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无人机群路线及飞行规划

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账号名 2023-11-23 23:18:14 +08:00
parent b9e9c7e5b8
commit 8ddc76956d
6 changed files with 74 additions and 58 deletions
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4
Assets/GameAssets/Prefebs/Models/moder/无人机List.prefab
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@ -345,11 +345,13 @@ MonoBehaviour:
- {fileID: 5185013363439366923}
- {fileID: 6839647458606122297}
- {fileID: 4299622186163530999}
LinePrefab: {fileID: 739704727871026136, guid: 01a28b65d7e53484b8bab2f3cc69ab91,
LinePrefab: {fileID: 739704727871026136, guid: 3e35ca2d6b8539a45b9b9bd9ec287f2b,
type: 3}
airRoute: {fileID: 0}
endPosition: {x: 0, y: 0, z: 0}
FireSpeed: 20
detectionRadius: 50
isEngagedTarget: 0
batteryLife: 1
classificationWindResistance: 1
maximumFlyingSpeed: 1

2
Assets/Zion/Scenes/InitConnect.unity
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@ -240,7 +240,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
isLinkAgain: 0
serverIP: 127.0.0.1
serverIP: 192.168.6.63
port: 12345
--- !u!4 &2132962759
Transform:

8
Assets/Zion/Scenes/单机演练.unity
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@ -767,7 +767,7 @@ PrefabInstance:
- target: {fileID: 625513913607457920, guid: 121324ce722bdb944a7cc1c7c3a5077f,
type: 3}
propertyPath: m_IsActive
value: 1
value: 0
objectReference: {fileID: 0}
m_RemovedComponents: []
m_SourcePrefab: {fileID: 100100000, guid: 121324ce722bdb944a7cc1c7c3a5077f, type: 3}
@ -1039,7 +1039,7 @@ PrefabInstance:
- target: {fileID: 3977472425108262603, guid: 2b2524df6b4053a4aa08b1f5fe4d62f5,
type: 3}
propertyPath: m_IsActive
value: 1
value: 0
objectReference: {fileID: 0}
m_RemovedComponents: []
m_SourcePrefab: {fileID: 100100000, guid: 2b2524df6b4053a4aa08b1f5fe4d62f5, type: 3}
@ -2006,7 +2006,7 @@ PrefabInstance:
- target: {fileID: 7615181139496386322, guid: 7abae14e48a106d4c8120d0eba515162,
type: 3}
propertyPath: m_IsActive
value: 1
value: 0
objectReference: {fileID: 0}
- target: {fileID: 7615181139496386328, guid: 7abae14e48a106d4c8120d0eba515162,
type: 3}
@ -2085,7 +2085,7 @@ PrefabInstance:
- target: {fileID: 7615181139496386322, guid: 7abae14e48a106d4c8120d0eba515162,
type: 3}
propertyPath: m_IsActive
value: 1
value: 0
objectReference: {fileID: 0}
- target: {fileID: 7615181139496386328, guid: 7abae14e48a106d4c8120d0eba515162,
type: 3}

20
Assets/Zion/Scripts/ModelFunction/DrawingLine/ObjectPlanner.cs
View File

@ -60,16 +60,16 @@ public class ObjectPlanner : MonoBehaviour
{
isPlanning = false; // 停止规划路线
Vector3[] positions = new Vector3[lineRenderer.positionCount]; // 创建用于存储顶点坐标的数组
lineRenderer.GetPositions(positions); // 获取线条的顶点坐标
if (unmannedAerialVehicleManage)
{
for (int i = 0; i < positions.Length; i++)
{
unmannedAerialVehicleManage.positions.Enqueue(positions[i]);
unmannedAerialVehicleManage.endPosition = positions[positions.Length - 1];
}
}
//Vector3[] positions = new Vector3[lineRenderer.positionCount]; // 创建用于存储顶点坐标的数组
//lineRenderer.GetPositions(positions); // 获取线条的顶点坐标
//if (unmannedAerialVehicleManage)
//{
// for (int i = 0; i < positions.Length; i++)
// {
// unmannedAerialVehicleManage.positions.Enqueue(positions[i]);
// unmannedAerialVehicleManage.endPosition = positions[positions.Length - 1];
// }
//}
}
}
}

