无人机群路线及飞行规划

Assets/GameAssets/Prefebs/Models/moder/无人机List.prefab

@@ -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

Assets/Zion/Scenes/InitConnect.unity

@@ -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:

Assets/Zion/Scenes/单机演练.unity

@@ -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}

Assets/Zion/Scripts/ModelFunction/DrawingLine/ObjectPlanner.cs

@@ -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
+                //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
+                //lineRenderer.GetPositions(positions); // 获取线条的顶点坐标
-                if (unmannedAerialVehicleManage)
+                //if (unmannedAerialVehicleManage)
-                {
+                //{
-                    for (int i = 0; i < positions.Length; i++)
+                //    for (int i = 0; i < positions.Length; i++)
-                    {
+                //    {
-                        unmannedAerialVehicleManage.positions.Enqueue(positions[i]);
+                //        unmannedAerialVehicleManage.positions.Enqueue(positions[i]);
-                        unmannedAerialVehicleManage.endPosition = positions[positions.Length - 1];
+                //        unmannedAerialVehicleManage.endPosition = positions[positions.Length - 1];
-                    }
+                //    }
-                }
+                //}
             }
         }
     }

Assets/Zion/Scripts/ModelFunction/EquipmentCommon.cs

@@ -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>();
 
 
-
+    public bool isMove = true;
-    //位置实时传送
+    /// <summary>
-    private string latestData = "";
+    /// 按规划路径开始移动
-    private bool isOnlyOne = true;
+    /// </summary>
-    public void SendMsg()
+    public void StartMoveObjectAlongPath()
     {
-        var nowData = GetSyncData();
+        if (isMove && positions.Count > 0)
-        if (!nowData.Equals(latestData))
         {
-            latestData = nowData;
+            isMove = false;
-            Debug.Log(latestData);
+            Vector3 _positions = positions.Dequeue();
-            _ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
+            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]));
+                positions.Enqueue(pos);
-                transform.position = pos;
-                transform.eulerAngles = rot;
                 break;
             case "Lasing"://激光发射位置传递
                 LaserFireControlPlatformManger laserFireControlPlatformManger = GetComponent<LaserFireControlPlatformManger>();

Assets/Zion/Scripts/ModelFunction/UAV/UnmannedAerialVehicleManage.cs

@@ -445,10 +445,10 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
     {
         if (airRoute)
         {
-            ObjectPlanner objectPlanner = airRoute.GetComponent<ObjectPlanner>();
+            DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
-            if (objectPlanner)
+            if (distanceMeasurement)
             {
-                objectPlanner.isPathCanBePlanned = false;
+                distanceMeasurement.isPathCanBePlanned = false;
             }
         }
     }
@@ -460,11 +460,10 @@ public class UnmannedAerialVehicleManage : MonoBehaviour
     {
         if (airRoute)
         {
-            ObjectPlanner objectPlanner = airRoute.GetComponent<ObjectPlanner>();
+            DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
-            if (objectPlanner)
+            if (distanceMeasurement)
             {
-                objectPlanner.isPathCanBePlanned = true;
+                distanceMeasurement.isPathCanBePlanned = true;
-                objectPlanner.lineRenderer.SetVertexCount(0);
                 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>();
+            DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
-            if (objectPlanner)
+            if (distanceMeasurement)
             {
-                objectPlanner.unmannedAerialVehicleManage = this;
+                distanceMeasurement.isPathCanBePlanned = true;
-                objectPlanner.isPathCanBePlanned = true;
+                distanceMeasurement.markers[0] = transform;
-                objectPlanner.SetSelectedObject(transform.gameObject);
+                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;