ChivaFrameWork/Framework/SimulationToolDev/AnimationDriver/AnimationDriver-Example/HangDiao/HangDiaoController.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

/// <summary>
/// 行吊控制器
/// 基于标准父级移动轴
/// </summary>
/// 

public class HangDiaoController : MonoBehaviour
{
    public static HangDiaoController instance;

    public enum HangDiaoRunningState
    {
        待机,
        横梁移动,
        电机移动,
        展开吊钩,
        收起吊钩,
        自由追随
    }

    public class HangDiaoRunningStateEventData
    {
        public HangDiaoRunningState runningState;

        public bool finished;

        public HangDiaoRunningStateEventData(HangDiaoRunningState state, bool finished)
        {
            this.runningState = state;
            this.finished = finished;
        }
    }


    //行吊运行状态
    public delegate void HD_RuningEvent(HangDiaoRunningStateEventData eventData);
    //行吊完成状态
    public HD_RuningEvent RuningStateChanged;

    public HangDiaoRunningState hangDiaoRuningState = HangDiaoRunningState.待机;

    //追随目标
    public Transform targetPoint;
    //行吊横梁
    public Transform hd_HengLiang;
    //行吊横梁电机
    public Transform hd_HengXiangDianJi;
    public Transform hd_ShengZi_Chang;
    public Transform hd_ShengZi_Duan;
    //挂钩
    public Transform hd_GuaGou;

    //实际挂钩点距挂钩模型的偏移量
    public Vector3 guaGouOffset = new Vector3(0, -0.0022f, -0.1745f);

    //绳子的缩放比例 1 ：1.137115 
    public float shengZiDuan_Scale = 1.37115f;
    public float shengZiChang_Scale = 1.49664f;

    //挂钩初始高度(距电机的相对Z轴)
    private float guaGouInitHeight = -0.5f;
    //横梁移动速度
    public float hengLiangMoveSpeed = 1f;
    //吊钩移动速度
    public float diaoGouMoveSpeed = 0.5f;
    //横梁电机移动速度
    public float hengLiangDianJiMoveSpeed = 1f;

    //根据时间调整移动速度
    public float moveTimeLimit = 2;

    private bool moveToTarget = false;

    public void Awake() 
    {
        instance = this;
    }

    // Update is called once per frame
    void Update()
    {
        CheckRuningState();
    }

    /// <summary>
    /// 运行状态检测
    /// </summary>
    public void CheckRuningState()
    {
        switch (hangDiaoRuningState)
        {
            case HangDiaoRunningState.待机:
                break;
            case HangDiaoRunningState.横梁移动:
                HD_HengLiang_Move();
                break;
            case HangDiaoRunningState.电机移动:
                HD_HengLiangDianJi_Move();
                break;
            case HangDiaoRunningState.展开吊钩:
                HD_DiaoGou_Open();
                break;
            case HangDiaoRunningState.收起吊钩:
                HD_DiaoGou_ShouHui();
                break;
            case HangDiaoRunningState.自由追随:
                UpdataByTagetPoint();
                break;
            default:
                break;
        }
    }

    /// <summary>
    /// 更新行吊状态至目标位置
    /// </summary>
    /// <param name="pos"></param>
    public void SetTargetPos(Vector3 pos)
    {
        Vector3 targetPointLocalPosInHangDiao = this.transform.InverseTransformPoint(pos);

        //行吊位置更新
        hd_HengLiang.transform.localPosition = new Vector3(hd_HengLiang.localPosition.x, hd_HengLiang.localPosition.y, targetPointLocalPosInHangDiao.z);

        //电机位置更新
        Vector3 targetPointLocalPosInHengLiang = hd_HengLiang.InverseTransformPoint(pos);
        hd_HengXiangDianJi.localPosition = new Vector3(targetPointLocalPosInHengLiang.x, hd_HengXiangDianJi.localPosition.y, hd_HengXiangDianJi.localPosition.z);

        //更新挂钩位置
        hd_GuaGou.position = pos - hd_GuaGou.TransformVector(guaGouOffset);

        //更新绳索缩放
        hd_ShengZi_Chang.localScale = new Vector3(1,1,hd_GuaGou.InverseTransformPoint(hd_ShengZi_Chang.position).z / shengZiChang_Scale);
        hd_ShengZi_Duan.localScale = new Vector3(1,1, hd_GuaGou.InverseTransformPoint(hd_ShengZi_Duan.position).z / shengZiDuan_Scale);
    }

