void Update()
{
if (currentGoal == null)
{
GameObject tmpObj = gManager.GetGoalAtFirstIndex();
if (tmpObj != null)
{
currentGoal = tmpObj.transform;
targetPos = currentGoal.position;
currentState = CarState.Goal;
}
else
{
stopTimer = true;
collectionComplete = true;
ranOutOfTime = false;
currentState = CarState.Idle;
}
}
if (!stopTimer)
{
if (restrictTime) //If true the time limit will be forced and the AI might fail the test if it runs out of time
{
timerTitleText.text = "Remaining Time:";
if (Time.time - timer >= maxTime)
{
timerText.text = "0";
collectionComplete = false;
ranOutOfTime = true;
currentState = CarState.Idle;
}
else
{
timerText.text = (maxTime - (Time.time - timer)).ToString("F2");
}
}
else // Else the time it takes to complete the run is recorded
{
timerTitleText.text = "Time Taken:";
currentTime += Time.deltaTime;
timerText.text = currentTime.ToString("F2");
}
}
switch (currentState)
{
case CarState.Goal:
stateText.text = "Moving to goal";
// Get collision free path from the cars proximity sensor
pathPos = proxSensor.GetOptimalPathToPosition(transform.position, targetPos);
// DEBUG CODE: Set the visualizer for the current arbitrary path
followBall.position = pathPos;
distToGoal = Vector3.Distance(transform.position, targetPos);
angleToGoal = Vector3.Angle(pathPos - transform.position, transform.forward);
if (pastPosition != Vector3.zero)
{
totalDistanceTravelled += Vector3.Distance(transform.position, pastPosition);
pastPosition = transform.position;
}
else
{
pastPosition = transform.position;
}
if (wiggleCount < wiggleTarget)
{
if (carMotor.IsAboveBrakeVelocity() && proxSensor.HasObjectInFront(transform))
{
lastInput = LastInputType.brake;
carMotor.Brake();
}
else
{
// If the AI is not stuck in a local minima, then proceed with regular movement logic
if (angleToGoal > angleTreshold)
{
steerPos = transform.InverseTransformPoint(pathPos);
if (steerPos.z > 0)
{
if (steerPos.x > 0.2f)
{
// Steer Right
CheckForWiggles(LastInputType.right);
lastInput = LastInputType.right;
carMotor.TurnRight();
}
else if (steerPos.x < -0.2f)
{
// Steer Left
CheckForWiggles(LastInputType.left);
lastInput = LastInputType.left;
carMotor.TurnLeft();
}
else
{ // Go Forward
CheckForWiggles(LastInputType.forward);
lastInput = LastInputType.forward;
carMotor.GoForward();
}
}
else
{
if (steerPos.x >= 0f)
{
CheckForWiggles(LastInputType.right);
lastInput = LastInputType.right;
carMotor.TurnRight();
}
else
{
CheckForWiggles(LastInputType.left);
lastInput = LastInputType.left;
carMotor.TurnLeft();
}
}
}
else
{
// Go Forward
CheckForWiggles(LastInputType.forward);
lastInput = LastInputType.forward;
carMotor.GoForward();
}
}
}
else //If the AI is stuck in a local minima, record the local minima location
{
localMinimas++;
if (recordLocalMinima)
{
proxSensor.RecordLocalMinimaAtPosition(transform.position);
}
wiggleCount = 0;
}
break;
case CarState.Idle:
if (collectionComplete)
{
if (!printedResults)
{
if (restrictTime)
{
Debug.Log("Points: " + points + " - Collisions: " + collisions + " - Local Minima: " + localMinimas);
}
else
{
Debug.Log("Time taken(s): " + currentTime + " - Total Distance Travelled(u): " + totalDistanceTravelled + " - Points: " + points + " - Collisions: " + collisions + " - Local Minima: " + localMinimas);
}
printedResults = true;
}
stateText.text = "Collected all known objects!";
}
else if (ranOutOfTime)
{
stateText.text = "Ran out of time!";
}
else
{
stateText.text = "AI is in Idle mode";
}
break;
}
}