public override bool Tick()
{
Entity agent = context.agent;
WaypointPath path = context.path;
Debug.Assert(path != null, nameof(path) + " != null");
WaypointTracker tracker = path.GetTrackerForEntity(context.agent.index);
int completedLaps = tracker.CompletedLaps;
Vector3 waypoint = tracker.CurrentWaypoint;
float distSquared = agent.transformInfo.DistanceToSquared(waypoint);
if (distSquared < 20 * 20) // todo replace with a radius per waypoint
{
tracker.Progress();
}
waypoint = tracker.CurrentWaypoint;
ApproachType approachType = tracker.IsFinalWaypoint ? ApproachType.Arrive : ApproachType.Normal;
agent.FlightSystem.SetTargetPosition(waypoint, approachType);
return(tracker.CompletedLaps != completedLaps);
}
protected override float Score(WaypointContext context)
{
WaypointPath path = context.path;
if (path == null)
{
return(0);
}
WaypointTracker tracker = path.GetTrackerForEntity(context.agent.index);
Vector3 waypoint = tracker.CurrentWaypoint;
float distSquared = context.agent.transformInfo.DistanceToSquared(waypoint);
return(MathUtil.PercentageOfRangeClamped(distSquared, minDist * minDist, maxDist * maxDist));
}
void Start()
{
UnityStandardAssets.Utility.WaypointCircuit cir = (UnityStandardAssets.Utility.WaypointCircuit)Instantiate(circuit, carpath);
GameObject target = new GameObject();
target.transform.parent = transform;
traker = new WaypointTracker(transform, cir, target.transform);
detectionRange = 0;
controller = GetComponent <CarController>();
rays = new Ray[3];
this.tag = "Vehicle";
}