47
Assets/Zion/Scripts/ModelFunction/EquipmentCommon.cs
View File

@ -76,13 +76,9 @@ public class EquipmentCommon : MonoBehaviour
}
void OnActivationChangedIsPlayer(bool newValue)
{
if (newValue && equipmentType == "无人机List" && isOnlyOne)
if (newValue && equipmentType == "无人机List")
{
isOnlyOne = false;
latestData = GetSyncData();
InvokeRepeating("SendMsg", 0, 0.01f);
UnmannedAerialVehicleManage unmannedAerialVehicleManage = GetComponent<UnmannedAerialVehicleManage>();
//unmannedAerialVehicleManage.unmannedAerialVehicles.ForEach(x => x.AddSendMsg());//每个无人机位置传递开启
}
}
/// <summary>
@ -163,30 +159,29 @@ public class EquipmentCommon : MonoBehaviour
}
}
/// <summary>
/// 已有路径
/// </summary>
public Queue<Vector3> positions = new Queue<Vector3>();
//位置实时传送
private string latestData = "";
private bool isOnlyOne = true;
public void SendMsg()
public bool isMove = true;
/// <summary>
/// 按规划路径开始移动
/// </summary>
public void StartMoveObjectAlongPath()
{
var nowData = GetSyncData();
if (!nowData.Equals(latestData))
if (isMove && positions.Count > 0)
{
latestData = nowData;
Debug.Log(latestData);
_ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
isMove = false;
Vector3 _positions = positions.Dequeue();
UnmannedAerialVehicleManage unmannedAerialVehicleManage = GetComponent<UnmannedAerialVehicleManage>();
if (unmannedAerialVehicleManage)
StartCoroutine(unmannedAerialVehicleManage.MoveObjectAlongPath(_positions,isMove)); // 启动协程，按规划的路线移动物体
}
}
/// <summary>
/// 无人机整体位置传递
/// </summary>
/// <returns></returns>
protected string GetSyncData()
{
return string.Format("{0},{1},{2},{3},{4},{5},{6},{7}", "DronePosition", equipmentCommon.deviceID, transform.position.x, transform.position.y, transform.position.z, transform.eulerAngles.x, transform.eulerAngles.y, transform.eulerAngles.z);
}
/// <summary>
@ -199,9 +194,7 @@ public class EquipmentCommon : MonoBehaviour
{
case "DronePosition"://无人机位置信息传递
Vector3 pos = new Vector3(float.Parse(data[2]), float.Parse(data[3]), float.Parse(data[4]));
Vector3 rot = new Vector3(float.Parse(data[5]), float.Parse(data[6]), float.Parse(data[7]));
transform.position = pos;
transform.eulerAngles = rot;
positions.Enqueue(pos);
break;
case "Lasing"://激光发射位置传递
LaserFireControlPlatformManger laserFireControlPlatformManger = GetComponent<LaserFireControlPlatformManger>();

51
Assets/Zion/Scripts/ModelFunction/UAV/UnmannedAerialVehicleManage.cs
View File

@ -445,10 +445,10 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
{
if (airRoute)
{
ObjectPlanner objectPlanner = airRoute.GetComponent<ObjectPlanner>();
if (objectPlanner)
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
if (distanceMeasurement)
{
objectPlanner.isPathCanBePlanned = false;
distanceMeasurement.isPathCanBePlanned = false;
}
}
}
@ -460,11 +460,10 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
{
if (airRoute)
{
ObjectPlanner objectPlanner = airRoute.GetComponent<ObjectPlanner>();
if (objectPlanner)
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
if (distanceMeasurement)
{
objectPlanner.isPathCanBePlanned = true;
objectPlanner.lineRenderer.SetVertexCount(0);
distanceMeasurement.isPathCanBePlanned = true;
positions.Clear();
}
}
@ -473,12 +472,12 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
GameObject _object = Instantiate(LinePrefab);
airRoute = _object;
airRoute.transform.position = Vector3.zero;
ObjectPlanner objectPlanner = airRoute.GetComponent<ObjectPlanner>();
if (objectPlanner)
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
if (distanceMeasurement)
{
objectPlanner.unmannedAerialVehicleManage = this;
objectPlanner.isPathCanBePlanned = true;
objectPlanner.SetSelectedObject(transform.gameObject);
distanceMeasurement.isPathCanBePlanned = true;
distanceMeasurement.markers[0] = transform;
distanceMeasurement.unmannedAerialVehicleManage = this;
}
}
}
@ -492,13 +491,16 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
if (isMove && positions.Count > 0)
{
isMove = false;
StartCoroutine(MoveObjectAlongPath(positions.Dequeue())); // 启动协程，按规划的路线移动物体
Vector3 _positions = positions.Dequeue();
var nowData = GetSyncData(_positions);
_ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
StartCoroutine(MoveObjectAlongPath(_positions)); // 启动协程，按规划的路线移动物体
}
}
IEnumerator MoveObjectAlongPath(Vector3 positions) // 协程：按路线移动物体
public IEnumerator MoveObjectAlongPath(Vector3 _positions) // 协程：按路线移动物体
{
Vector3 targetPosition = new Vector3(positions.x, 150, positions.z);// 目标位置为当前顶点坐标
Vector3 targetPosition = new Vector3(_positions.x, 150, _positions.z);// 目标位置为当前顶点坐标
float _distance = Vector3.Distance(transform.position, targetPosition);
float _time = _distance / FireSpeed;
transform.LookAt(endPosition);
@ -506,6 +508,25 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
yield return new WaitForSeconds(_time); // 等待一帧时间
isMove = true;
}
public IEnumerator MoveObjectAlongPath(Vector3 _positions,bool _isMove) // 协程：按路线移动物体
{
Vector3 targetPosition = new Vector3(_positions.x, 150, _positions.z);// 目标位置为当前顶点坐标
float _distance = Vector3.Distance(transform.position, targetPosition);
float _time = _distance / FireSpeed;
transform.LookAt(endPosition);
transform.DOMove(targetPosition, _time).SetEase(Ease.Linear);
yield return new WaitForSeconds(_time); // 等待一帧时间
equipmentCommon.isMove = true;
}
/// <summary>
/// 无人机整体位置传递
/// </summary>
/// <returns></returns>
protected string GetSyncData(Vector3 _positions)
{
return string.Format("{0},{1},{2},{3},{4}", "DronePosition", equipmentCommon.deviceID, _positions.x, _positions.y, _positions.z);
}
private void OnDestroy()
{
OnActivationChanged -= OnActivationChangedHandler;