public void initialize(Junction startingPosition, List <Road> roads, TrafficLightManager tlm, Transform trjParent)
{
gameObject.layer = LayerMask.NameToLayer("carLayer");
isChangingLanes = false;
isTurning = false;
model = this.gameObject;
trafficLightManager = tlm;
setIdentity();
trajectory = UnityEngine.Object.Instantiate((Resources.Load("Prefab/DummyObjects/DummyTrajectory") as GameObject).GetComponent <Trajectory>(), trjParent);
trajectory.createTrajectory(startingPosition, roads, id);
if (model.GetComponent <MeshCollider>() != null)
{
width = Mathf.Abs(model.GetComponent <MeshCollider>().bounds.min.x - model.GetComponent <MeshCollider>().bounds.max.x);
length = Mathf.Abs(model.GetComponent <MeshCollider>().bounds.min.z - model.GetComponent <MeshCollider>().bounds.max.z);
height = Mathf.Abs(model.GetComponent <MeshCollider>().bounds.min.y - model.GetComponent <MeshCollider>().bounds.max.y);
}
else if (model.GetComponent <BoxCollider>() != null)
{
width = model.GetComponent <BoxCollider>().size.x;
height = model.GetComponent <BoxCollider>().size.y;
length = model.GetComponent <BoxCollider>().size.z;
}
raycastOffset = new Vector3(width / 2 - 0.1f, 0, 0);
alive = true;
preferedLane = null;
frontCollider = transform.Find("FrontCollider").transform;
//setInitialPose(height/2);
setInitialPose(0.2f);
initializeDecisionCount();
}
public void Start()
{
if (loadData)
{
saveData = false;
}
cars = new List <GameObject>();
world = GameObject.Find("World").GetComponent <World>();
trafficLightManager = GameObject.Find("TrafficLightManager").GetComponent <TrafficLightManager>();
createCount = -1;
dataIndex = 0;
trajectoryParent = GameObject.Find("CarTrajectory").transform;
carScenarioManager = GetComponent <CarScenarioManager>();
if (fullDataLogging)
{
dataCapturer = GetComponent <DataCapturer>();
dataCapturer.initialize(Application.dataPath + "/../../Testset/ExperimentLog/", "totalFrame.csv");
}
}
public void startDriving()
{
if (carPool == null)
{
carPool = GameObject.Find("CarPool").GetComponent <CarPool>();
}
/* pedestrian pool - not implemented yet
* if (pedPool == null)
* pedPool = GameObject.Find("PedPool").GetComponent<PedPool>();
*/
if (trafficLightManager == null)
{
trafficLightManager = GameObject.Find("TrafficLightManager").GetComponent <TrafficLightManager>();
}
// to be fixed : this should be handled in diff
carPool.initialize();
//pedPool.initialize();
trafficLightManager.initialize();
}
