMeshes [i].transform.localRotation; + } + m_WheelColliders [0].attachedRigidbody.centerOfMass = m_CentreOfMassOffset; + + m_MaxHandbrakeTorque = float.MaxValue; + + m_Rigidbody = GetComponent (); + m_CurrentTorque = m_FullTorqueOverAllWheels - (m_TractionControl * m_FullTorqueOverAllWheels); + } + + private void GearChanging () + { + float f = Mathf.Abs (CurrentSpeed / MaxSpeed); + float upgearlimit = (1 / (float)NoOfGears) * (m_GearNum + 1); + float downgearlimit = (1 / (float)NoOfGears) * m_GearNum; + + if (m_GearNum > 0 && f < downgearlimit) { + m_GearNum--; + } + + if (f > upgearlimit && (m_GearNum < (NoOfGears - 1))) { + m_GearNum++; + } + } + + + // simple function to add a curved bias towards 1 for a value in the 0-1 range + private static float CurveFactor (float factor) + { + return 1 - (1 - factor) * (1 - factor); + } + + + // unclamped version of Lerp, to allow value to exceed the from-to range + private static float ULerp (float from, float to, float value) + { + return (1.0f - value) * from + value * to; + } + + + private void CalculateGearFactor () + { + float f = (1 / (float)NoOfGears); + // gear factor is a normalised representation of the current speed within the current gear's range of speeds. + // We smooth towards the 'target' gear factor, so that revs don't instantly snap up or down when changing gear. + var targetGearFactor = Mathf.InverseLerp (f * m_GearNum, f * (m_GearNum + 1), Mathf.Abs (CurrentSpeed / MaxSpeed)); + m_GearFactor = Mathf.Lerp (m_GearFactor, targetGearFactor, Time.deltaTime * 5f); + } + + + private void CalculateRevs () + { + // calculate engine revs (for display / sound) + // (this is done in retrospect - revs are not used in force/power calculations) + CalculateGearFactor (); + var gearNumFactor = m_GearNum / (float)NoOfGears; + var revsRangeMin = ULerp (0f, m_RevRangeBoundary, CurveFactor (gearNumFactor)); + var revsRangeMax = ULerp (m_RevRangeBoundary, 1f, gearNumFactor); + Revs = ULerp (revsRangeMin, revsRangeMax, m_GearFactor); + } + + public void Update() + { + if (IsRecording) + { + //Dump(); + } + } + + public void Move (float steering, float accel, float footbrake, float handbrake) + { + for (int i = 0; i < 4; i++) { + Quaternion quat; + Vector3 position; + m_WheelColliders [i].GetWorldPose (out position, out quat); + m_WheelMeshes [i].transform.position = position; + m_WheelMeshes [i].transform.rotation = quat; + } + + //clamp input values + steering = Mathf.Clamp (steering, -1, 1); + AccelInput = accel = Mathf.Clamp (accel, 0, 1); + BrakeInput = footbrake = -1 * Mathf.Clamp (footbrake, -1, 0); + handbrake = Mathf.Clamp (handbrake, 0, 1); + + //Set the steer on the front wheels. + //Assuming that wheels 0 and 1 are the front wheels. + m_SteerAngle = steering * m_MaximumSteerAngle; + m_WheelColliders [0].steerAngle = m_SteerAngle; + m_WheelColliders [1].steerAngle = m_SteerAngle; + + + + SteerHelper (); + ApplyDrive (accel, footbrake); + CapSpeed (); + + //Set the handbrake. + //Assuming that wheels 2 and 3 are the rear wheels. + if (handbrake > 0f) + { + var hbTorque = handbrake * m_MaxHandbrakeTorque; + m_WheelColliders [2].brakeTorque = hbTorque; + m_WheelColliders [3].brakeTorque = hbTorque; + } + + CalculateRevs (); + GearChanging (); + + AddDownForce (); + CheckForWheelSpin (); + TractionControl (); + } + + private void CapSpeed () + { + float speed = m_Rigidbody.velocity.magnitude; + switch (m_SpeedType) { + case SpeedType.MPH: + + speed *= 2.23693629f; + if (speed > m_Topspeed) + m_Rigidbody.velocity = (m_Topspeed / 2.23693629f) * m_Rigidbody.velocity.normalized; + break; + + case SpeedType.KPH: + speed *= 3.6f; + if (speed > m_Topspeed) + m_Rigidbody.velocity = (m_Topspeed / 3.6f) * m_Rigidbody.velocity.normalized; + break; + } + } + + + private void ApplyDrive (float accel, float footbrake) + { + + float thrustTorque; + switch (m_CarDriveType) { + case CarDriveType.FourWheelDrive: + thrustTorque = accel * (m_CurrentTorque / 4f); + for (int i = 0; i < 4; i++) { + m_WheelColliders [i].motorTorque = thrustTorque; + } + break; + + case CarDriveType.FrontWheelDrive: + thrustTorque = accel * (m_CurrentTorque / 2f); + m_WheelColliders [0].motorTorque = m_WheelColliders [1].motorTorque = thrustTorque; + break; + + case CarDriveType.RearWheelDrive: + thrustTorque = accel * (m_CurrentTorque / 2f); + m_WheelColliders [2].motorTorque = m_WheelColliders [3].motorTorque = thrustTorque; + break; + + } + + for (int i = 0; i < 4; i++) { + if (CurrentSpeed > 5 && Vector3.Angle (transform.forward, m_Rigidbody.velocity) < 50f) { + m_WheelColliders [i].brakeTorque = m_BrakeTorque * footbrake; + } else if (footbrake > 0) { + m_WheelColliders [i].brakeTorque = 0f; + m_WheelColliders [i].motorTorque = -m_ReverseTorque * footbrake; + } + } + } + + + private void SteerHelper () + { + for (int i = 0; i < 4; i++) { + WheelHit wheelhit; + m_WheelColliders [i].GetGroundHit (out wheelhit); + if (wheelhit.normal == Vector3.zero) + return; // wheels arent on the ground so dont realign the rigidbody velocity + } + + // this if is needed to avoid gimbal lock problems that will make the car suddenly shift direction + if (Mathf.Abs (m_OldRotation - transform.eulerAngles.y) < 10f) { + var turnadjust = (transform.eulerAngles.y - m_OldRotation) * m_SteerHelper; + Quaternion velRotation = Quaternion.AngleAxis (turnadjust, Vector3.up); + m_Rigidbody.velocity = velRotation * m_Rigidbody.velocity; + } + m_OldRotation = transform.eulerAngles.y; + } + + + // this is used to add more grip in relation to speed + private void AddDownForce () + { + m_WheelColliders [0].attachedRigidbody.AddForce (-transform.up * m_Downforce * + m_WheelColliders [0].attachedRigidbody.velocity.magnitude); + } + + + // checks if the wheels are spinning and is so does three things + // 1) emits particles + // 2) plays tiure skidding sounds + // 3) leaves skidmarks on the ground + // these effects are controlled through the WheelEffects class + private void CheckForWheelSpin () + { + // loop through all wheels + for (int i = 0; i < 4; i++) { + WheelHit wheelHit; + m_WheelColliders [i].GetGroundHit (out wheelHit); + + // is the tire slipping above the given threshhold + if (Mathf.Abs (wheelHit.forwardSlip) >= m_SlipLimit || Mathf.Abs (wheelHit.sidewaysSlip) >= m_SlipLimit) { + m_WheelEffects [i].EmitTyreSmoke (); + continue; + } + + // if it wasnt slipping stop all the audio + if (m_WheelEffects [i].PlayingAudio) { + m_WheelEffects [i].StopAudio (); + } + // end the trail generation + m_WheelEffects [i].EndSkidTrail (); + } + } + + // crude traction control that reduces the power to wheel if the car is wheel spinning too much + private void TractionControl () + { + WheelHit wheelHit; + switch (m_CarDriveType) { + case CarDriveType.FourWheelDrive: + // loop through all wheels + for (int i = 0; i < 4; i++) { + m_WheelColliders [i].GetGroundHit (out wheelHit); + + AdjustTorque (wheelHit.forwardSlip); + } + break; + + case CarDriveType.RearWheelDrive: + m_WheelColliders [2].GetGroundHit (out wheelHit); + AdjustTorque (wheelHit.forwardSlip); + + m_WheelColliders [3].GetGroundHit (out wheelHit); + AdjustTorque (wheelHit.forwardSlip); + break; + + case CarDriveType.FrontWheelDrive: + m_WheelColliders [0].GetGroundHit (out wheelHit); + AdjustTorque (wheelHit.forwardSlip); + + m_WheelColliders [1].GetGroundHit (out wheelHit); + AdjustTorque (wheelHit.forwardSlip); + break; + } + } + + + private void AdjustTorque (float forwardSlip) + { + if (forwardSlip >= m_SlipLimit && m_CurrentTorque >= 0) { + m_CurrentTorque -= 10 * m_TractionControl; + } else { + m_CurrentTorque += 10 * m_TractionControl; + if (m_CurrentTorque > m_FullTorqueOverAllWheels) { + m_CurrentTorque = m_FullTorqueOverAllWheels; + } + } + } //Changed the WriteSamplesToDisk to a IEnumerator method that plays back recording along with percent status from UISystem script @@ -467,72 +477,72 @@ public bool getSaveStatus() } - public IEnumerator