static float GetTurnRadius(float speed)
{
float forwardSpeed = Mathf.Abs(speed);
float turnRadius = 0;
var curvature = RoboUtils.Scale(0, 5, 0.0069f, 0.00398f, forwardSpeed);
if (forwardSpeed >= 500 / 100)
{
curvature = RoboUtils.Scale(5, 10, 0.00398f, 0.00235f, forwardSpeed);
}
if (forwardSpeed >= 1000 / 100)
{
curvature = RoboUtils.Scale(10, 15, 0.00235f, 0.001375f, forwardSpeed);
}
if (forwardSpeed >= 1500 / 100)
{
curvature = RoboUtils.Scale(15, 17.5f, 0.001375f, 0.0011f, forwardSpeed);
}
if (forwardSpeed >= 1750 / 100)
{
curvature = RoboUtils.Scale(17.5f, 23, 0.0011f, 0.00088f, forwardSpeed);
}
turnRadius = 1 / (curvature * 100);
return(turnRadius);
}
private void SavePlayFiles(RoboPosition position, IEnumerable <RoboCard> cards, IEnumerable <RoboPosition> allPlayers)
{
RoboBoard board = GetBlockingBoard(position, allPlayers);
board.Save(WorkingDirectory + "/board.txt");
RoboPosition.SavePosition(WorkingDirectory + "/bot.txt", position);
RoboUtils.SaveCardsToFile(WorkingDirectory + "/cards.txt", cards);
}
private void DrawForces()
{
if (_c.isCanDrive != true)
{
return;
}
// Draw induced lateral friction Fy
RoboUtils.DrawRay(_lateralForcePosition, 0.3f * -Fy * transform.right, Color.magenta);
// Draw observed forces
RoboUtils.DrawLocalRay(transform, transform.up, _wheelAcceleration.z, transform.forward, Color.gray);
}
private void loadKIToolStripMenuItem_Click(object sender, EventArgs e)
{
if (openKIFileDialog.ShowDialog(this) != DialogResult.OK || openKIFileDialog.FileName.IsNullOrEmpty())
{
return;
}
RoboPlayerPlugin roboPlugin = RoboUtils.RegisterPlugin(RoboManager, openKIFileDialog.FileName);
ToolStripMenuItem item = AddPluginToPlayerDropDown(roboPlugin);
item.PerformClick();
}
private void loadBoardToolStripMenuItem_Click(object sender, EventArgs e)
{
if (openFileDialog.ShowDialog(this) != DialogResult.OK)
{
return;
}
RoboBoard board = RoboUtils.LoadBoard(openFileDialog.FileName, Difficulty.Hard);
SetBoard(board);
SetBoardEditorVisibility(false);
}
public override void StartRound(RoboPosition position, ICollection <RoboCard> cards, IEnumerable <RoboPosition> allPlayers)
{
SavePlayFiles(position, cards, allPlayers);
Exception ex = LaunchProgramm();
if (ex != null)
{
PlayCards(null, ex);
return;
}
RoboCard[] result = RoboUtils.LoadCards(WorkingDirectory + "/ccards.txt", 5);
PlayCards(result);
}
private void DrawWheelVelocities()
{
if (_rb == null)
{
return;
}
if (_c.isCanDrive != true)
{
return;
}
var offset = 0.05f * transform.up;
RoboUtils.DrawRay(_wheelContactPoint + offset, _wheelVelocity * 0.1f, Color.black);
RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelForwardVelocity * 0.1f) * transform.forward, Color.blue);
RoboUtils.DrawRay(_wheelContactPoint + offset, (_wheelLateralVelocity * 0.1f) * transform.right, Color.red);
}
private void FixedUpdate()
{
_speedMagnitude = _rb.velocity.magnitude;
_speedMagnitudeKmH = _speedMagnitude * 3.6f;
var currentAlpha = RoboUtils.Scale(40, 100, 0, 1, _speedMagnitudeKmH);
currentAlpha = Mathf.Clamp(currentAlpha, 0, 1);
_gradient.alphaKeys = new GradientAlphaKey[] { new GradientAlphaKey(currentAlpha, 0), new GradientAlphaKey(0, 1) };
_trail.colorGradient = _gradient;
var maxTrailWidth = 0.6f;
var minTrailWidth = 0.3f;
var trailWidth = RoboUtils.Scale(40, 80, minTrailWidth, maxTrailWidth, _speedMagnitudeKmH);
_trail.startWidth = Mathf.Clamp(trailWidth, minTrailWidth, maxTrailWidth);
}
static float GetForwardAcceleration(float speed)
{
// Replicates acceleration curve from RL, depends on current car forward velocity
speed = Mathf.Abs(speed);
float throttle = 0;
if (speed > (1410 / 100))
{
throttle = 0;
}
else if (speed > (1400 / 100))
{
throttle = RoboUtils.Scale(14, 14.1f, 1.6f, 0, speed);
}
else if (speed <= (1400 / 100))
{
throttle = RoboUtils.Scale(0, 14, 16, 1.6f, speed);
}
return(throttle);
}