// Update is called once per frame
void FixedUpdate()
{
//Raycast out to see if there is a car in front
RaycastHit hit;
//figure out the current view angle
Vector3 lookDirection = Quaternion.Euler(new Vector3(0, startAngle_ + curAngle_ - (lookAngle_ * 0.5f))) * transform.forward;
if (error_ && error_.GetDistracted())
{
sweep_ = false;
}
if (sweep_)
{
curAngle_ += lookStepAmount_;
if (curAngle_ > lookAngle_)
{
curAngle_ = 0;
}
}
Ray ray = new Ray(transform.position + transform.forward, (transform.forward + lookDirection.normalized).normalized);
float lookAhead = Mathf.Clamp(body_.velocity.magnitude, 1, lookAheadMultiplier_);
Debug.DrawLine(transform.position, transform.position + (transform.forward + lookDirection.normalized).normalized * visionDistance_ * lookAhead, Color.blue);
objectAhead_ = Physics.Raycast(ray, out hit, visionDistance_ * lookAhead);
if (objectAhead_ && hit.collider.tag == "TrafficLight")
{
objectAhead_ = false;
}
bool stopping = car_.GetState() == CarState.CS_PARKING || car_.GetState() == CarState.CS_DEPARKING;
float stoppingMultiplier = stopping ? car_.GetFineMovementMutliplier() : 1.0f;
//check that the ray hit something
if (hit.collider && (hit.collider.tag == "Car" || hit.collider.tag == "Player"))
{
//check if there's a car coming towards them at speed
if (hit.rigidbody && hit.rigidbody.velocity.magnitude > car_.GetMaxSpeed() * 0.25f)
{
if (IsFacing(hit.collider.gameObject))
{
if (purpose_.enabled)
{
purpose_.TestImpatience();//SoundHorn();
}
}
}
if (hit.distance < stoppingDistance_ * stoppingMultiplier && hit.distance > stoppingDistance_ * stoppingMultiplier * 0.5f)
{
car_.SetState(CarState.CS_STOPPING);
//check if the car has just collided with another
if (car_.FollowingTarget())
{
//check if this car is moving faster than the other car
if (body_.velocity.magnitude > hit.collider.GetComponent <Rigidbody>().velocity.magnitude)
{
car_.Brake(hit.distance / stoppingDistance_);
}
if (IsFacing(hit.collider.gameObject))
{
car_.Avoid(hit.collider.gameObject);
}
}
else
{
car_.Accelerate(-0.5f);
}
}
else if (hit.distance < stoppingDistance_ * stoppingMultiplier * 0.5f)
{
//stop following targets for the next frame
car_.Wait(Time.deltaTime);
car_.Brake();
}
else
{
car_.SetState(CarState.CS_MOVING);
car_.Accelerate(0);
}
}
else
{
sweep_ = true;
}
if (hit.collider && hit.collider.tag == "TrafficLight")
{
//make sure the traffic light is facing the car
if (IsFacing(hit.collider.gameObject))
{
if (hit.collider.gameObject.GetComponent <TrafficLight>().GetSignal() == Signals.S_STOP && hit.distance < stoppingDistance_)
{
car_.Wait(Time.deltaTime);
car_.Brake(hit.distance / stoppingDistance_);
car_.SetState(CarState.CS_STOPPING);
}
if (hit.collider.gameObject.GetComponent <TrafficLight>().GetSignal() == Signals.S_GO)
{
car_.SetState(CarState.CS_MOVING);
}
}
}
//check if sweeping should be stopped
if (hit.collider && ((hit.collider.tag == "Car" || hit.collider.tag == "Player") || (hit.collider.tag == "TrafficLight" && IsFacing(hit.collider.gameObject))))
{
sweep_ = false;
}
else
{
sweep_ = true;
car_.SetState(CarState.CS_MOVING);
}
if (!objectAhead_)
{
if (prevObjectAhead_)
{
if (error_ && error_.enabled)
{
car_.Wait(error_.GetReactionTime());
}
}
}
prevObjectAhead_ = objectAhead_;
}