public SpeedAnalyzer(ClosedSpline <Vector3> idealLine, ClosedSpline <float> bankSpline, CurvatureAnalyzer curvature, int sampleRate)
{
this.idealLine = idealLine;
vs = new float[sampleRate];
force = new Vector3[sampleRate];
for (int i = 0; i < sampleRate; i++)
{
vs[i] = 0f;
force[i] = Vector3.zero;
}
for (int twice = 0; twice < 2; twice++)
{
for (int i = 0; i < sampleRate; i++)
{
int iPrev = i - 1;
if (iPrev < 0)
{
iPrev = sampleRate - 1;
}
float sPrev = ((float)iPrev) / sampleRate;
float s = ((float)i) / sampleRate;
float angleHere = Vector3.Angle(idealLine.TangentAt(sPrev)[1] - idealLine.TangentAt(sPrev)[0], new Vector3((idealLine.TangentAt(sPrev)[1] - idealLine.TangentAt(sPrev)[0]).x, 0f, (idealLine.TangentAt(sPrev)[1] - idealLine.TangentAt(sPrev)[0]).z));
if ((idealLine.TangentAt(sPrev)[1] - idealLine.TangentAt(sPrev)[0]).y < 0f)
{
angleHere = -angleHere;
}
float estimatedT = -1f + Mathf.Sqrt(1f + (Vector3.Distance(idealLine.SplineAt(s), idealLine.SplineAt(sPrev)) * 2f) / carAcceleration(vs[iPrev], angleHere));
float v = vs[iPrev] + estimatedT * carAcceleration(vs[iPrev], angleHere);
float aZ = carAcceleration(vs[iPrev], angleHere);
float radius = Mathf.Abs(1f / curvature.Curvature[(int)(s * curvature.Curvature.Length)]);
float bankToRightAngle = bankSpline.SplineAt(s);
float vMax = lateralAcceleration(bankToRightAngle, radius, curvature.Curvature[(int)(s * curvature.Curvature.Length)] >= 0f);
//float vMax = Mathf.Sqrt(lateralAcceleration(v) * radius);
if (vMax < v)
{
v = vMax;
float vBack = v;
for (int j = 1; j < sampleRate; j++)
{
int index = i - j;
if (index < 0)
{
index = sampleRate + index;
}
int indexPrev = index + 1;
if (indexPrev >= sampleRate)
{
indexPrev = 0;
}
float sTempPrev = ((float)indexPrev) / sampleRate;
float sTemp = ((float)index) / sampleRate;
float estimatedTTemp = -1f + Mathf.Sqrt(1f + (Vector3.Distance(idealLine.SplineAt(s), idealLine.SplineAt(sPrev)) * 2f) / carAcceleration(vs[iPrev], angleHere));
float vMaxBack = vBack + estimatedTTemp * braking(vBack, angleHere);
if (vMaxBack < vs[index])
{
vs[index] = vMaxBack;
force[index] = new Vector3((vMaxBack * vMaxBack) / radius, force[index].y, -braking(vBack, angleHere));
vBack = vMaxBack;
}
else
{
break;
}
}
}
vs[i] = v;
force[i] = new Vector3((v * v * Mathf.Sign(curvature.Curvature[(int)(s * curvature.Curvature.Length)])) / radius, 0f, aZ);
}
}
}
public DiscreteTrack(GeneratedTrack track, TerrainModifier terrainModifier)
{
List <Vector3> lefts = new List <Vector3>();
List <Vector3> rights = new List <Vector3>();
List <Vector3> leftsCurv = new List <Vector3>();
List <Vector3> rightsCurv = new List <Vector3>();
List <int> indcs = new List <int>();
int indcsCounter = 0;
List <float> idealLineMeshList = new List <float>();
int idLineMeshCounter = 0;
for (int i = 0; i < track.Elements.Length; i++)
{
if (track.Elements[i].GetType() == typeof(GeneratedStraight))
{
Vector3 middle = track.Elements[i].Position;
Vector3 toRight = (new Vector3(Mathf.Cos(track.Elements[i].Direction), 0f, -Mathf.Sin(track.Elements[i].Direction))).normalized;
Vector3 toFront = (new Vector3(Mathf.Sin(track.Elements[i].Direction), 0f, Mathf.Cos(track.Elements[i].Direction))).normalized;
lefts.Add(middle - toRight * track.Elements[i].WidthStart);
rights.Add(middle + toRight * track.Elements[i].WidthStart);
indcsCounter = -1;
