/// <summary>
/// 判断换道产生的收益值,返回值[0,1]
/// </summary>
//TODO 现在只考虑双值，0代表不值得换道，1代表值得换道
//现在需要考虑的因素：1.换道间隙够大
// 2.间隙之前的车够快或够远
// 3.间隙之后的车够远
//TODO 对外提供收益函数的替换接口
public static float JudgeValue(OCar car, OLine line)
{
//目标车道不存在车辆
if (line.cars.First == null)
{
return(1);
}
OCar near = car.CarClosest(line);
float PreSpeed; //间隙前车速度
float nextS; //间隙后车的行驶间距
float preS; //间隙前车的行驶间距
//near在car之后
if (OCar.judgeLocation(car, near))
{
//换道之后成为头车且间隙允许换道
if (near.PreCar() == null)
{
preS = 10000;
PreSpeed = 10000;
}
else
{
OCar nearPre = near.PreCar();//间隙前车
PreSpeed = nearPre.velocity;
preS = nearPre.s - car.s;
}
nextS = car.s - near.s;
}
else//near在car之前
{
OCar nearNext = near.NextCar();
PreSpeed = near.velocity;
preS = near.s - car.s;
if (nearNext == null)
{
nextS = 10000;//设立一个很大的数表示无穷
}
else
{
nextS = car.s - nearNext.s;
}
}
if (preS <= car.transform.localScale.z || nextS <= car.transform.lossyScale.z * 1.5)
{
return(0);
}
if (car.PreCar() == null || (PreSpeed <= car.PreCar().velocity&& preS - car.PreCar().s < car.transform.lossyScale.z))
{
return(0);
}
return(1);
}
/// <summary>
/// 换道路径生成算法
/// ///TODO 该算法应该是可供二次开发的
/// </summary>
public static Vector3[] CalculatePath(OCar car, OLine targetLine)
{
var ret = new Vector3[4];
var direction = targetLine.transform.GetChild(2).position - targetLine.transform.GetChild(0).position;
var norm = Vector3.Magnitude(direction);
ret[0] = car.transform.position;
// ret[1] = ret[0] + car.transform.forward.normalized * 3f;
ret[1] = ret[0] + direction / norm * 3f;
ret[2] = ret[1] + targetLine.transform.position - car.line.transform.position;
ret[3] = ret[2] + ret[1] - ret[0];
return(ret);
}
