/// <summary>
/// On every fixed frame update, will check how the car should react to its conditions
/// </summary>
private void FixedUpdate()
{
frameCount++;
/*if (gameObject.transform.parent.gameObject.name == "AICar(Clone)")
* {
* var player = GameObject.Find("Player");
* if (player)
* {
* UnityEngine.Debug.Log("Player object found");
* //float distance = Vector3.Distance(player.transform.position, gameObject.transform.position);
* //UnityEngine.Debug.Log("Distance from player: " + distance);
*
* }
* }*/
// Sleep if the round is over
if (roundOver)
{
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent <Rigidbody>().Sleep();
return;
}
// Remove AICar if at end of path
if (gameObject.transform.parent.gameObject.name == "AICar(Clone)" && haveReachedDestination)
{
UnityEngine.Debug.Log("Destroyed Car");
GetComponent <Rigidbody>().Sleep();
Destroy(gameObject.transform.parent.gameObject);
return;
}
//Stop movement if game timer is paused
// OR if reached the end of nodes
if (currentNode == -1 || (timer != null && timer.isPaused()) || haveReachedDestination)
{
if (haveReachedDestination && !roundOver)
{
sm.driverReachedDest = true;
haveReachedDestination = false;
}
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent <Rigidbody>().Sleep();
return;
}
var distanceToNode = Vector3.Distance(transform.position, nodes[currentNode].position);
// If close to node
if (distanceToNode < 20f && distanceToNode > 5f)
{
// Check if traffic light
if (pathList.Count > 1 && currentNode > 0 && trafficLightController.trafficCheck(pathList[currentNode - 1], pathList[currentNode]))
{
if (!isAtTrafficLight)
{
isAtTrafficLight = true;
UnityEngine.Debug.Log("Now at Traffic Light");
}
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent <Rigidbody>().Sleep();
return;
}
else
{
if (isAtTrafficLight)
{
UnityEngine.Debug.Log("Now no longer at Traffic Light");
}
isAtTrafficLight = false;
}
//check for intersection and then raycast if needed
if (pathList.Count > 1 && currentNode > 0 && !g.trafficLights.Contains(pathList[currentNode]) && isIntersection(pathList[currentNode]) && !isAtIntersection)
{
Vector3 centre = nodes[currentNode].position;
bool clear = true;
LayerMask layer = LayerMask.GetMask("Cars");
//check intersection is clear
Collider[] hits = Physics.OverlapBox(centre, transform.localScale * 50, Quaternion.identity, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected in intersection");
foreach (Collider collider in hits)
{
if (collider == GetComponent <Collider>())
{
continue;
}
var other = collider.gameObject.GetComponent <AVController>();
if (!other.isAtIntersection || !other.isAtIntersection)
{
continue;
}
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.forward);
if (dot > 0.5) // other car is travelling in same direction
{
continue;
}
else if (true)
{
clear = false;
}
}
if (turning == turningDirection.left)
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * castDistance, new Vector3(2, 1, 1) * castDistance, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected to the right when turning left.");
foreach (Collider collider in hits)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0) // other car is travelling left, i.e. towards this car
{
if (other.isAtIntersection || other.isAtTrafficLight)
{
continue;
}
// ignore cars that don't impede movement
if (((int)currentBearing + 1) % 4 == (int)other.currentBearing)
{
UnityEngine.Debug.Log("Turning Left: Ignoring car coming from clockwise direction");
continue;
}
else if ((((int)currentBearing + 4) - 1) % 4 == (int)other.currentBearing && (other.turning == turningDirection.left || other.turning == turningDirection.right))
{
UnityEngine.Debug.Log("Turning Left: Ignoring car coming from anti-clokwise direction turning left or right");
continue;
}
else if (Math.Abs(currentBearing - other.currentBearing) == 2 && (other.turning == turningDirection.left || other.turning == turningDirection.forward))
{
UnityEngine.Debug.Log("Turning Left: Ignoring car coming in opposite direction going forward or turning left");
continue;
}
// ignore cars which give way to you
if (other.braking)
{
continue;
