public void Abort()
{
VhCtrlOfCurrentSeg.VehicleLeave(this, LaneOn);
}
// Update is called once per frame
void Update()
{
if (pathOn != null)
{
float distToTravel;
if (acceleration < 0f && speed < (-acceleration) * Time.deltaTime)
{
distToTravel = speed * speed / (2 * (-acceleration));
}
else
{
distToTravel = speed * Time.deltaTime + 0.5f * acceleration * Time.deltaTime * Time.deltaTime;
}
speed += Time.deltaTime * acceleration;
speed = Mathf.Max(0f, speed);
distTraveledOnSeg += distToTravel;
bool termination;
int nextSeg, nextLane;
Pair <Road, float> nextInfo = pathOn.travelAlong(currentSeg, currentParam, distToTravel, laneOn, out nextSeg, out nextLane, out termination);
if (termination)
{
VhCtrlOfCurrentSeg.VehicleLeave(this, laneOn);
stopEvent.Invoke();
Reset();
return;
}
Road roadOn = nextInfo.First;
currentParam = nextInfo.Second;
if (currentSeg != nextSeg)
{
VhCtrlOfCurrentSeg.VehicleLeave(this, laneOn);
distTraveledOnSeg = distToTravel;
laneOn = nextLane;
currentSeg = nextSeg;
VhCtrlOfCurrentSeg.VehicleEnter(this, laneOn);
}
if (!Algebra.isclose(rightOffset, 0f))
{
float lateralAcc = (lateralSpeedMagnitude * lateralSpeedMagnitude > 2 * lateralMaxAcc * Mathf.Abs(rightOffset)) ?
-0.98f * lateralMaxAcc : lateralMaxAcc;
lateralSpeedMagnitude = Mathf.Max(lateralSpeedMagnitude + lateralAcc * Time.deltaTime, 0f);
rightOffset = Mathf.Sign(rightOffset) * Mathf.Max(Mathf.Abs(rightOffset) - lateralSpeedMagnitude * Time.deltaTime, 0f);
}
else
{
lateralSpeedMagnitude = 0f;
}
transform.position = roadOn.at(currentParam, usebuff: true) +
roadOn.rightNormal(currentParam, usebuff: true) * (roadOn.getLaneCenterOffset(laneOn, headingOfCurrentSeg) + rightOffset);
transform.rotation = headingOfCurrentSeg ?
Quaternion.LookRotation(roadOn.frontNormal(currentParam, usebuff: true), roadOn.upNormal(currentParam, usebuff: true)) :
Quaternion.LookRotation(-roadOn.frontNormal(currentParam, usebuff: true), roadOn.upNormal(currentParam, usebuff: true));
if (rightOffset != 0f)
{
if (headingOfCurrentSeg)
{
transform.Rotate(roadOn.upNormal(currentParam, usebuff: true), -Mathf.Sign(rightOffset) * Mathf.Atan(lateralSpeedMagnitude / Mathf.Max(speed, 0.2f)) * Mathf.Rad2Deg);
}
else
{
transform.Rotate(roadOn.upNormal(currentParam, usebuff: true), Mathf.Sign(rightOffset) * Mathf.Atan(lateralSpeedMagnitude / Mathf.Max(speed, 0.2f)) * Mathf.Rad2Deg);
}
}
wheelRotation = (wheelRotation + distToTravel / wheeRadius * Mathf.Rad2Deg) % 360;
/*TODO: calculate wheel radius*/
transform.GetChild(0).GetChild(1).localRotation = transform.GetChild(0).GetChild(2).localRotation =
transform.GetChild(0).GetChild(3).localRotation = transform.GetChild(0).GetChild(4).localRotation =
Quaternion.Euler(wheelRotation, 0f, 0f);
}
}
