/// <summary>
/// Compute the longitudinal acceleration of a car in a lane, based on the IDM
/// </summary>
/// <param name="car">Car to compute acceleration of</param>
/// <param name="carInFront">Car in front of the current car, may be null if current car is the leader</param>
/// <param name="lane">Lane the two cars are in</param>
/// <returns></returns>
private static float AccelerationOfCarInLane(Vehicle car, Vehicle carInFront, Lane lane)
{
if (car == null)
{
return(0);
}
LeaderVehicleInfo leaderCarInfo = lane.ComputeLeaderCarInfo(car, carInFront);
Vector2 trafficDirection = lane.Path.TangentOfProjectedPosition(car.Position);
Vector2 acc = IntelligentDriverModel.ComputeAccelerationIntensity(
car,
trafficDirection,
leaderCarInfo.DistToNextCar,
leaderCarInfo.ApproachingRate
);
// Acceleration in direction of traffic (can be negaitve, -> vehicle will have to brake)
return(Vector2.Dot(acc, trafficDirection));
}