GeneratedStraight straight = (GeneratedStraight)track.Elements[i];
int segsAmount = (int)(straight.Length / straightSegmentingFactorIdealline);
int segmentsAmountMesh = (int)(straight.Length / straightSegmentingFactorMesh);
for (int j = 0; j < segmentsAmountMesh; j++)
{
//idealLineMesh[idLineMeshCounter] = 1f;
idealLineMeshList.Add(1f);
idLineMeshCounter++;
}
for (int j = 0; j < segsAmount; j++)
{
leftsCurv.Add(middle - toRight * track.Elements[i].WidthStart + toFront * straight.Length * (((float)j) / ((float)segsAmount)));
rightsCurv.Add(middle + toRight * track.Elements[i].WidthStart + toFront * straight.Length * (((float)j) / segsAmount));
indcsCounter++;
}
indcs.Add(indcsCounter);
}
else if (track.Elements[i].GetType() == typeof(GeneratedTurn))
{
GeneratedTurn turn = (GeneratedTurn)track.Elements[i];
bool rightTurn = turn.Degree >= 0f;
Vector3 toRight = (Quaternion.Euler(0f, (turn.Direction * 180f) / Mathf.PI, 0f)) * (new Vector3(1f, 0f, 0f));
Vector3 toFront = (Quaternion.Euler(0f, (turn.Direction * 180f) / Mathf.PI, 0f)) * (new Vector3(0f, 0f, 1f));
Vector3 middlePoint = toRight * turn.Radius * (rightTurn ? 1f : -1f);
int segmentsAmount = ((int)(Mathf.Abs(turn.Degree) / 30f)) + 1;
for (int j = 0; j < segmentsAmount; j++)
{
Vector3 toRightTurned = (Quaternion.Euler(0f, (turn.Degree / ((float)segmentsAmount)) * j, 0f)) * toRight;
Vector3 segmentPos = middlePoint + (toRightTurned * (rightTurn ? -1f : 1f) * turn.Radius);
float currentWidth = (turn.WidthEnd - turn.WidthStart) * (float)((float)j / (float)segmentsAmount) + turn.WidthStart;
lefts.Add(segmentPos + toRightTurned * currentWidth * -1f + turn.Position);
rights.Add(segmentPos + toRightTurned * currentWidth + turn.Position);
leftsCurv.Add(segmentPos + toRightTurned * currentWidth * -1f + turn.Position);
rightsCurv.Add(segmentPos + toRightTurned * currentWidth + turn.Position);
indcs.Add(0);
}
}
else if (track.Elements[i].GetType() == typeof(GeneratedBezSpline))
{
GeneratedBezSpline bezierSpline = (GeneratedBezSpline)track.Elements[i];
for (int j = 0; j < bezierSpline.RenderVertsLeft.Length - 1; j++)
{
if (j == 0)
{
//idealLineMesh[idLineMeshCounter] = 2f;
idealLineMeshList.Add(2f);
}
else
{
//idealLineMesh[idLineMeshCounter] = 0f;
idealLineMeshList.Add(0f);
}
idLineMeshCounter++;
if (j % 3 == 0)
{
lefts.Add(bezierSpline.RenderVertsLeft[j]);
rights.Add(bezierSpline.RenderVertsRight[j]);
leftsCurv.Add(bezierSpline.RenderVertsLeft[j]);
rightsCurv.Add(bezierSpline.RenderVertsRight[j]);
indcs.Add(0);
}
}
}
}
idealLineMesh = idealLineMeshList.ToArray();
leftPoints = lefts.ToArray();
rightPoints = rights.ToArray();
leftPointsCurv = leftsCurv.ToArray();
rightPointsCurv = rightsCurv.ToArray();
indcsFromPathIntoCurvature = indcs.ToArray();
shortestPathTrajectory = minimizePathTrajectory();
if (false)
{
for (int i = 0; i < leftPoints.Length; i++)
{
int i2 = (i + 1) % leftPoints.Length;
Debug.DrawLine(leftPoints[i], leftPoints[i2], Color.white, 10000f);
Debug.DrawLine(rightPoints[i], rightPoints[i2], Color.white, 10000f);
Debug.DrawLine(leftPoints[i], rightPoints[i], Color.white, 10000f);
Debug.DrawLine(shortestPathTrajectory[i] * (leftPoints[i] - rightPoints[i]) + rightPoints[i], shortestPathTrajectory[i2] * (leftPoints[i2] - rightPoints[i2]) + rightPoints[i2], Color.green, 10000f);
}
}
minimumCurvatureTrajectory = minimizeCurvatureTrajectory();
if (false)
