private GameObject DetectRoadAhead()
{
GameObject objectFound = null;
Vector3 roadDectector = transform.forward * DETECTION_DISTANCE;
Vector3 fromDetector = transform.position + new Vector3(0, 2.8f, 3);
roadDectector.y -= 0.7f;;
RaycastHit hit;
Ray drivingRay = new Ray(transform.position + new Vector3(0, 2f, 0), roadDectector);
Debug.DrawRay(transform.position + new Vector3(0, 2f, 0), roadDectector * 8, Color.yellow);
if (Physics.Raycast(drivingRay, out hit, 20, roadDetectorLayer)) // TODO chequear solo el suelo
{
objectFound = hit.transform.gameObject;
if (objectFound.GetComponent <CrossRoad>() != null)
{
if (!executingCoroutine) // TO-DO check to move this to function level somehow
{
CrossRoad crossRoad = objectFound.GetComponent <CrossRoad>();
logger.Log(transform.name + "Found a crossroad, taking decisions.");
if (crossRoad.IsRoadOccupied(gameObject.GetInstanceID()))
{
// Coroutine to wait and mark as turning
logger.Log("Stopping at road cross a vehicle is crossing");
StartCoroutine(WaitAtCrossRoad(crossRoad));
}
else
{
// Choose to go straight, left or right
CrossRoad.DIRECTION_FROM directionFrom = GetMyDirectionFrom();
List <CrossRoad.DIRECTION_FROM> possibleDirections = crossRoad.GetPossibleDirections(directionFrom);
int randomChoose = UnityEngine.Random.Range(0, possibleDirections.Count);
CrossRoad.DIRECTION_FROM directionTo = possibleDirections[randomChoose];
TURN turn = GetTurn(directionFrom, directionTo);
switch (turn)
{
case TURN.STRAIGHT:
// Go straight
logger.Log("Continuing straight");
StartCoroutine(CrossStraight(crossRoad));
break;
case TURN.LEFT:
// Turn left
logger.Log("Lets go left");
StartCoroutine(GoLeft(crossRoad));
break;
case TURN.RIGHT:
// Turn right
logger.Log("Lets go right");
StartCoroutine(GoRight(crossRoad));
break;
case TURN.BACK:
// Turn back: THIS IS NOT ALLOWED AS CROSS TAKES OUT THE ORIGIN
logger.Log("Found a wall doing a 180 turn.");
StartCoroutine(MakeUTurnOnCross(crossRoad));
break;
default:
// Go straight
logger.Log("[Default] Continuing straight");
StartCoroutine(CrossStraight(crossRoad));
break;
}
}
}
}
if (objectFound.CompareTag("Wall"))
{
if (!executingCoroutine)
{
logger.Log("Found a wall doing a 180 turn.");
StartCoroutine(TurnBack());
}
}
}
return(objectFound);
}
private TURN GetTurn(
CrossRoad.DIRECTION_FROM directionFrom,
CrossRoad.DIRECTION_FROM directionTo)
{
switch (directionFrom)
{
case CrossRoad.DIRECTION_FROM.NORTH:
switch (directionTo)
{
case CrossRoad.DIRECTION_FROM.NORTH:
return(TURN.BACK);
case CrossRoad.DIRECTION_FROM.SOUTH:
return(TURN.STRAIGHT);
case CrossRoad.DIRECTION_FROM.EAST:
return(TURN.LEFT);
case CrossRoad.DIRECTION_FROM.WEST:
return(TURN.RIGHT);
default:
throw new Exception("Unhandled enum option");
}
case CrossRoad.DIRECTION_FROM.SOUTH:
switch (directionTo)
{
case CrossRoad.DIRECTION_FROM.NORTH:
return(TURN.STRAIGHT);
case CrossRoad.DIRECTION_FROM.SOUTH:
return(TURN.BACK);
case CrossRoad.DIRECTION_FROM.EAST:
return(TURN.RIGHT);
case CrossRoad.DIRECTION_FROM.WEST:
return(TURN.LEFT);
default:
throw new Exception("Unhandled enum option");
}
case CrossRoad.DIRECTION_FROM.EAST:
switch (directionTo)
{
case CrossRoad.DIRECTION_FROM.NORTH:
return(TURN.RIGHT);
case CrossRoad.DIRECTION_FROM.SOUTH:
return(TURN.LEFT);
case CrossRoad.DIRECTION_FROM.EAST:
return(TURN.BACK);
case CrossRoad.DIRECTION_FROM.WEST:
return(TURN.STRAIGHT);
default:
throw new Exception("Unhandled enum option");
}
case CrossRoad.DIRECTION_FROM.WEST:
switch (directionTo)
{
case CrossRoad.DIRECTION_FROM.NORTH:
return(TURN.LEFT);
case CrossRoad.DIRECTION_FROM.SOUTH:
return(TURN.RIGHT);
case CrossRoad.DIRECTION_FROM.EAST:
return(TURN.STRAIGHT);
case CrossRoad.DIRECTION_FROM.WEST:
return(TURN.BACK);
default:
throw new Exception("Unhandled enum option");
}
default:
throw new Exception("Unhandled enum option");
}
}
