private TrafficLightBehavior DetectTrafficLight()
{
RaycastHit hit;
float minDist = Mathf.Infinity;
TrafficLightBehavior nearestTrafficLight = null;
foreach (TrafficLightBehavior trafficLight in trafficLights)
{
Vector3 screenPoint = Camera.main.WorldToScreenPoint(trafficLight.transform.position);
Ray ray = Camera.main.ScreenPointToRay(screenPoint);
if (Physics.Raycast(ray, out hit))
{
float dist = Vector3.Distance(transform.position, trafficLight.transform.position);
if (dist < minDist)
{
minDist = dist;
nearestTrafficLight = trafficLight;
}
}
}
return(nearestTrafficLight);
}
private float CaculateSpeed(float roadAngle)
{
TrafficLightBehavior trafficLight = DetectTrafficLight();
GameObject obstacle = NearestObstacle();
roadAngle = Mathf.Abs(roadAngle);
Debug.Log("Angle: " + roadAngle);
float offsetObstacle = Mathf.Infinity;
if (obstacle != null)
{
offsetObstacle = Vector3.Distance(obstacle.transform.position, transform.position);
}
float offsetTrafficLight = Mathf.Infinity;
if (trafficLight != null)
{
offsetTrafficLight = Vector3.Distance(trafficLight.transform.position, transform.position);
}
if (obstacle == null && trafficLight == null)
{
//Debug.Log("Both");
return(0.3f);
}
bool isLight = offsetTrafficLight < offsetObstacle ? true : false;
if (offsetTrafficLight < offsetObstacle)
{
Debug.Log("TrafficLight " + offsetTrafficLight);
Debug.Log(roadAngle);
object[] lightStatus;
switch (trafficLight.lightColor)
{
case (TrafficLightBehavior.LightColor.GREEN_LIGHT):
{
lightStatus = new object[2] {
"Green", (double)trafficLight.countDown
};
break;
}
case (TrafficLightBehavior.LightColor.YELLOW_LIGHT):
{
lightStatus = new object[2] {
"Yellow", (double)trafficLight.countDown
};
break;
}
case (TrafficLightBehavior.LightColor.RED_LIGHT):
{
lightStatus = new object[2] {
"Red", (double)trafficLight.countDown
};
break;
}
default:
{
lightStatus = new object[2] {
"Green", trafficLight.countDown
};
break;
}
}
Debug.Log(lightStatus[0]);
float speed = (float)Program.CalculateSpeed(true, offsetTrafficLight, roadAngle, lightStatus);
Debug.Log("speed: " + speed);
if (speed < 2)
{
speed = 0f;
}
return(speed / (120f / 0.3f));
}
else
{
//Debug.Log("Obstacle");
float speed = (float)Program.CalculateSpeed(false, offsetObstacle, roadAngle, null);
Debug.Log("speed: " + speed);
return(speed / (120f / 0.2f));
}
}