//Check if the car outside of map (MATT)
public static bool TargetPositionWithinTrack(Vector3 carRearWheelPos, float heading, CarData carData)
{
bool withinTrack = true;
//Make the car bigger than it is to be on the safe side
float marginOfSafety = 0.5f;
float carLength = carData.GetLength() + marginOfSafety;
float carWidth = carData.GetWidth() + marginOfSafety;
//Find the center pos of the car (carPos is at the rearWheels)
float distCenterToRearWheels = carData.GetDistanceToRearWheels();
float xCenter = carRearWheelPos.x + distCenterToRearWheels * Mathf.Sin(heading);
float zCenter = carRearWheelPos.z + distCenterToRearWheels * Mathf.Cos(heading);
Vector3 carPos = new Vector3(xCenter, carRearWheelPos.y, zCenter);
//Find all corners of the car
Rectangle carCornerPos = SkeletonCar.GetCornerPositions(carPos, heading, carWidth, carLength);
//Detect if any of the corners is outside of the map
if (
!PathfindingController.IsPositionWithinGrid(carCornerPos.FL) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.FR) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.BL) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.BR))
{
//At least one of the corners is outside of the map
withinTrack = false;
}
return(withinTrack);
}
//Update the corners to see if we can identify the coordinates from geometry
void UpdateCorners(Vector3 carPos, float carHeading)
{
float carWidth = 0.95f * 2f;
float carLength = 2.44f * 2f;
Rectangle cornerPos = SkeletonCar.GetCornerPositions(carPos, carHeading, carWidth, carLength);
//Add the coordinates to the spheres
AddCoordinates(cornerFR, cornerPos.FR.x, cornerPos.FR.z);
AddCoordinates(cornerFL, cornerPos.FL.x, cornerPos.FL.z);
AddCoordinates(cornerBR, cornerPos.BR.x, cornerPos.BR.z);
AddCoordinates(cornerBL, cornerPos.BL.x, cornerPos.BL.z);
}
//Check if the car is colliding with an obstacle or is outside of map
public static bool HasCarInvalidPosition(Vector3 carRearWheelPos, float heading, CarData carData)
{
bool hasInvalidPosition = false;
//Make the car bigger than it is to be on the safe side
float marginOfSafety = 0.5f;
float carLength = carData.GetLength() + marginOfSafety;
float carWidth = carData.GetWidth() + marginOfSafety;
//Find the center pos of the car (carPos is at the rearWheels)
float distCenterToRearWheels = carData.GetDistanceToRearWheels();
float xCenter = carRearWheelPos.x + distCenterToRearWheels * Mathf.Sin(heading);
float zCenter = carRearWheelPos.z + distCenterToRearWheels * Mathf.Cos(heading);
Vector3 carPos = new Vector3(xCenter, carRearWheelPos.y, zCenter);
//
// Step 1. Check if the car's corners is inside of the map
//
//Find all corners of the car
Rectangle carCornerPos = SkeletonCar.GetCornerPositions(carPos, heading, carWidth, carLength);
//Detect if any of the corners is outside of the map
if (
!PathfindingController.IsPositionWithinGrid(carCornerPos.FL) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.FR) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.BL) ||
!PathfindingController.IsPositionWithinGrid(carCornerPos.BR))
{
//At least one of the corners is outside of the map
hasInvalidPosition = true;
return(hasInvalidPosition);
}
//
// Step 2. Check if the car's center position is far away from an obstacle
//
//We dont need to check if the car is colliding with an obstacle if the distance to an obstacle is great
IntVector2 cellPos = PathfindingController.ConvertCoordinateToCellPos(carPos);
//The car is not colliding with anything if the steps to an obstacle is greater than the length of the car
if (ObstaclesController.distanceToClosestObstacle[cellPos.x, cellPos.z] > carData.GetLength())
{
//This is a valid position
hasInvalidPosition = false;
return(hasInvalidPosition);
}
//
// Step 3. Check if the car is hitting an obstacle
//
//Find all corners of the car
Rectangle carCornerPosFat = SkeletonCar.GetCornerPositions(carPos, heading, carWidth, carLength);
//Method 1 - Use the car's corners and then rectangle-rectangle-intersection with the obstacles
hasInvalidPosition = ObstacleDetectionCorners(carPos, carCornerPosFat);
//Method 2 - Approximate the car with circles
//hasInvalidPosition = ObstacleDetectionCircles(carCenterPos, heading, carData, carCornerPosFat);
return(hasInvalidPosition);
}