public override void handle(CarAIControl controller, Dictionary <int, VRAVEObstacle> obstacles,
float currentSpeed,
CarAIControl.BrakeCondition brakeCondition)
{
if (!Enable)
{
return;
}
foreach (VRAVEObstacle vo in obstacles.Values)
{
if (vo.obstacleTag.Equals(VRAVEStrings.Crazy_AI_Car))
{
controller.Driving = false;
return;
}
}
}
// check sensors 8 - 17, ignore otherwise
// get the distance to the trash can and angle to the trash can
// if angle is +, steer left
// if angle is -, steer right ?
// compute steer amount as fn of distance, angle, and base steer amount (10 degrees?)
public override void handle(CarAIControl controller, Dictionary <int, VRAVEObstacle> obstacles,
float currentSpeed,
CarAIControl.BrakeCondition brakeCondition)
{
if (!Enable)
{
return;
}
controller.IsAvoidingObstacle = false;
VRAVEObstacle obs;
for (int i = scanningRange_Left; i <= scanningRange_Right; ++i)
{
if (obstacles.TryGetValue(i, out obs))
{
if (obs.obstacleTag.Equals(VRAVEStrings.Obstacle))
{
// found trash can
controller.IsAvoidingObstacle = true;
//float distance = obs.Distance;
// calculate the local-relative position of the target, to steer away from
Vector3 localTarget = transform.InverseTransformPoint(obs.obstacle.point);
// work out the local angle towards the target
float targetAngle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;
if (targetAngle <= 0)
{
targetAngle = -90 + targetAngle;
}
else
{
targetAngle = 90 - targetAngle;
}
controller.ObstacleAvoidanceSteerAmount = -targetAngle * 2f;
return;
}
}
}
}
private void FixedUpdate()
{
if (this.target == null || !this.driving)
{
float accelBrakeInput = Mathf.Clamp(-this.carController.CurrentSpeed, -1f, 1f);
this.carController.Move(0f, accelBrakeInput);
}
else
{
Vector3 to = base.transform.forward;
if (base.GetComponent <Rigidbody>().velocity.magnitude > this.carController.MaxSpeed * 0.1f)
{
to = base.GetComponent <Rigidbody>().velocity;
}
float num = this.carController.MaxSpeed;
CarAIControl.BrakeCondition brakeCondition = this.brakeCondition;
if (brakeCondition != CarAIControl.BrakeCondition.TargetDirectionDifference)
{
if (brakeCondition != CarAIControl.BrakeCondition.TargetDistance)
{
if (brakeCondition != CarAIControl.BrakeCondition.NeverBrake)
{
}
}
else
{
Vector3 vector = this.target.position - base.transform.position;
float b = Mathf.InverseLerp(this.cautiousMaxDistance, 0f, vector.magnitude);
float value = base.GetComponent <Rigidbody>().angularVelocity.magnitude *this.cautiousAngularVelocityFactor;
float t = Mathf.Max(Mathf.InverseLerp(0f, this.cautiousMaxAngle, value), b);
num = Mathf.Lerp(this.carController.MaxSpeed, this.carController.MaxSpeed * this.cautiousSpeedFactor, t);
}
}
else
{
float b2 = Vector3.Angle(this.target.forward, to);
float a = base.GetComponent <Rigidbody>().angularVelocity.magnitude *this.cautiousAngularVelocityFactor;
float t2 = Mathf.InverseLerp(0f, this.cautiousMaxAngle, Mathf.Max(a, b2));
num = Mathf.Lerp(this.carController.MaxSpeed, this.carController.MaxSpeed * this.cautiousSpeedFactor, t2);
}
Vector3 vector2 = this.target.position;
if (Time.time < this.avoidOtherCarTime)
{
num *= this.avoidOtherCarSlowdown;
vector2 += this.target.right * this.avoidPathOffset;
}
else
{
vector2 += this.target.right * (Mathf.PerlinNoise(Time.time * this.lateralWanderSpeed, this.randomPerlin) * 2f - 1f) * this.lateralWanderDistance;
}
float num2 = (num >= this.carController.CurrentSpeed) ? this.accelSensitivity : this.brakeSensitivity;