Sample() - { - // Start the Coroutine to Capture Data Every Second. - // Persist that Information to a CSV and Perist the Camera Frame - yield return new WaitForSeconds(0.0666666666666667f); - - if (m_saveLocation != "") - { - CarSample sample = new CarSample(); - - sample.timeStamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff"); - sample.steeringAngle = m_SteerAngle / m_MaximumSteerAngle; - sample.throttle = AccelInput; - sample.brake = BrakeInput; - sample.speed = CurrentSpeed; - sample.position = transform.position; - sample.rotation = transform.rotation; - - carSamples.Enqueue(sample); - - sample = null; - //may or may not be needed - } - - // Only reschedule if the button hasn't toggled - if (IsRecording) - { - StartCoroutine(Sample()); - } - - } - - private void OpenFolder(string location) - { - m_saveLocation = location; - Directory.CreateDirectory (Path.Combine(m_saveLocation, DirFrames)); - } - - private string WriteImage (Camera camera, string prepend, string timestamp) - { - //needed to force camera update - camera.Render(); - RenderTexture targetTexture = camera.targetTexture; - RenderTexture.active = targetTexture; - Texture2D texture2D = new Texture2D (targetTexture.width, targetTexture.height, TextureFormat.RGB24, false); - texture2D.ReadPixels (new Rect (0, 0, targetTexture.width, targetTexture.height), 0, 0); - texture2D.Apply (); - byte[] image = texture2D.EncodeToJPG (); - UnityEngine.Object.DestroyImmediate (texture2D); - string directory = Path.Combine(m_saveLocation, DirFrames); - string path = Path.Combine(directory, prepend + "_" + timestamp + ".jpg"); - File.WriteAllBytes (path, image); - image = null; - return path; - } - } - - internal class CarSample - { - public Quaternion rotation; - public Vector3 position; - public float steeringAngle; - public float throttle; - public float brake; - public float speed; - public string timeStamp; - } + public IEnumerator Sample() + { + // Start the Coroutine to Capture Data Every Second. + // Persist that Information to a CSV and Perist the Camera Frame + yield return new WaitForSeconds(0.0666666666666667f); + + if (m_saveLocation != "") + { + CarSample sample = new CarSample(); + + sample.timeStamp = System.DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff"); + sample.steeringAngle = m_SteerAngle / m_MaximumSteerAngle; + sample.throttle = AccelInput; + sample.brake = BrakeInput; + sample.speed = CurrentSpeed; + sample.position = transform.position; + sample.rotation = transform.rotation; + + carSamples.Enqueue(sample); + + sample = null; + //may or may not be needed + } + + // Only reschedule if the button hasn't toggled + if (IsRecording) + { + StartCoroutine(Sample()); + } + + } + + private void OpenFolder(string location) + { + m_saveLocation = location; + Directory.CreateDirectory (Path.Combine(m_saveLocation, DirFrames)); + } + + private string WriteImage (Camera camera, string prepend, string timestamp) + { + //needed to force camera update + camera.Render(); + RenderTexture targetTexture = camera.targetTexture; + RenderTexture.active = targetTexture; + Texture2D texture2D = new Texture2D (targetTexture.width, targetTexture.height, TextureFormat.RGB24, false); + texture2D.ReadPixels (new Rect (0, 0, targetTexture.width, targetTexture.height), 0, 0); + texture2D.Apply (); + byte[] image = texture2D.EncodeToJPG (); + UnityEngine.Object.DestroyImmediate (texture2D); + string directory = Path.Combine(m_saveLocation, DirFrames); + string path = Path.Combine(directory, prepend + "_" + timestamp + ".jpg"); + File.WriteAllBytes (path, image); + image = null; + return path; + } + } + + internal class CarSample + { + public Quaternion rotation; + public Vector3 position; + public float steeringAngle; + public float throttle; + public float brake; + public float speed; + public string timeStamp; + } } diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/project_4.meta b/Assets/Standard Assets/Vehicles/Car/Scripts/project_4.meta new file mode 100644 index 00000000..5e078fdd --- /dev/null +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/project_4.