void FixedUpdate()
{
//Get constant inputs
if (!string.IsNullOrEmpty(accelAxis))
{
vp.SetAccel(Input.GetAxis(accelAxis));
}
if (!string.IsNullOrEmpty(brakeAxis))
{
vp.SetBrake(Input.GetAxis(brakeAxis));
}
if (!string.IsNullOrEmpty(steerAxis))
{
vp.SetSteer(Input.GetAxis(steerAxis));
}
if (!string.IsNullOrEmpty(ebrakeAxis))
{
vp.SetEbrake(Input.GetAxis(ebrakeAxis));
}
if (!string.IsNullOrEmpty(boostButton))
{
vp.SetBoost(Input.GetButton(boostButton));
}
if (!string.IsNullOrEmpty(pitchAxis))
{
vp.SetPitch(Input.GetAxis(pitchAxis));
}
if (!string.IsNullOrEmpty(yawAxis))
{
vp.SetYaw(Input.GetAxis(yawAxis));
}
if (!string.IsNullOrEmpty(rollAxis))
{
vp.SetRoll(Input.GetAxis(rollAxis));
}
if (!string.IsNullOrEmpty(upshiftButton))
{
vp.SetUpshift(Input.GetAxis(upshiftButton));
}
if (!string.IsNullOrEmpty(downshiftButton))
{
vp.SetDownshift(Input.GetAxis(downshiftButton));
}
}
void FixedUpdate()
{
if (setter)
{
accelerationDelta = Input.acceleration - accelerationPrev;
accelerationPrev = Input.acceleration;
vp.SetAccel(setter.accel);
vp.SetBrake(setter.brake);
vp.SetEbrake(setter.ebrake);
vp.SetBoost(setter.boost);
if (useAccelerometer)
{
vp.SetSteer((Input.acceleration.x + accelerationDelta.x * deltaFactor) * steerFactor);
vp.SetYaw(Input.acceleration.x * flipFactor);
vp.SetPitch(-Input.acceleration.z * flipFactor);
}
else
{
vp.SetSteer(setter.steer);
}
}
}
void FixedUpdate()
{
if (target)
{
if (target != targetPrev)
{
InitializeTarget();
}
targetPrev = target;
//Is the target a waypoint?
targetIsWaypoint = target.GetComponent <VehicleWaypoint>();
//Can I see the target?
targetVisible = !Physics.Linecast(tr.position, target.position, viewBlockMask);
if (targetVisible || targetIsWaypoint)
{
targetPoint = targetBody ? target.position + targetBody.velocity : target.position;
}
if (targetIsWaypoint)
{
//if vehicle is close enough to target waypoint, switch to the next one
if ((tr.position - target.position).sqrMagnitude <= targetWaypoint.radius * targetWaypoint.radius)
{
target = targetWaypoint.nextPoint.transform;
targetWaypoint = targetWaypoint.nextPoint;
prevSpeed = speed;
speed = Mathf.Clamp01(targetWaypoint.speed * initialSpeed);
brakeTime = prevSpeed / speed;
if (brakeTime <= 1)
{
brakeTime = 0;
}
}
}
else
{
speed = initialSpeed;
}
brakeTime = Mathf.Max(0, brakeTime - Time.fixedDeltaTime);
//Is the distance to the target less than the follow distance?