float num3 = Mathf.Clamp((num - this.carController.CurrentSpeed) * num2, -1f, 1f);
num3 *= 1f - this.accelWanderAmount + Mathf.PerlinNoise(Time.time * this.accelWanderSpeed, this.randomPerlin) * this.accelWanderAmount;
Vector3 vector3 = base.transform.InverseTransformPoint(vector2);
float num4 = Mathf.Atan2(vector3.x, vector3.z) * 57.29578f;
float steerInput = Mathf.Clamp(num4 * this.steerSensitivity, -1f, 1f) * Mathf.Sign(this.carController.CurrentSpeed);
this.carController.Move(steerInput, num3);
if (this.stopWhenTargetReached && vector3.magnitude < this.reachTargetThreshold)
{
this.driving = false;
}
}
}
public override void handle(CarAIControl controller, Dictionary <int, VRAVEObstacle> obstacles, float currentSpeed, CarAIControl.BrakeCondition brakeCondition)
{
if (!Enable)
{
return;
}
else
{
if (obstacles.ContainsKey(9) && obstacles[9].obstacleTag.Equals(VRAVEStrings.Obstacle) && (obstacles[9].Distance <= 25))
{
//Don't turn
Enable = false;
controller.TooClose = false;
controller.TooFar = false;
controller.AccelMultiplier = 0f;
//GetComponentInParent<CarController>().MaxSpeed = AISpeed;
return;
}
else if (obstacles.ContainsKey(7) && obstacles[7].obstacleTag.Equals(VRAVEStrings.AI_Car))
{
CarController userCarController = GetComponentInParent <CarController>();
float AISpeed = obstacles[7].obstacle.collider.GetComponentInParent <CarController>().MaxSpeed;
float differential = obstacles[7].Distance - followDistance;
Debug.Log("Distance: " + obstacles[7].Distance + " Differential: " + differential);
if (Mathf.Abs(differential) > 5f)
{
if (differential > 0f) //too far away
{
//userCarController.MaxSpeed = 1.2f * AISpeed;
controller.AccelMultiplier = (1.0f + Mathf.Abs(controller.AccelMultiplier)) * 1.05f;
controller.TooFar = true;
Debug.Log("Too far : " + controller.AccelMultiplier);
}
else if (differential < 0f) //(differential < 0) //too close
{
//userCarController.MaxSpeed = 1.2f * AISpeed;
controller.AccelMultiplier = -1.0f + -1f * Mathf.Abs(controller.AccelMultiplier) * (1.0f / 1.05f);
//controller.AccelMultiplier = 0;
controller.TooClose = true;
Debug.Log("Too close : " + controller.AccelMultiplier);
}
}
else if (Math.Abs(differential) > 1f)
{
if (differential > 0f) //too far away
{
userCarController.MaxSpeed = 1.5f * AISpeed;
//controller.AccelMultiplier = controller.AccelMultiplier / 2;
controller.TooFar = true;
Debug.Log("Too far : " + controller.AccelMultiplier);
}
else if (differential < 0f) //(differential < 0) //too close
{
userCarController.MaxSpeed = 1.5f * AISpeed;
//controller.AccelMultiplier = controller.AccelMultiplier / 2;
controller.TooClose = true;
Debug.Log("Too close : " + controller.AccelMultiplier);
}
}
else
{
//In the correct following range. Do nothing.
controller.TooClose = false;
controller.TooFar = false;
GetComponentInParent <CarController>().MaxSpeed = AISpeed;
//obstacles[7].obstacle.collider.GetComponentInParent<CarController>().MaxSpeed = AISpeed;
}
}
}
}
// Defines how a vehicle should react to an obstacle hit
//
// In most cases, you will want to disable the sensor response handler at the end of handle()
public abstract void handle(CarAIControl controller, Dictionary <int, VRObstacle> obstacles,
float currentSpeed,
CarAIControl.BrakeCondition brakeCondition);
public override void handle(CarAIControl controller, Dictionary <int, VRAVEObstacle> obstacles, float currentSpeed, CarAIControl.BrakeCondition brakeCondition)
{
if (!Enable)
{
return;
}
else
{
if (passingCheck(obstacles))
{
Enable = false;
controller.IsPassing = true;
}
}
}
