public static bool CheckSafetyDistanceOfObstacle(this SafetyModule safetyModule,
VPVehicleController carController, IObstacle obstacle)
{
var distanceOfObstacle = carController.GetDistance(obstacle);
var brakingDistance = safetyModule.BrakingDistance;
//TODO dystans wyliczany powinnien być zgodnie z trajektorią ruchu nie po lini prostej
return(distanceOfObstacle.magnitude > brakingDistance + safetyModule.SafetyDistance);
}
public override void OnEnableVehicle()
{
m_vehicle = vehicle.GetComponent <VPVehicleController>();
if (m_vehicle == null)
{
DebugLogWarning("This component requires a VPVehicleController-based vehicle. Component disabled");
enabled = false;
return;
}
m_deviceInput = vehicle.GetComponentInChildren <VPDeviceInput>();
}
public static void StopACar(this VPStandardInput input, VPVehicleController carController)
{
//TODO zrobić płynne hamowanie przez użycie PIDA
input.externalBrake = carController.brakes.maxBrakeTorque;
input.externalClutch = 1;
}
public static Vector3 GetDistance(this VPVehicleController safetyModule, IObstacle obstacle)
{
var obstaclePosition = new Vector3(obstacle.X, obstacle.Y, obstacle.Z);
return(safetyModule.transform.position - obstaclePosition);
}