close = (tr.position - target.position).sqrMagnitude <= Mathf.Pow(followDistance, 2) && !targetIsWaypoint;
dirToTarget = (targetPoint - tr.position).normalized;
lookDot = Vector3.Dot(vp.forwardDir, dirToTarget);
steerDot = Vector3.Dot(vp.rightDir, dirToTarget);
//Attempt to reverse if vehicle is stuck
stoppedTime = Mathf.Abs(vp.localVelocity.z) < 1 && !close && vp.groundedWheels > 0 ? stoppedTime + Time.fixedDeltaTime : 0;
if ((stoppedTime > stopTimeReverse || (vp.velMag < 1 && lookDot < 0) || (vp.velMag <= 20 && lookDot < -0.8)) && reverseTime == 0)
{
reverseTime = reverseAttemptTime;
reverseAttempts++;
}
//Reset if reversed too many times
if (reverseAttempts > resetReverseCount && resetReverseCount >= 0)
{
StartCoroutine(ReverseReset());
}
reverseTime = Mathf.Max(0, reverseTime - Time.fixedDeltaTime);
//Set vehicle inputs
vp.SetAccel(!close && (lookDot > 0 || vp.localVelocity.z < 5) && vp.groundedWheels > 0 && reverseTime == 0 ? speed : 0);
vp.SetBrake(reverseTime == 0 && brakeTime == 0 && !(close && vp.localVelocity.z > 0.1f) ? (lookDot < 0.5f && lookDot > 0 && vp.localVelocity.z > 10 ? 0.5f - lookDot : 0) : (brakeTime > 0 ? brakeTime * 0.2f : 1));
vp.SetSteer(reverseTime == 0 ? Mathf.Abs(Mathf.Pow(steerDot, (tr.position - target.position).sqrMagnitude > 20 ? 1 : 2)) * Mathf.Sign(steerDot) : -Mathf.Sign(steerDot) * (close ? 0 : 1));
vp.SetEbrake((close && vp.localVelocity.z <= 0.1f) || (lookDot <= 0 && vp.velMag > 20) ? 1 : 0);
}
rolledOverTime = va.rolledOver ? rolledOverTime + Time.fixedDeltaTime : 0;
//Reset if stuck rolled over
if (rolledOverTime > rollResetTime && rollResetTime >= 0)
{
StartCoroutine(ResetRotation());
}
}
void Update()
{
//Calculating controll values for this frame...
float speed = 3.6f * vp.velMag;
targetSpeed = desiredSpeed;
if (true)
{
SteerTowards(out targetSteer, MoveTarget);
Vector3 rayCastOrigin = (transform.position + transform.forward * 2 + transform.up * 1);
float DistanceMid = 0;
float SpeedMid = 0;
float relativeVelocityAngle = 0;
float speedToDistanceTollerance = 0.1f;
RaycastHit HitMid;
float angle = 0;
float[] viewAngelsStraight = { 10, -10, 15, 30, 45, 60 };
bool HitSuccess = LookForward(rayCastOrigin, 0, out DistanceMid, out SpeedMid, out relativeVelocityAngle, out HitMid, true);
int i = 0;
while (!HitSuccess)
{
///Debug.Log("We should stop maybe i: "+i +" Length:"+viewAngelsStraight.Length);
if (viewAngelsStraight.Length <= i)
{
break;
}
if (targetSteer < 0)
{
HitSuccess = LookForward(rayCastOrigin, -viewAngelsStraight[i], out DistanceMid, out SpeedMid, out relativeVelocityAngle, out HitMid, true);
}
else if (targetSteer > 0)
{
HitSuccess = LookForward(rayCastOrigin, viewAngelsStraight[i], out DistanceMid, out SpeedMid, out relativeVelocityAngle, out HitMid, true);
}
else if (targetSteer == 0)
{
HitSuccess = LookForward(rayCastOrigin, viewAngelsStraight[i], out DistanceMid, out SpeedMid, out relativeVelocityAngle, out HitMid, true);
if (!HitSuccess)
{
HitSuccess = LookForward(rayCastOrigin, -viewAngelsStraight[i], out DistanceMid, out SpeedMid, out relativeVelocityAngle, out HitMid, true);
}
}
i++;
}
if (HitSuccess && false) /// hello new me how areyou ...listen, this is really npot a good way to code, i know but i did not want anything messing with targetSpeed .. cheers all the best... David