}
// ignore cars with lower priority
if (other.roadPriority < roadPriority)
{
continue;
}
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
}
else if (turning == turningDirection.forward)
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * castDistance, new Vector3(2, 1, 1) * castDistance, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected to the right when going forward.");
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
if (other.isAtIntersection || other.isAtTrafficLight)
{
continue;
}
if (other.braking)
{
continue;
}
// ignore cars with lower priority
if (other.roadPriority < roadPriority)
{
continue;
}
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check to the left
hits = Physics.OverlapBox(centre - transform.right * 20, new Vector3(2, 1, 1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected to the left when going forward.");
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, -transform.right);
if (dot > 0)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
if (other.isAtIntersection || other.isAtTrafficLight)
{
continue;
}
if (other.braking)
{
continue;
}
if (other.roadPriority < roadPriority)
{
continue;
}
// ignore cars that don't impede movement
//if (other.roadPriority == roadPriority && (other.turning == AVController.direction.forward || other.turning == AVController.direction.left)) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check forward
/*hits = Physics.OverlapBox(centre + transform.forward * 5, new Vector3(1, 1, 2) * 5, transform.rotation, layer, QueryTriggerInteraction.Ignore);
* foreach (Collider collider in hits)
* {
* Vector3 direction = collider.transform.forward;
* float dot = Vector3.Dot(direction, transform.forward);
* if (dot < 0)
* {
* if (collider == this.GetComponent<Collider>()) continue;
* AVController other = collider.gameObject.GetComponent<AVController>();
* //if (other.inIntersection) continue;
*
* //if (other.braking) continue;
*
* if (currentBearing == other.currentBearing)
* {
* UnityEngine.Debug.Log("Going forward: Car in front going in the same direction");
*
* foreach (AxleInfo axleInfo in axleInfos)
* {
* axleInfo.leftWheel.brakeTorque = maxMotorTorque;
* axleInfo.rightWheel.brakeTorque = maxMotorTorque;
* }
* braking = true;
* GetComponent<Rigidbody>().Sleep();
* return;
* }
* else
* {
* UnityEngine.Debug.Log("Going forward: Hitting a car so not clear");
* clear = false;
* }
*
*
* }
* }*/
}
else // turning right
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * 20, new Vector3(2, 1, 1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected to the right when turning right.");
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
if (other.isAtIntersection || other.isAtTrafficLight)
{
continue;
}
if (other.braking)
{
continue;
}
if (other.roadPriority < roadPriority)
{
continue;
}
// ignore cars that don't impede movement
//if (other.roadPriority == roadPriority && other.turning == AVController.direction.right) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check to the left
hits = Physics.OverlapBox(centre - transform.right * 20, new Vector3(2, 1, 1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected to the left when turning right.");
foreach (Collider collider in hits)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
if (Math.Abs(currentBearing - other.currentBearing) == 2 && other.turning == AVController.turningDirection.right)
{
UnityEngine.Debug.Log("Turning Right: Ignoring car coming in opposite direction turning right");
continue;
}
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, -transform.right);
if (dot > 0)
{
if (other.isAtIntersection || other.isAtTrafficLight)
{
continue;
}
if (other.braking)
{
continue;
}
if (other.roadPriority < roadPriority)
{
continue;
}
// ignore cars that don't impede movement
//if (other.roadPriority == roadPriority && other.turning == AVController.direction.right) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check forward
hits = Physics.OverlapBox(centre + transform.forward * 20, new Vector3(1, 1, 2) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
