internal void CalcTurnin()
{
//GameObject goCirc;
//CapsuleCollider Circ;
//goCirc = GameObject.CreatePrimitive(PrimitiveType.Cube);
//goCirc.GetComponent<BoxCollider>().enabled = false;
//Circ = goCirc.AddComponent<CapsuleCollider>();
//goCirc.name = "CircColl" + BendId;
//Circ.height = 100;
Radius = SqrtRad * SqrtRad;
Vector3 Centre = new Vector3(0, 0, 0);
Vector3 C = new Vector3(0, 0, 0);
Vector3 AP = VectGeom.Convert2d(ApexPos);
Vector3 TP = new Vector3(0, 0, 0);
Vector3 EP = new Vector3(0, 0, 0);
int e = 0;
float ExitFrac = 1;//1 is a wide turn, 0 is tight
float SmallestRadErr = 1000;
PossBendCircle bbc = new PossBendCircle();
Vector3 ApexPos2d = VectGeom.Convert2d(ApexPos);
float NxtBndDist = Rd.XSecs.Diff(ApexXSec, NextBend.ApexXSec);
//Method:
//Try a range of turnin segs
//For each Turnin seg, draw a line perpendicular to the fwd direction
//and find the turninPt (TP)
//Find the midpoint (MP) of the line from apex to turninPoint and draw a line perpendicular to this (MPerp)
//Where MPerp crosses TPerp is the centre of the circle, C
/// <image url="$(SolutionDir)\CommonImages\CalcTurninAlgorithm.png" scale="1.2"/>
if (Type == BendType.Right)
{
if (NextBend.Type == BendType.Left && NxtBndDist < 200)
{
ExitFrac = NxtBndDist / 200;
}
for (XSec tx = Rd.XSecs[StartSegIdx - 70]; tx.IsBefore(Rd.XSecs[StartSegIdx]); tx = Rd.XSecs.Next(tx)) //removed circlebug
{
Vector2 TPerp = VectGeom.Convert2d(Vector3.Cross(Vector3.up, tx.Forward));
TP = VectGeom.Convert2d(tx.KerbL + (tx.KerbR - tx.KerbL).normalized * TurninGap);
Vector2 MP = (ApexPos2d + TP) / 2;
Vector2 MPerp = new Vector2((ApexPos2d - TP).y, -(ApexPos2d - TP).x);
if (VectGeom.LineLineIntersection(out C, TP, TPerp, MP, MPerp)) //these vars are all Vector3(x,0,y)
{
float biggestCos = 0;
float R = Vector2.Distance(TP, C);
PossBendCircle pbc = new PossBendCircle();
float RadErr = 1000;
for (e = EndXSec.Idx + 70; e > EndXSec.Idx; e--) //bugbugbug circlebug
{
Vector2 WideExitPt = VectGeom.Convert2d(Rd.XSecs[e].KerbL + (Rd.XSecs[e].KerbR - Rd.XSecs[e].KerbL).normalized * 2);
Vector2 TightExitPoint = VectGeom.Convert2d(Rd.XSecs[e].KerbR + (Rd.XSecs[e].KerbL - Rd.XSecs[e].KerbR).normalized * 2);
EP = Vector2.Lerp(TightExitPoint, WideExitPt, ExitFrac);
Vector3 EPerp = VectGeom.Convert2d(-Rd.XSecs[e].Right).normalized;
float cos = Mathf.Abs(Vector2.Dot((EP - C).normalized, EPerp));
if (cos > biggestCos)
{
RadErr = Mathf.Abs(Vector3.Distance(EP, C) - R);
pbc = new PossBendCircle {
C = C, RSq = 0, RadErr = RadErr, EP = EP, EX = Rd.XSecs[e], TP = TP, TX = tx
};
biggestCos = cos;
}
}
if (RadErr < SmallestRadErr)
{
bbc = new PossBendCircle {
C = pbc.C, RSq = 0, RadErr = pbc.RadErr, EP = pbc.EP, EX = pbc.EX, TP = pbc.TP, TX = pbc.TX
};
SmallestRadErr = pbc.RadErr;
}
}
}
Centre = new Vector3(bbc.C.x, ApexPos.y, bbc.C.y);
Radius = Vector2.Distance(bbc.TP, bbc.C);
TurninXSec = bbc.TX;
TurninSegIdx = TurninXSec.Idx;
TurninPos = new Vector3(bbc.TP.x, ApexPos.y, bbc.TP.y);
ExitXSec = bbc.EX;
ExitPos = new Vector3(bbc.EP.x, ApexPos.y, bbc.EP.y);
goto FoundCentre;
//Not found Centre
Debug.Log("No Centre for Bend" + BendId);
ExitXSec = Rd.XSecs[e];
Debug.Break();
}
if (Type == BendType.Left)
{
if (NextBend.Type == BendType.Right && NxtBndDist < 200)
{
ExitFrac = NxtBndDist / 200;
}
for (int t = StartSegIdx - 70; t < StartSegIdx; t++) //bugbugbug circlebug
{
Vector2 TPerp = VectGeom.Convert2d(Vector3.Cross(Vector3.up, Rd.XSecs[t].Forward));