{
if (HitMid.transform.GetComponent <Rigidbody>() != null)
{
if (relativeVelocityAngle < 15f)
{
//if thats almost the same lets say within 15 degree Absolute we adapt the speed
if (DistanceMid > SpeedMid + SpeedMid * speedToDistanceTollerance)
{
targetSpeed = Mathf.Clamp(scale(SpeedMid + SpeedMid * speedToDistanceTollerance, 50, SpeedMid, 120, DistanceMid), 0, 120);
}
else if (DistanceMid < SpeedMid - SpeedMid * speedToDistanceTollerance)
{
targetSpeed = Mathf.Clamp(scale(0, SpeedMid - SpeedMid * speedToDistanceTollerance, 0, SpeedMid, DistanceMid), 0, 120);
}
else
{
targetSpeed = SpeedMid;
}
}
else if (relativeVelocityAngle >= 15f && relativeVelocityAngle < 90f)
{//if not we decide to either stop or reduce speed
if (DistanceMid > SpeedMid + SpeedMid * speedToDistanceTollerance)
{
targetSpeed = Mathf.Clamp(scale(SpeedMid + SpeedMid * speedToDistanceTollerance, 50, SpeedMid, 120, DistanceMid), 0, 120);
}
else if (DistanceMid < SpeedMid - SpeedMid * speedToDistanceTollerance)
{
targetSpeed = Mathf.Clamp(scale(0, SpeedMid - SpeedMid * speedToDistanceTollerance, 0, SpeedMid, DistanceMid), 0, 120);
}
else
{
targetSpeed = SpeedMid;
}
targetSpeed *= 0.9f;
}
else
{
if (HitSuccess && DistanceMid < 5)
{
//full_stop = true; /// EDIT call the car stoped function
targetSpeed = 0;
}
else
{
full_stop = false;
targetSpeed = 15f;
}
}
}
//Debug.Log ("TargetCarAngle: "+target_car_angle+"TargetSpeed: " + targetSpeed + "Distance: " + hit.distance+"minDistnace: "+(target_car_speed - target_car_speed * speedToDistanceTollerance).ToString()+"MaxDistance:"+(target_car_speed + target_car_speed * speedToDistanceTollerance).ToString());
if (HitSuccess && DistanceMid <= 4)
{
// here we just start driving agiain
//full_stop = true; /// EDIT call the car stoped function
}
else if (HitSuccess && DistanceMid > 4 && DistanceMid <= 20)
{
targetSpeed = desiredSpeed;
// this should be filled with code if we get a rigid body as a raycast target
// that is not a a rigid body i.e. city or so... important
}
else if (HitSuccess && DistanceMid > 20)
{
targetSpeed = desiredSpeed;
// this should be filled with code if we get a rigid body as a raycast target
// that is not a a rigid body i.e. city or so... important
}
}
///Here we Cap the speed to something that will assure we will not crash
///
if (targetSpeed > desiredSpeed + 10)
{
targetSpeed = desiredSpeed + 10;
}
}
else
{
//define new target speed and steering based on in put from the
}
//// accalerator calculation
if (!full_stop)
{
// Debug.Log(targetSpeed);
vp.SetEbrake(0);
float temp = speedController.Update(targetSpeed, speed, Time.deltaTime);
// Debug.Log("We are in the PID section its telling us a throttle of : " + temp);
if (temp > 0)
{
if (targetSpeed > 0)
{
vp.SetAccel(Mathf.Clamp01(temp));
vp.SetBrake(0);
}
}
else if (temp < 0.1f)
{
vp.SetAccel(0);
if (targetSpeed == 0)
{
vp.SetBrake(Mathf.Clamp01(-1 * temp) * 3);
}
else
{
vp.SetBrake(Mathf.Clamp01(-1 * temp) * 1.75f);
}
}
}
else
{
vp.SetEbrake(1);
vp.SetAccel(0);
vp.SetBrake(0.23f);
}
vp.SetSteer(Mathf.MoveTowards(vp.steerInput, targetSteer, steerRate * Time.deltaTime));
}
