public AiInfo(GameObject _initialObj, AiPid _pid, AiSettings _setings, float _cumulativeError)
{
initialObj = _initialObj;
pid = _pid;
setings = _setings;
cumulativeError = _cumulativeError;
}
void Start()
{
foreach (var item in gameObject.GetComponentsInChildren <WheelCollider>())
{ // This forloop shouln'd exit but unity wouln'd link the correct wheels.
if (item.name == "FrontWheel")
{
frontWheel = item;
}
else if (item.name == "BackWheel")
{
backWheel = item;
}
}
MovementStart();
pid = GetComponent <AiPid>();
pid.UpdateErrorValue += () =>
{
pid.errorVariable = (aiSettings.targetSqrSpeed - velocitySqr) / aiSettings.targetSqrSpeed;
float accel = (velocitySqr - lastVelocitySqr) / Time.deltaTime;
float val = (aiSettings.targetMaximumAcceleration - accel) / aiSettings.targetMaximumAcceleration * pid.errorVariable;
pid.errorVariable += val;
};
aiSettings.SetRandomValues();
timeAlive = 0;
InitialiseRespawn();
respawn.CallRespawnAction();
}
void Start()
{
nearestNode = 0;
pid = GetComponent <AiPid>();
aiSettings.SetRandomValues();
GetComponent <Respawn>().onRespawn += aiSettings.SetRandomValues;
GetComponent <Respawn>().onRespawn += pid.ResetValues;
GetComponent <Respawn>().onRespawn += () => { StartCoroutine(RestartHelper()); };
backWheel.ConfigureVehicleSubsteps(1, 12, 15);
frontWheel.ConfigureVehicleSubsteps(1, 12, 15);
rigidbody = GetComponent <Rigidbody>();
frontWheel.brakeTorque = 0;
backWheel.brakeTorque = 0;
SetUpPIDReferences();
}