private CrispOutput ValidateOutput(CrispOutput output)
{
if (!FuzzyUtility.ValidInstruction(output[CrispOutput.Outputs.LeftRight]))
{
output[CrispOutput.Outputs.LeftRight] = 0;
}
return(output);
}
private float NormaliseDistance(float?unNormalisedDistance, float neutralDistance, float largeDistance)
{
float normalisedForwardDistance;
if (unNormalisedDistance.HasValue)
{
normalisedForwardDistance = FuzzyUtility.NormaliseValueUneven(-1, neutralDistance, largeDistance, unNormalisedDistance.Value);
}
else
{
normalisedForwardDistance = -1;
}
return(normalisedForwardDistance);
}
private float NormaliseSurfaceAngle(Vector3?surfaceNormalInpt, float minAngle, float maxAngle)
{
float normalisedForwardSurfaceNormal;
if (surfaceNormalInpt.HasValue)
{
Vector2 ourNormal = -(new Vector2(sensor.KartForward.x, sensor.KartForward.z));
Vector2 surfaceNormal = new Vector2(surfaceNormalInpt.Value.x, surfaceNormalInpt.Value.z);
var angle = Vector2.SignedAngle(surfaceNormal, ourNormal); // positive is to the right, negative is to the left
//var angleMag = Mathf.Abs(angle);
angle *= -1; // reflect angle difference round, positive right negative left from cart's perspective now
normalisedForwardSurfaceNormal = FuzzyUtility.NormaliseValue(minAngle, maxAngle, angle);
}
else
{
normalisedForwardSurfaceNormal = 0; // if no collision is detected return 0 as sentinel value. not ideal but safest option
}
return(normalisedForwardSurfaceNormal);
}
private float NormaliseSpeed(float speed) => FuzzyUtility.NormaliseValueUneven(-1, neutralSpeed, hightSpeed, speed);