{
for (int i = 0; i < leftPointsCurv.Length; i++)
{
int i2 = (i + 1) % leftPointsCurv.Length;
Debug.DrawLine(leftPointsCurv[i], leftPointsCurv[i2], Color.white, 10000f);
Debug.DrawLine(rightPointsCurv[i], rightPointsCurv[i2], Color.white, 10000f);
Debug.DrawLine(leftPointsCurv[i], rightPointsCurv[i], Color.white, 10000f);
Debug.DrawLine(minimumCurvatureTrajectory[i] * (leftPointsCurv[i] - rightPointsCurv[i]) + rightPointsCurv[i], minimumCurvatureTrajectory[i2] * (leftPointsCurv[i2] - rightPointsCurv[i2]) + rightPointsCurv[i2], Color.green, 10000f);
}
}
float epsilon = 0.1f;
idealLine = applyEpsilon(shortestPathTrajectory, minimumCurvatureTrajectory, epsilon, indcsFromPathIntoCurvature);
/*for (int i = 0; i < idealLine.Length; i++)
* {
* Debug.Log("IL [" + i + "]: " + idealLine[i]);
* }*/
Debug.Log("cnter: " + idLineMeshCounter);
transferToMeshIdealLine(track, idealLine, idealLineMesh);
List <float> cpsBankAngles = new List <float>();
List <Vector3> cpsMinDistance = new List <Vector3>();
float minDistance = 15f;
Vector3[] cps = new Vector3[idealLine.Length];
float[] cpsBank = new float[idealLine.Length];
cpsMinDistance.Add(idealLine[0] * (leftPointsCurv[0] - rightPointsCurv[0]) + rightPointsCurv[0]);
for (int i = 1; i < idealLine.Length; i++)
{
Vector3 point = idealLine[i] * (leftPointsCurv[i] - rightPointsCurv[i]) + rightPointsCurv[i];
//cps[i] = point;
if (Vector3.Distance(cpsMinDistance[cpsMinDistance.Count - 1], point) > minDistance)
{
cpsBankAngles.Add(Vector3.Angle(new Vector3(rightPointsCurv[i].x - leftPointsCurv[i].x, terrainModifier.GetTensorHeight(rightPointsCurv[i].x, rightPointsCurv[i].z) - terrainModifier.GetTensorHeight(leftPointsCurv[i].x, leftPointsCurv[i].z), rightPointsCurv[i].z - leftPointsCurv[i].z), new Vector3((rightPointsCurv[i] - leftPointsCurv[i]).x, 0f, (rightPointsCurv[i] - leftPointsCurv[i]).z)) * Mathf.Sign((rightPointsCurv[i] - leftPointsCurv[i]).y));
cpsMinDistance.Add(point);
}
}
cps = cpsMinDistance.ToArray();
cpsBank = cpsBankAngles.ToArray();
for (int i = 0; i < cps.Length; i++)
{
cps[i] = new Vector3(cps[i].x, terrainModifier.GetTensorHeight(cps[i].x, cps[i].z), cps[i].z);
}
idealLineSpline = new ClosedSpline <Vector3>(cps);
ClosedSpline <float> bankSpline = new ClosedSpline <float>(cpsBank);
curvatureAnalyzer = new CurvatureAnalyzer(idealLineSpline, 300);
speedAnalyzer = new SpeedAnalyzer(idealLineSpline, bankSpline, curvatureAnalyzer, 300);
curvatureAnalyzerTrack = new CurvatureAnalyzer(track, 300);
curvatureIdealLineAnalyzer = new CurvatureIdeallineAnalyzer(idealLineSpline);
float startFinishLength = 500f;
float partStartFinish = startFinishLength / track.TrackLength;
int elementsStartFinishAmount = (int)(idealLineSpline.ControlPointsAmount * partStartFinish);
elementsStartFinishAmount = (int)(partStartFinish * 300f);
int startFinishIndex = minCurvatureForAmount(curvatureAnalyzerTrack.Curvature, elementsStartFinishAmount);
float partpart = curvatureAnalyzerTrack.trackPartIndices[startFinishIndex];
//Vector3 beginStartFinishPoint = idealLineSpline.controlPoints[startFinishIndex];
Debug.Log("Start Finish point: " + partpart);
int elementStartFinishBeginIndex = (int)partpart;
Vector3 elementStartPos = track.Elements[elementStartFinishBeginIndex].Position;
startFinishLineIndex = partpart;
//Debug.Log("Start Finish point: " + elementStartPos);
}