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 08b2e8fc7604d7a44bf85861fe73ec13 +folderAsset: yes +timeCreated: 1494125163 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/WaypointTracker.cs b/Assets/Standard Assets/Vehicles/Car/Scripts/project_4/WaypointTracker_pid.cs similarity index 98% rename from Assets/Standard Assets/Vehicles/Car/Scripts/WaypointTracker.cs rename to Assets/Standard Assets/Vehicles/Car/Scripts/project_4/WaypointTracker_pid.cs index 805245b8..0a235610 100644 --- a/Assets/Standard Assets/Vehicles/Car/Scripts/WaypointTracker.cs +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/project_4/WaypointTracker_pid.cs @@ -5,14 +5,14 @@ namespace UnityStandardAssets.Vehicles.Car { // Way to around multiple returns - public class WaypointTracker + public class WaypointTracker_pid { private List waypoints; // TODO: Find a way to automatically detect this // Use this for initialization - public WaypointTracker() + public WaypointTracker_pid() { waypoints = new List (); var wps = GameObject.Find("Waypoints").transform; diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/WaypointTracker.cs.meta b/Assets/Standard Assets/Vehicles/Car/Scripts/project_4/WaypointTracker_pid.cs.meta similarity index 100% rename from Assets/Standard Assets/Vehicles/Car/Scripts/WaypointTracker.cs.meta rename to Assets/Standard Assets/Vehicles/Car/Scripts/project_4/WaypointTracker_pid.cs.meta diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/project_5.meta b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5.meta new file mode 100644 index 00000000..c42641f2 --- /dev/null +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 54acf2a85743c4a4e918f1812dcbc05f +folderAsset: yes +timeCreated: 1494125203 +licenseType: Free +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs new file mode 100644 index 00000000..38fea5df --- /dev/null +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs @@ -0,0 +1,147 @@ +using UnityEngine; +using System.Collections.Generic; + +namespace UnityStandardAssets.Vehicles.Car +{ + + // Way to around multiple returns + public class WaypointTracker_mpc + { + public List waypoints; + public int next_wp; + public int prev_wp; + // Use this for initialization + public WaypointTracker_mpc() + { + waypoints = new List(); + var wps = GameObject.Find("Waypoints").transform; + foreach (Transform t in wps) + { + waypoints.Add(t.position); + // Debug.Log(t.position); + } + } + + private Vector2 BezierPoint(Vector2 p0, Vector2 p1, Vector2 p2, float t) + { + var b01 = (1 - t) * p0 + t * p1; + var b12 = (1 - t) * p1 + t * p2; + return (1 - t) * b01 + t * b12; + } + + // Compute the next waypoint we should go to + public int NextWaypoint(CarController cc) + { + Vector3 p = cc.transform.position; + float closestLen = 100000; // large number + int closestWaypoint = 0; + + int i = 0; + foreach (Vector3 t in waypoints) + { + float dist = Vector3.Distance(t, p); + if (dist < closestLen) + { + closestLen = dist; + closestWaypoint = i; + } + i += 1; + } + + Vector3 heading = waypoints[closestWaypoint] - p; + heading.y = 0; + // This is the angle we have to turn to get to the next waypoint. + // It should be a small value, if it's large then it means we have to turn around + // and the waypoint should be actually be the next one. + float angle = Quaternion.Angle(cc.transform.rotation, Quaternion.LookRotation(heading)); + // We now have the correct waypoint + if (angle > 90) + { + return (closestWaypoint + 1) % waypoints.Count; + } + return closestWaypoint; + } + + public float CrossTrackError(CarController cc) + { + next_wp = NextWaypoint(cc); + var pos = cc.transform.position; + + // Previous waypoint + prev_wp = next_wp - 1; + if (next_wp == 0) + { + prev_wp = waypoints.Count - 1; + } + + // This projects the vehicle position onto