    /// <summary>
    /// 移动到目标位置
    /// </summary>
    public void MoveToTargetPoint()
    {
        if (!moveToTarget)
        {
            RuningStateChanged += MoveToTargetRuningStateChanged;
        }
        moveToTarget = true;

        hangDiaoRuningState = HangDiaoRunningState.收起吊钩;
    }

    /// <summary>
    /// 在时间范围内移动至目标位置
    /// </summary>
    public void MoveToTargetPointInTime()
    {
        CheckTimeChangedSpeed(moveTimeLimit);
        MoveToTargetPoint();
    }

    /// <summary>
    /// 设置目标位置
    /// </summary>
    /// <param name="t"></param>
    public void SetTarget(Transform t)
    {
        targetPoint = t;
        hangDiaoRuningState = HangDiaoRunningState.待机;
    }

    public void MoveToTargetRuningStateChanged(HangDiaoRunningStateEventData eventData)
    {
        if (!eventData.finished) return;

        //Debug.Log(hangDiaoRuningState.ToString() + "Finished");
        switch (eventData.runningState)
        {
            case HangDiaoRunningState.横梁移动:
                hangDiaoRuningState = HangDiaoRunningState.电机移动;
                break;
            case HangDiaoRunningState.电机移动:
                hangDiaoRuningState = HangDiaoRunningState.展开吊钩;
                break;
            case HangDiaoRunningState.展开吊钩:
                hangDiaoRuningState = HangDiaoRunningState.自由追随;
                RuningStateChanged -= MoveToTargetRuningStateChanged;
                moveToTarget = false;
                break;
            case HangDiaoRunningState.收起吊钩:
                hangDiaoRuningState = HangDiaoRunningState.横梁移动;
                break;
        }
    }
    #region 状态

    /// <summary>
    /// 实时更新目标位置
    /// </summary>
    public void UpdataByTagetPoint()
    {
        if (targetPoint == null) return;

        Vector3 targetPointLocalPosInHangDiao = this.transform.InverseTransformPoint(targetPoint.position);

        //行吊位置更新
        hd_HengLiang.transform.localPosition = new Vector3(hd_HengLiang.localPosition.x, hd_HengLiang.localPosition.y, targetPointLocalPosInHangDiao.z);

        //电机位置更新
        Vector3 targetPointLocalPosInHengLiang = hd_HengLiang.InverseTransformPoint(targetPoint.position);
        hd_HengXiangDianJi.localPosition = new Vector3(targetPointLocalPosInHengLiang.x, hd_HengXiangDianJi.localPosition.y, hd_HengXiangDianJi.localPosition.z);

        //更新挂钩位置
        hd_GuaGou.position = targetPoint.position - hd_GuaGou.TransformVector(guaGouOffset);

        //更新绳索缩放
        hd_ShengZi_Chang.localScale = new Vector3(1,1,hd_GuaGou.InverseTransformPoint(hd_ShengZi_Chang.position).z / shengZiChang_Scale);
        hd_ShengZi_Duan.localScale = new Vector3(1,1,hd_GuaGou.InverseTransformPoint(hd_ShengZi_Duan.position).z / shengZiDuan_Scale);
    }

    /// <summary>
    /// 吊钩收回
    /// </summary>
    public void HD_DiaoGou_ShouHui()
    {
        //更新挂钩位置
        hd_GuaGou.localPosition =
            new Vector3(hd_GuaGou.localPosition.x, hd_GuaGou.localPosition.y
            , Mathf.MoveTowards(hd_GuaGou.localPosition.z, guaGouInitHeight, diaoGouMoveSpeed * Time.deltaTime));

        hd_ShengZi_Chang.localScale = new Vector3(1, 1, hd_GuaGou.InverseTransformPoint(hd_ShengZi_Chang.position).y / shengZiChang_Scale);
        hd_ShengZi_Duan.localScale = new Vector3(1,1,hd_GuaGou.InverseTransformPoint(hd_ShengZi_Duan.position).y / shengZiDuan_Scale);

        if (hd_GuaGou.localPosition.z == guaGouInitHeight)
            RuningStateChanged?.Invoke(new HangDiaoRunningStateEventData(HangDiaoRunningState.收起吊钩, true));
    }

