public void AvoidanceRoutine()
{
print ("Doing Avoidance Routine.");
float distanceTraveledDuringAvoidance = 0.0f;
//Pretty much, this means we need to save our state, switch to a new set of behaviors, and then return to this one afterwards.
SimpleCarProperties temp = new SimpleCarProperties (this);
SimpleCarPreservation.Insert (iterationCount, temp);
iterationCount = iterationCount + 1;
timeSinceChange = 0;
distanceTraveled = 0;
avoidanceDistanceTraveled = 0;
previousDistanceTraveled = temp.distanceTraveled;
mainState = State.Avoidance;
}
void handleCollision()
{
//Back up slightly. (Make sure to deduct from distance traveled (beforeAvoidance) & store how much we backed up.)
//AvoidObstacle by turning to the right, going (a minimum distance) turn left, and go forward (store this distance traveled duringAvoidance)
//If we go forward farther than we backed up (maybe with some fudge amount) - beep
//We're at the side of the obstacle. Go forward (a minimum distance), turn left, and go forward (distanceTraveledDuringAvoidance) while tracking distance (subtracting).
//If we hit a wall now, do the whole Avoidance thing kinda recursively.
//ELSE If we made another collision before (distance traveled duringAvoidance) hit zero...
//Do another level of the avoidance thing.
if (mainState == State.Base) {
//Normally, copypasta is bad, but I'm gonna do it right now because reasons.
//Pretty much, this means we need to save our state, switch to a new set of behaviors, and then return to this one afterwards.
print ("Going from Base to Avoidance.");
SimpleCarProperties temp = new SimpleCarProperties (this); //CAREFUL, replaced distanceTraveled with the minimum for a quick recovery.
temp.distanceTraveled = AMINIMUMDISTANCE * 2;
SimpleCarPreservation.Insert (iterationCount, temp);
iterationCount = iterationCount + 1;
timeSinceChange = 0;
distanceTraveled = 0;
TurnRight ();
mainState = State.Avoidance;
} else if (mainState == State.Avoidance) {
print ("Hit a wall during initial dodge.");
//DO SOMETHING!!?
//This is the part where we start a new phase of dodging.
TurnRight ();
AvoidanceRoutine ();
} else if (mainState == State.Side) {
print ("Wall is still here! From Side redoing Avoidance.");
TurnRight ();
mainState = State.Avoidance;
} else if (mainState == State.Return) {
//print("Hit wall during return trip! Avoiding...");
print ("Hit wall during return trip! From Return redoing Side.");
TurnRight ();
sideDistanceTraveled = 0;
mainState = State.Side;
//AvoidanceRoutine();
} else if (mainState == State.BackUp) {
print ("Car collided when backing up?");
mainState = State.BAD;
} else {
print ("Fix it later");
}
/*
else if (distanceTraveled < AMINIMUMDISTANCE)
{
AvoidanceRoutine();
}
else if (distanceTraveled < previousDistanceTraveled)
{
}
*/
}