the line + // from the previous waypoint to the next waypoint. + var n = waypoints[next_wp] - waypoints[prev_wp]; + var x = pos - waypoints[prev_wp]; + var v = new Vector2(n.x, n.z); + + // current vehicle position + var x0 = new Vector2(x.x, x.z); + + // find the projection of x onto v + var proj = (Vector2.Dot(x0, v) / Mathf.Abs(v.x * v.x + v.y * v.y)) * v; + + var t = Mathf.Clamp(proj.magnitude / n.magnitude, 0, 1); + // Debug.Log(string.Format("Progress between waypoints {0} and {1} = {2}", prev_wp, next_wp, t)); + // Cross track error + // var threshold = 0.05f; + // if (t >= (1 - threshold)) { + // var p0 = prev_wp; + // var p1 = next_wp; + // var p2 = (next_wp + 1) % waypoints.Count; + // var i1 = threshold * waypoints[p0] + (1-threshold) * waypoints[p1]; + // var i2 = (1-threshold) * waypoints[p1] + threshold * waypoints[p2]; + // var v0 = new Vector2(i1.x, i1.z); + // var v1 = new Vector2(waypoints[p1].x, waypoints[p1].z); + // var v2 = new Vector2(i2.x, i2.z); + // var newt = (t - (1-threshold)) / (threshold * 2f); + // var bp = BezierPoint(v0, v1, v2, newt) - new Vector2(waypoints[p0].x, waypoints[p0].z); + // // Debug.Log(string.Format("Bezier point {0}, Actual projection {1}, Position {2} {3} {4}", bp, proj, x0, t, newt)); + // proj = bp; + // } else if (t <= threshold) { + // var p2 = next_wp; + // var p1 = prev_wp; + // var p0 = prev_wp - 1; + // if (p1 == 0) { + // p0 = waypoints.Count-1; + // } + // var i1 = threshold * waypoints[p0] + (1-threshold) * waypoints[p1]; + // var i2 = (1-threshold) * waypoints[p1] + threshold * waypoints[p2]; + // var v0 = new Vector2(i1.x, i1.z); + // var v1 = new Vector2(waypoints[p1].x, waypoints[p1].z); + // var v2 = new Vector2(i2.x, i2.z); + // var newt = (t / (threshold * 2f)) + 0.5f; + // var bp = BezierPoint(v0, v1, v2, newt) - new Vector2(waypoints[p1].x, waypoints[p1].z); + // // Debug.Log(string.Format("Bezier point {0}, Actual projection {1}, Position {2} {3} {4}", bp, proj, x0, t, newt)); + // proj = bp; + // } + + var cte = (x0 - proj).magnitude; + // Debug.Log(string.Format("pos = {0}, v = {1} proj = {2}, cte = {3}", x0, v, proj, cte)); + + + // This compares the projected position and the current vehicle position + // to a point in the center of the lake. + // If projected position is closer is means the vehicle is to the right of the line + // hence the CTE will be negative (turn left). + // If the vehicle position is closer is means the vehicle is to the left of the line + // hence the CTE will be positive (turn right). + var centerPoint = new Vector3(-14.4f, 0f, 76.9f) - waypoints[prev_wp]; + var centerPoint2D = new Vector2(centerPoint.x, centerPoint.z); + var centerToPos = Vector2.Distance(centerPoint2D, x0); + var centerToRef = Vector2.Distance(centerPoint2D, proj); + if (centerToPos <= centerToRef) + { + cte *= -1f; + } + return cte; + } + + } + +} \ No newline at end of file diff --git a/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs.meta b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs.meta new file mode 100644 index 00000000..6ff33b30 --- /dev/null +++ b/Assets/Standard Assets/Vehicles/Car/Scripts/project_5/WaypointTracker_mpc.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: e60ee975ed1c60949af3bada9f47bf20 +timeCreated: 1494126066 +licenseType: Free +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/ProjectSettings/GraphicsSettings.asset b/ProjectSettings/GraphicsSettings.asset index 7016a0e2..1c938f85 100644 --- a/ProjectSettings/GraphicsSettings.asset +++ b/ProjectSettings/GraphicsSettings.asset @@ -40,13 +40,13 @@ GraphicsSettings: type: 0} m_TierSettings_Tier1: renderingPath: 1 - useCascadedShadowMaps: 1 + useCascadedShadowMaps: 0 m_TierSettings_Tier2: renderingPath: 1 - useCascadedShadowMaps: 1 + useCascadedShadowMaps: 0 m_TierSettings_Tier3: renderingPath: 1 - useCascadedShadowMaps: 1 + useCascadedShadowMaps: 0 m_DefaultRenderingPath: 1 m_DefaultMobileRenderingPath: 1 m_TierSettings: []