TP = VectGeom.Convert2d(Rd.XSecs[t].KerbR + (Rd.XSecs[t].KerbL - Rd.XSecs[t].KerbR).normalized * TurninGap);
Vector2 MP = (ApexPos2d + TP) / 2;
Vector2 MPerp = new Vector2((ApexPos2d - TP).y, -(ApexPos2d - TP).x);
if (VectGeom.LineLineIntersection(out C, TP, TPerp, MP, MPerp)) //these vars are all Vector3(x,0,y)
{
float biggestCos = 0;
float R = Vector2.Distance(TP, C);
PossBendCircle pbc = new PossBendCircle();
float RadErr = 1000;
for (e = EndXSec.Idx + 70; e > EndXSec.Idx; e--) //bugbugbug circlebug
{
Vector2 WideExitPt = VectGeom.Convert2d(Rd.XSecs[e].KerbR + (Rd.XSecs[e].KerbL - Rd.XSecs[e].KerbR).normalized * 2);
Vector2 TightExitPoint = VectGeom.Convert2d(Rd.XSecs[e].KerbL + (Rd.XSecs[e].KerbR - Rd.XSecs[e].KerbL).normalized * 2);
EP = Vector2.Lerp(TightExitPoint, WideExitPt, ExitFrac);
Vector3 EPerp = VectGeom.Convert2d(Rd.XSecs[e].Right).normalized;
float cos = Mathf.Abs(Vector2.Dot((EP - C).normalized, EPerp));
if (cos > biggestCos)
{
RadErr = Mathf.Abs(Vector3.Distance(EP, C) - R);
pbc = new PossBendCircle {
C = C, RSq = 0, RadErr = RadErr, EP = EP, EX = Rd.XSecs[e], TP = TP, TX = Rd.XSecs[t]
};
biggestCos = cos;
}
}
if (RadErr < SmallestRadErr)
{
bbc = new PossBendCircle {
C = pbc.C, RSq = 0, RadErr = pbc.RadErr, EP = pbc.EP, EX = pbc.EX, TP = pbc.TP, TX = pbc.TX
};
SmallestRadErr = pbc.RadErr;
}
}
}
Centre = new Vector3(bbc.C.x, ApexPos.y, bbc.C.y);
Radius = Vector2.Distance(bbc.TP, bbc.C);
TurninXSec = bbc.TX;
TurninSegIdx = TurninXSec.Idx;
TurninPos = new Vector3(bbc.TP.x, ApexPos.y, bbc.TP.y);
ExitXSec = bbc.EX;
ExitPos = new Vector3(bbc.EP.x, ApexPos.y, bbc.EP.y);
goto FoundCentre;
//Not found Centre
Debug.Log("No Centre for Bend" + BendId);
ExitXSec = Rd.XSecs[e];
Debug.Break();
}
FoundCentre:
//goCirc.transform.position = Centre;
//Circ.radius = Radius;
Angle = VectGeom.SignedAngle(TurninXSec.Forward, ExitXSec.Forward);
float RacelineSegCount = Rd.XSecs.Diff(TurninXSec, ExitXSec);;
RacelineAnglePerSeg = Angle / RacelineSegCount;
RacelineSegLength = Angle * Mathf.Deg2Rad * Radius / RacelineSegCount;
CalculateSpeed();
//Circ.enabled = false; //cos the gameobject doesnt get destroyed till end of frame
//GameObject.Destroy(goCirc);
return;
NoTurnin:
if (TurninXSec == null)
{
TurninXSec = Rd.XSecs[ApexSegIdx - 50]; TurninSegIdx = TurninXSec.Idx;
ExitXSec = Rd.XSecs[ApexSegIdx + (ApexSegIdx - TurninSegIdx)];
if (Type == BendType.Right)
{
TurninPos = TurninXSec.KerbL + (TurninXSec.KerbR - TurninXSec.KerbL).normalized * 4f;
}
else
{
TurninPos = TurninXSec.KerbR + (TurninXSec.KerbL - TurninXSec.KerbR).normalized * 4f;
}
Radius = 100;
AnalyseTurnin();
CalculateSpeed();
}
//Circ.enabled = false; //cos the gameobject doesnt get destroyed till end of frame
//GameObject.Destroy(goCirc);
}
void Update()
{
if (CR_Running)
{
return;
}
if (Timer == 0)
{
Timer = 10;
}
Timer--;
if (Timer != 0)
{
return;
}
Accel = 0.9f;
BrakeForce = 0;
Steer = 0;
SegIdx = _gps.CurrSegIdx;
_currXSec = _gps.CurrXSec;
_nextBend = _gps.NextBend;
_currBend = _gps.CurrBend;
bool FirstHalfOfBend = _currBend != null && _currXSec.IsBefore(_currBend.ApexXSec);
//Vector3 B = Road.Instance.Segments[SegIdx].verts[4];
Vector3 SegFwdDir = Road.Instance.XSecs[SegIdx].Forward;
Vector3 Heading = transform.forward;
HeadingAngle = Vector3.Angle(Heading, SegFwdDir);
Vector3 cross = Vector3.Cross(Heading, SegFwdDir);
if (cross.y > 0)
{
HeadingAngle = -HeadingAngle;
}
//Postition across the cross sec
Vector3 L = Road.Instance.XSecs[SegIdx].KerbL;
Vector3 R = Road.Instance.XSecs[SegIdx].KerbR;