UnityEngine.Debug.Log(hits.Length + " cars detected forward when turning right.");
foreach (Collider collider in hits)
{
if (collider == this.GetComponent <Collider>())
{
continue;
}
AVController other = collider.gameObject.GetComponent <AVController>();
if (Math.Abs(currentBearing - other.currentBearing) == 2 && other.turning == AVController.turningDirection.right)
{
UnityEngine.Debug.Log("Turning Right: Ignoring car coming in opposite direction turning right");
continue;
}
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.forward);
if (dot < 0)
{
if (other.isAtIntersection)
{
continue;
}
if (other.braking)
{
continue;
}
if (other.roadPriority < roadPriority)
{
continue;
}
// ignore cars that don't impede movement
//if (other.roadPriority == roadPriority && other.turning == AVController.direction.right) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
}
if (clear)
{
isAtIntersection = true;
stopTime = UnityEngine.Random.Range(0f, 1f);
StartCoroutine("Intersection");
}
else
{
stopTime += 1;
if (!stopped)
{
StartCoroutine("Stop");
}
}
}
}
//Update wheel positions based on speed and angle
Vector3 relativeVector = transform.InverseTransformPoint(nodes[currentNode].position) + new Vector3(-drivingOffset, 0, 0);
float newSteer = (relativeVector.x / relativeVector.magnitude) * maxSteerAngle;
foreach (AxleInfo axleInfo in axleInfos)
{
currentSpeed = 2 * Mathf.PI * axleInfo.leftWheel.radius * axleInfo.leftWheel.rpm * 60 / 1000;
if (axleInfo.steering)
{
axleInfo.leftWheel.steerAngle = newSteer;
axleInfo.rightWheel.steerAngle = newSteer;
}
if (axleInfo.motor)
{
if (currentSpeed < maxSpeed)
{
axleInfo.leftWheel.motorTorque = maxMotorTorque;
axleInfo.rightWheel.motorTorque = maxMotorTorque;
}
else
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
}
lastSpeed = currentSpeed;
ApplyLocalPositionToVisuals(axleInfo.leftWheel);
ApplyLocalPositionToVisuals(axleInfo.rightWheel);
}
if (currentSpeed == 0 && !isAtTrafficLight)
{
consecutiveFramesWithNoSpeed++;
if (consecutiveFramesWithNoSpeed > minConsecutiveFramesWithNoSpeed)
{
var newFps = 1 / Time.unscaledDeltaTime;
if (newFps >= 25)
{
fps = newFps;
UnityEngine.Debug.Log("FPS:" + fps);
}
var consecutiveSecondsWithNoSpeed = consecutiveFramesWithNoSpeed / fps;
UnityEngine.Debug.Log("Consecutive seconds with no speed:" + consecutiveSecondsWithNoSpeed);
if (consecutiveSecondsWithNoSpeed >= minConsecutiveSecondsWithNoSpeed)
{
var randomNumber = UnityEngine.Random.Range(minConsecutiveSecondsWithNoSpeed, maxConsecutiveSecondsWithNoSpeed);
if (randomNumber < consecutiveFramesWithNoSpeed)
{
if (nodes.Count > 1)
{
currentNode--;
gameObject.transform.position = nodes[currentNode].position;
gameObject.transform.LookAt(nodes[currentNode + 1]);
gameObject.transform.position = transform.TransformPoint(new Vector3(-drivingOffset, 0, 0));
UnityEngine.Debug.Log("Have been stationary for awhile, moving back to previous node");
}
consecutiveFramesWithNoSpeed = 0;
}
}
}
}
else
{
consecutiveFramesWithNoSpeed = 0;
}
CheckWaypointDistance();
UpdateSteeringWheel();
}
/// <summary>
/// On every fixed frame update, will check how the car should react to its conditions
/// </summary>
private void FixedUpdate()
{
// Sleep if the round is over
if(roundOver)
{
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent<Rigidbody>().Sleep();
return;
}
// Remove AICar if at end of path
if (gameObject.transform.parent.gameObject.name == "AICar(Clone)" && reachedDestination)
{
UnityEngine.Debug.Log("Destroyed Car");
GetComponent<Rigidbody>().Sleep();
Destroy(gameObject.transform.parent.gameObject);
return;
}
//Stop movement if game timer is paused
// OR if reached the end of nodes
if (currentNode == -1 || (timer != null && timer.isPaused()) || reachedDestination)
{
if (reachedDestination && !roundOver)
{
sm.driverReachedDest = true;
reachedDestination = false;
}
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent<Rigidbody>().Sleep();
return;
}
// If close to node
if (Vector3.Distance(transform.position, nodes[currentNode].position) < 20f && Vector3.Distance(transform.position, nodes[currentNode].position) > 5f)
{
// Check if traffic light
