Added wall obstacle, fixed seed in results, fixed (!) physics, fixed …

…start timeout

Unity/Assets/Prefabs/WallObstacle.prefab

@@ -0,0 +1,126 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
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Unity/Assets/RosSharpModules/ControlSubscriber.cs

@@ -12,6 +12,7 @@ public class ControlSubscriber : UnitySubscriber<Control>
 
         private bool firstMessage = true;
         private bool begingame = false;
+        private float startTime = 100000;
 
         protected override void Start()
         {
@@ -31,14 +32,24 @@ protected override void Start()
 
             base.Start();
             car = GetComponent<AckermannController>();
+            startTime = Time.realtimeSinceStartup;
+
+            if (!ConfigLoader.simulator.CompetitionMode) {
+                // Don't care about the stopsim stuff
+                begingame = false;
+                firstMessage = false;
+                GameManager.instance.StartSim();
+            }
         }
 
-        private void Update()
-        {
+        private void FixedUpdate() {
             if (begingame)
             {
-                GameManager.instance.StartSim();
                 begingame = false;
+                GameManager.instance.StartSim();
+            }
+            if (firstMessage && !begingame && Time.realtimeSinceStartup - startTime >= 30) {
+                GameManager.instance.StopSim("Did not start in 30 seconds!");
             }
         }
 

Unity/Assets/Scenes/MainScene.unity

@@ -170,6 +170,7 @@ MonoBehaviour:
   - {fileID: 1923489091770420782, guid: 206c202f5305ed547acd125cc0ff283b, type: 3}
   - {fileID: 3099440550098806083, guid: 38e6276f7bdfc8a4f97f931161c8351d, type: 3}
   - {fileID: 510538099432521406, guid: d11cee11ba864484fb0f8e57b8efc5b5, type: 3}
+  - {fileID: 3099440550098806083, guid: 1db2593c3c7bc054886d1d97877d85ab, type: 3}
   waypointPrefab: {fileID: 5216091860525757151, guid: ff26faa179beeaf43b9361021ef297a9,
     type: 3}
   height: 66
@@ -724,9 +725,6 @@ MonoBehaviour:
   rightWheel: {fileID: 1857142558}
   frontAxleTf: {fileID: 360597449}
   robotCamera: {fileID: 1822220454}
-  drag: 0.85
-  L: 0.3
-  T: 0.26
   ManualTopSpeed: 1
   CntrlAngle: 0
   CntrlPower: 0
@@ -824,14 +822,14 @@ Rigidbody:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 829615084}
   serializedVersion: 2
-  m_Mass: 5
+  m_Mass: 2
   m_Drag: 0
   m_AngularDrag: 0
   m_UseGravity: 1
   m_IsKinematic: 0
   m_Interpolate: 1
   m_Constraints: 0
-  m_CollisionDetection: 0
+  m_CollisionDetection: 3
 --- !u!153 &829615094
 ConfigurableJoint:
   m_ObjectHideFlags: 0

Unity/Assets/Scripts/AckermannController.cs

@@ -19,10 +19,10 @@ public class AckermannController : MonoBehaviour
     public GameObject robotCamera;
 
     [Range(0.0F, 1.0F)]
-    public float drag = 0.85f;
+    private float drag = 0.85f;
 
-    public float L = 0.7f;
-    public float T = 0.6f;
+    private float L = 0.3f;
+    private float T = 0.26f;
 
     [Range(0.0F, 10.0F)]
     public float ManualTopSpeed = 1.0f;
@@ -55,6 +55,9 @@ void Start()
         }
 
         rb = GetComponent<Rigidbody>();
+        rb.centerOfMass = new Vector3(0,0,0);
+        rb.inertiaTensorRotation = Quaternion.identity;
+        rb.maxAngularVelocity = 100f;
     }
 
     // Update is called once per frame
@@ -92,9 +95,11 @@ private void FixedUpdate()
         accel = (new_linear_vel - linear_vel) / Time.fixedDeltaTime;
 
         linear_vel = new_linear_vel;
-        transform.Translate(linear_vel * Time.fixedDeltaTime, Space.World);
+        //transform.Translate(linear_vel * Time.fixedDeltaTime, Space.World);
+        rb.velocity = linear_vel;
 
         angular_vel = new Vector3(0, Power / L * Mathf.Tan(radAngle), 0);
-        transform.Rotate(angular_vel * Mathf.Rad2Deg * Time.fixedDeltaTime, Space.World);
+        // transform.Rotate(angular_vel * Mathf.Rad2Deg * Time.fixedDeltaTime, Space.World);
+        rb.angularVelocity = angular_vel;
     }
 }

Unity/Assets/Scripts/ConfigLoader.cs

@@ -49,6 +49,10 @@ public static void LoadConfig()
             simulator.ManualControl = false;
         }
 
+        if (simulator.Seed == -1) {
+            simulator.Seed = UnityEngine.Random.Range(0, int.MaxValue);
+        }
+
         // Load competition.cfg
         try
         {

Unity/Assets/Scripts/FieldBuilder.cs

@@ -42,13 +42,12 @@ public class FieldBuilder : MonoBehaviour
     void Start()
     {
 
-        GameObject waypointHolder = new GameObject("Waypoints");;
+        GameObject waypointHolder = new GameObject("Waypoints");
 
         bool[,] maze;
         HashSet<(int, int)> frontier;
 
-        if (ConfigLoader.simulator.Seed != -1)
-            Random.InitState(ConfigLoader.simulator.Seed);
+        Random.InitState(ConfigLoader.simulator.Seed);
 
         Vector2[] waypoints = GameManager.instance.GetWaypoints();
 

Unity/Assets/Scripts/GameManager.cs

@@ -79,8 +79,7 @@ void Initalize()
 
         waypoints.Add(new Vector2(-37, 0)); // Start Pos
 
-        if (ConfigLoader.simulator.Seed != -1)
-            Random.InitState(ConfigLoader.simulator.Seed);
+        Random.InitState(ConfigLoader.simulator.Seed);
 
         waypoints.Add(new Vector2(Random.Range(-20, -5), Random.Range(-10, 10)));
         waypoints.Add(new Vector2(Random.Range(0, 15), Random.Range(-20, 20)));
@@ -98,7 +97,6 @@ private void FixedUpdate() {
         {
             if (ConfigLoader.simulator.CompetitionMode) {
                 StopSim("Connection to RosBridge lost!");
-                State = GameState.QUITTING;
             } else {
                 ReloadSim();
             }
@@ -115,7 +113,6 @@ private void FixedUpdate() {
         if (State == GameState.PLAYING && ConfigLoader.simulator.CompetitionMode && Time.time - startTime >= maxTime)
         {
             StopSim(null);
-            State = GameState.QUITTING;
         }
     }
 
@@ -177,6 +174,10 @@ public void UpdateRoot() {
 
     public void StopSim(string error)
     {
+        if (State == GameState.QUITTING) {
+            return; // Already quitting
+        }
+        State = GameState.QUITTING;
         float finalTime = Time.time - startTime;
 
         if (finalTime > maxTime) {

Unity/ProjectSettings/ProjectSettings.asset

@@ -119,7 +119,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 2.0
+  bundleVersion: 3.0
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0