/**
* From https://github.com/mchrbn/unity-traffic-simulation/blob/master/Assets/TrafficSimulation/Scripts/CarAI.cs#L187
*/
bool isOnSameLane(VehicleNavigation otherCar)
{
Vector3 diff = transform.forward - otherCar.transform.forward;
if (Mathf.Abs(diff.x) < 0.3f && Mathf.Abs(diff.z) < 0.3f)
{
return(true);
}
if (otherCar.GetComponent <Vehicle>().isParked)
{
return(false);
}
List <Vector3> otherCarPath = new List <Vector3> {
otherCar.currentWaypoint.centerPosition,
otherCar.destination
};
if (otherCar.currentWaypoint.nextWaypoint != null)
{
otherCarPath.Add(otherCar.currentWaypoint.nextWaypoint.centerPosition);
}
if (otherCar.currentWaypoint.previousWaypoint != null)
{
otherCarPath.Add(otherCar.currentWaypoint.previousWaypoint.centerPosition);
}
List <Vector3> thisCarPath = new List <Vector3> {
currentWaypoint.centerPosition,
destination
};
if (currentWaypoint.nextWaypoint != null)
{
thisCarPath.Add(currentWaypoint.nextWaypoint.centerPosition);
}
if (currentWaypoint.previousWaypoint != null)
{
thisCarPath.Add(currentWaypoint.previousWaypoint.centerPosition);
}
foreach (Vector3 vector1 in otherCarPath)
{
foreach (Vector3 vector2 in thisCarPath)
{
if (vector1.Equals(vector2))
{
return(true);
}
}
}
return(false);
}
bool detectCollisions(Sensor sensor)
{
// if while moving we detect a person, stop
switch (sensor.detectedElementType)
{
case Sensor.Element.Person:
hardBrake();
return(true);
case Sensor.Element.Vehicle:
VehicleNavigation infrontVehicle = sensor.detectedElement.GetComponent <VehicleNavigation>();
// seems stopped or too near
if (infrontVehicle.status == Status.Stopped ||
infrontVehicle.braking == true ||
(infrontVehicle.transform.position - transform.position).magnitude < frontSecurityDistance)
{
// oops they're trying to reach the same waypoint
// the nearest one will continue
if (infrontVehicle.currentWaypoint == currentWaypoint &&
(destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
)
{
return(false);
// their path doesn't intersect and they aren't in the same path, just it's just an opposite side vehicle
}
else if (infrontVehicle.currentWaypoint != currentWaypoint &&
!lineSegmentsIntersect(infrontVehicle.transform.position, infrontVehicle.destination, transform.position, destination) &&
infrontVehicle.currentWaypoint.pathId != currentWaypoint.pathId
)
{
return(false);
// they're colliding with each other, nearest one to its destination will continue
}
else if (infrontVehicle.currentWaypoint != currentWaypoint &&
infrontVehicle.stoppedReason == Sensor.Element.Vehicle &&
infrontVehicle.stopperId == transform.GetInstanceID() &&
(infrontVehicle.destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
)
{
return(false);
}
hardBrake();
return(true);
}
// adjust speed to not collide
//moveToWaypoint(infrontVehicle.currentSpeed - 1);
return(true);
}
return(false);
}
bool detectCollisions(Sensor sensor)
{
// if while moving we detect a person, stop
switch (sensor.detectedElementType)
{
case Sensor.Element.Person:
hardBrake();
return(true);
case Sensor.Element.Vehicle:
VehicleNavigation infrontVehicle = sensor.detectedElement.GetComponent <VehicleNavigation>();
if (debug)
{
Debug.Log(transform.name + " - " + infrontVehicle.status + "-" + ((infrontVehicle.status == Status.Stopped ||
infrontVehicle.braking == true ||
(infrontVehicle.transform.position - transform.position).magnitude < frontSecurityDistance)) + "-" + infrontVehicle.stopperId + " - " + transform.GetInstanceID() + " - " + (infrontVehicle.currentWaypoint != currentWaypoint));
}
// seems stopped or too near
if (infrontVehicle.status == Status.Stopped ||
infrontVehicle.braking == true ||
(infrontVehicle.transform.position - transform.position).magnitude < frontSecurityDistance)
{
if (isOnSameLane(infrontVehicle))
{
if (debug)
{
Debug.Log("isOnSameLane");
}
if (infrontVehicle.stoppedReason == Sensor.Element.Vehicle &&
infrontVehicle.stopperId == transform.GetInstanceID() &&
(infrontVehicle.destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
)
{
return(false);
}
hardBrake();
return(true);
}
if ((waypointNavigator.isBranching || infrontVehicle.isBranching) && fasterLineSegmentIntersection(infrontVehicle.transform.position, infrontVehicle.destination, transform.position, destination))
{
if (infrontVehicle.stoppedReason == Sensor.Element.Vehicle &&
infrontVehicle.stopperId == transform.GetInstanceID() &&
(infrontVehicle.destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
)
{
return(false);
}
if (debug)
{
Debug.Log("branching");
}
hardBrake();
return(true);
}
return(false);
/*
* // oops they're trying to reach the same waypoint
* // the nearest one will continue
* if (infrontVehicle.currentWaypoint == currentWaypoint &&
* (destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
* ) {
* return false;
* // their path doesn't intersect and they aren't in the same path, just it's just an opposite side vehicle
* } else if (infrontVehicle.currentWaypoint != currentWaypoint &&
* !lineSegmentsIntersect(infrontVehicle.transform.position, infrontVehicle.destination, transform.position, destination)
* //&& infrontVehicle.currentWaypoint.pathId != currentWaypoint.pathId
* ) {
* return false;
* // they're colliding with each other, nearest one to its destination will continue
* } else if (infrontVehicle.currentWaypoint != currentWaypoint &&
* infrontVehicle.stoppedReason == Sensor.Element.Vehicle &&
* infrontVehicle.stopperId == transform.GetInstanceID() &&
* (infrontVehicle.destination - infrontVehicle.transform.position).magnitude > (destination - transform.position).magnitude
* ) {
* return false;
* }*/
hardBrake();
return(true);
}
// adjust speed to not collide
//moveToWaypoint(infrontVehicle.currentSpeed - 1);
//return true;
break;
}
return(false);
}