    /// <summary>
    /// 吊钩拉伸
    /// </summary>
    public void HD_DiaoGou_Open()
    {
        //更新挂钩位置
        hd_GuaGou.localPosition =
            new Vector3(hd_GuaGou.localPosition.x, hd_GuaGou.localPosition.y
            , Mathf.MoveTowards(hd_GuaGou.localPosition.z,
            (hd_HengXiangDianJi.InverseTransformPoint(targetPoint.position).z - guaGouOffset.z)
            , diaoGouMoveSpeed * Time.deltaTime));

        hd_ShengZi_Chang.localScale = new Vector3(1, 1, hd_GuaGou.InverseTransformPoint(hd_ShengZi_Chang.position).z / shengZiChang_Scale);
        hd_ShengZi_Duan.localScale = new Vector3(1,1,hd_GuaGou.InverseTransformPoint(hd_ShengZi_Duan.position).z / shengZiDuan_Scale);

        if (Mathf.Abs(hd_GuaGou.localPosition.z - (hd_HengXiangDianJi.InverseTransformPoint(targetPoint.position).z - guaGouOffset.z)) < 0.01f)
            RuningStateChanged?.Invoke(new HangDiaoRunningStateEventData(HangDiaoRunningState.展开吊钩, true));
    }

    /// <summary>
    /// 行吊横梁移动
    /// </summary>
    public void HD_HengLiang_Move()
    {
        Vector3 targetPointLocalPosInHangDiao = this.transform.InverseTransformPoint(targetPoint.position);

        //行吊位置更新
        hd_HengLiang.transform.localPosition = new Vector3(hd_HengLiang.localPosition.x, hd_HengLiang.localPosition.y
            , Mathf.MoveTowards(hd_HengLiang.localPosition.z, targetPointLocalPosInHangDiao.z
            , hengLiangMoveSpeed * Time.deltaTime));

        if (hd_HengLiang.localPosition.z == targetPointLocalPosInHangDiao.z)
            RuningStateChanged?.Invoke(new HangDiaoRunningStateEventData(HangDiaoRunningState.横梁移动, true));
    }

    /// <summary>
    /// 行吊横梁电机移动
    /// </summary>
    public void HD_HengLiangDianJi_Move()
    {
        //电机位置更新
        Vector3 targetPointLocalPosInHengLiang = hd_HengLiang.InverseTransformPoint(targetPoint.position);
        hd_HengXiangDianJi.localPosition = new Vector3(Mathf.MoveTowards(hd_HengXiangDianJi.localPosition.x, targetPointLocalPosInHengLiang.x
            , hengLiangMoveSpeed * Time.deltaTime), hd_HengXiangDianJi.localPosition.y, hd_HengXiangDianJi.localPosition.z);

        if (hd_HengXiangDianJi.localPosition.x == targetPointLocalPosInHengLiang.x)
            RuningStateChanged?.Invoke(new HangDiaoRunningStateEventData(HangDiaoRunningState.电机移动, true));
    }

    /// <summary>
    /// 根据整体时间改变速度
    /// </summary>
    /// <param name="moveMaxTime"></param>
    public void CheckTimeChangedSpeed(float moveMaxTime)
    {
        float targetMoveDistance = 0;
        //吊钩回收
        targetMoveDistance += Mathf.Abs(hd_GuaGou.localPosition.z - guaGouInitHeight);
        //横梁移动
        Vector3 targetPointLocalPosInHangDiao = this.transform.InverseTransformPoint(targetPoint.position);
        targetMoveDistance += Mathf.Abs(hd_HengLiang.localPosition.z - targetPointLocalPosInHangDiao.z);

        //电机移动
        Vector3 targetPointLocalPosInHengLiang = hd_HengLiang.InverseTransformPoint(targetPoint.position);
        targetMoveDistance += Mathf.Abs(hd_HengXiangDianJi.localPosition.x - targetPointLocalPosInHengLiang.x);

        //吊车下放
        targetMoveDistance += Mathf.Abs(guaGouInitHeight -
            (hd_HengXiangDianJi.InverseTransformPoint(targetPoint.position).z - guaGouOffset.z));

        float moveSpeed = targetMoveDistance / moveMaxTime;

        diaoGouMoveSpeed = moveSpeed;
        hengLiangMoveSpeed = moveSpeed;
        hengLiangDianJiMoveSpeed = moveSpeed;
    }
    #endregion
}