static float GetTurnRadius(float speed)
{
float forwardSpeed = Mathf.Abs(speed);
float turnRadius = 0;
var curvature = RoboUtils.Scale(0, 5, 0.0069f, 0.00398f, forwardSpeed);
if (forwardSpeed >= 500 / 100)
{
curvature = RoboUtils.Scale(5, 10, 0.00398f, 0.00235f, forwardSpeed);
}
if (forwardSpeed >= 1000 / 100)
{
curvature = RoboUtils.Scale(10, 15, 0.00235f, 0.001375f, forwardSpeed);
}
if (forwardSpeed >= 1500 / 100)
{
curvature = RoboUtils.Scale(15, 17.5f, 0.001375f, 0.0011f, forwardSpeed);
}
if (forwardSpeed >= 1750 / 100)
{
curvature = RoboUtils.Scale(17.5f, 23, 0.0011f, 0.00088f, forwardSpeed);
}
turnRadius = 1 / (curvature * 100);
return(turnRadius);
}
private void FixedUpdate()
{
_speedMagnitude = _rb.velocity.magnitude;
_speedMagnitudeKmH = _speedMagnitude * 3.6f;
var currentAlpha = RoboUtils.Scale(40, 100, 0, 1, _speedMagnitudeKmH);
currentAlpha = Mathf.Clamp(currentAlpha, 0, 1);
_gradient.alphaKeys = new GradientAlphaKey[] { new GradientAlphaKey(currentAlpha, 0), new GradientAlphaKey(0, 1) };
_trail.colorGradient = _gradient;
var maxTrailWidth = 0.6f;
var minTrailWidth = 0.3f;
var trailWidth = RoboUtils.Scale(40, 80, minTrailWidth, maxTrailWidth, _speedMagnitudeKmH);
_trail.startWidth = Mathf.Clamp(trailWidth, minTrailWidth, maxTrailWidth);
}
static float GetForwardAcceleration(float speed)
{
// Replicates acceleration curve from RL, depends on current car forward velocity
speed = Mathf.Abs(speed);
float throttle = 0;
if (speed > (1410 / 100))
{
throttle = 0;
}
else if (speed > (1400 / 100))
{
throttle = RoboUtils.Scale(14, 14.1f, 1.6f, 0, speed);
}
else if (speed <= (1400 / 100))
{
throttle = RoboUtils.Scale(0, 14, 16, 1.6f, speed);
}
return(throttle);
}