if (pathList.Count > 1 && currentNode > 0 && trafficLightController.trafficCheck(pathList[currentNode - 1], pathList[currentNode]))
{
//UnityEngine.Debug.Log("At Traffic Light");
foreach (AxleInfo axleInfo in axleInfos)
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
GetComponent<Rigidbody>().Sleep();
return;
}
//check for intersection and then raycast if needed
else if (pathList.Count > 1 && currentNode > 0 && !g.trafficLights.Contains(pathList[currentNode]) && isIntersection(pathList[currentNode]) && !inIntersection)
{
Vector3 centre = nodes[currentNode].position;
bool clear = true;
LayerMask layer = LayerMask.GetMask("Cars");
//check intersection is clear
Collider[] hits = Physics.OverlapBox(centre, transform.localScale * 50, Quaternion.identity, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
if (collider != this.GetComponent<Collider>())
{
if (collider.gameObject.GetComponent<AVController>().inIntersection)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.forward);
if (dot > 0.5) // other car is travelling in same direction
{
continue;
}
else if (true)
{
clear = false;
}
}
}
}
if (turning == direction.left)
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * 20, new Vector3(2,1,1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0) // other car is travelling left, i.e. towards this car
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
// ignore cars which give way to you
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
}
else if (turning == direction.forward)
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * 20, new Vector3(2,1,1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0)
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check to the left
hits = Physics.OverlapBox(centre - transform.right * 20, new Vector3(2,1,1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, -transform.right);
if (dot > 0)
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
}
else // turning right
{
// check to the right
hits = Physics.OverlapBox(centre + transform.right * 20, new Vector3(2,1,1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.right);
if (dot < 0)
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check to the left
hits = Physics.OverlapBox(centre - transform.right * 20, new Vector3(2,1,1) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, -transform.right);
if (dot > 0)
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
// check forward
hits = Physics.OverlapBox(centre + transform.forward * 20, new Vector3(1,1,2) * 20, transform.rotation, layer, QueryTriggerInteraction.Ignore);
foreach (Collider collider in hits)
{
Vector3 direction = collider.transform.forward;
float dot = Vector3.Dot(direction, transform.forward);
if (dot < 0)
{
if (collider == this.GetComponent<Collider>()) continue;
AVController other = collider.gameObject.GetComponent<AVController>();
if (other.inIntersection) continue;
if (other.braking) continue;
if (other.roadPriority < roadPriority) continue;
if (other.stopTime < 1 || other.stopTime > stopTime)
{
clear = false;
}
}
}
}
if(clear)
{
inIntersection = true;
stopTime = UnityEngine.Random.Range(0f, 1f);
StartCoroutine("Intersection");
}
else
{
stopTime += 1;
if (!stopped)
{
StartCoroutine("Stop");
}
}
}
}
//Update wheel positions based on speed and angle
Vector3 relativeVector = transform.InverseTransformPoint(nodes[currentNode].position) + new Vector3(-drivingOffset, 0, 0);
float newSteer = (relativeVector.x / relativeVector.magnitude) * maxSteerAngle;
foreach (AxleInfo axleInfo in axleInfos)
{
currentSpeed = 2 * Mathf.PI * axleInfo.leftWheel.radius * axleInfo.leftWheel.rpm * 60 / 1000;
if (axleInfo.steering)
{
axleInfo.leftWheel.steerAngle = newSteer;
axleInfo.rightWheel.steerAngle = newSteer;
}
if (axleInfo.motor)
{
if (currentSpeed < maxSpeed)
{
axleInfo.leftWheel.motorTorque = maxMotorTorque;
axleInfo.rightWheel.motorTorque = maxMotorTorque;
}
else
{
axleInfo.leftWheel.motorTorque = 0;
axleInfo.rightWheel.motorTorque = 0;
}
}
ApplyLocalPositionToVisuals(axleInfo.leftWheel);
ApplyLocalPositionToVisuals(axleInfo.rightWheel);
}
CheckWaypointDistance();
UpdateSteeringWheel();
}