float DistFromLKerb = Vector3.Distance(L, transform.position);
float DistFromRKerb = Vector3.Distance(R, transform.position);
//Calculate entry speed for next bend
float _entrySpeed = Mathf.Abs(50 / _nextBend.AnglePerSeg);
//Coming into a sharp bend too fast slow down
if (_gps.SegsPerSec - _entrySpeed > (_nextBend.StartSegIdx > _gps.CurrSegIdx?_nextBend.StartSegIdx - _gps.CurrSegIdx: _nextBend.StartSegIdx + Rd.Segments.Count - _gps.CurrSegIdx))
{
Accel = 0; BrakeForce = 1f;
}
else
{
Accel = 1; BrakeForce = 0;
}
//Aim for the middle of the 10th segment in front
XSec AimSec = Road.Instance.XSecCircular(SegIdx + 20);
Vector3 AimPoint = AimSec.MidPt;
if (FirstHalfOfBend)
{
if (_currBend.AnglePerSeg > 1)
{
if (_currBend.Type == BendType.Left)
{
AimPoint = AimSec.MidLeft;
}
if (_currBend.Type == BendType.Right)
{
AimPoint = AimSec.MidRight;
}
}
}
Vector3 LongAimPoint = Road.Instance.XSecCircular(SegIdx + 40).MidPt;
//steer round the car in front
Vector3 FrontOfCar = transform.position + transform.up * 0.5f + transform.forward * 2.5f;
_collisionRay = new Ray(FrontOfCar, AimPoint + Vector3.up - FrontOfCar);
int layerMask = (1 << 8);
if (Physics.Raycast(_collisionRay, out CollisionHit, 50, layerMask))
{
if (CollisionHit.collider.name != this.name)
{
if (CollisionHit.rigidbody.velocity.sqrMagnitude < 1)
{
StartCoroutine(ThreePointTurn("R"));
}
else
{
AimPoint = (Road.Instance.XSecCircular(SegIdx + 10).MidPt + Road.Instance.XSecCircular(SegIdx + 10).KerbR) / 2;
}
}
}
//Debug.DrawRay(FrontOfCar, AimPoint + Vector3.up - FrontOfCar, Color.red);
//***********************************************************************************
//Steer towards the aim point
float DesiredHeadingAngle = Vector3.Angle(AimPoint - transform.position, SegFwdDir);
Vector3 crossDes = Vector3.Cross(AimPoint - transform.position, SegFwdDir);
if (crossDes.y > 0)
{
DesiredHeadingAngle = -DesiredHeadingAngle;
}
// Pointing towards kerb - do a 3 point turn
if (HeadingAngle > -100 && HeadingAngle < -80 && DistFromLKerb < 3)
{
StartCoroutine(ThreePointTurn("L"));
return;
}
if (HeadingAngle < 100 && HeadingAngle > 80 && DistFromRKerb < 3)
{
StartCoroutine(ThreePointTurn("R"));
return;
}
//Coming up to a hill, put your foot down
if (LongAimPoint.y - SegFwdDir.y > 0)
{
Accel = ((LongAimPoint.y - SegFwdDir.y) * 0.005f) + 0.9f;
}
//coming up to a hill bend slow down
if (Mathf.Abs(_nextBend.Angle) > 10 && _gps.NextHill > 2 && _gps.Speed > 10)
{
Accel = 0; BrakeForce = 0.5f;
}
//Positive steer = right
Steer = (DesiredHeadingAngle - HeadingAngle);
//Start of bend - flick the wheel
//copied from CarAIInput
/*
* //Slide the Adjusted turnin point along the gate
* SlideFrac = Mathf.Sqrt(Mathf.Clamp01(TurnInSpeed / _nextBend.Speed)); // - Mathf.Abs(Mathf.Sin(DriftAngle)) * 1.5f); //SlideFrac=1 for a big swingout
* //Debug.Log("SlideFrac=" + TurnInSpeed + "/" + _nextBend.Speed + "=" + SlideFrac);
* AdjustedTurninPt = Vector3.Lerp(_nextBend.MinTurninPos, _nextBend.TurninPos, SlideFrac);
* AdjustedTurninXSec = Rd.XSecs[Mathf.RoundToInt(Mathf.Lerp(_nextBend.StartSegIdx, _nextBend.TurninSegIdx, SlideFrac))];
*/
if (_opponentCollisionDirec == CollisionDirection.Left && Steer < 10)
{
Steer = 10;
}
if (_opponentCollisionDirec == CollisionDirection.Right && Steer > -10)
{
Steer = -10;
}
}
void Update()
{
_speed = _gps.Speed;
_currXSec = _gps.CurrXSec;
PrevSegIdx = SegIdx;
SegIdx = _currXSec.Idx;
if (CR_Running)
{
return;
}
if (Timer == 0)
{
Timer = 5;
}
Timer--;
if (Timer != 4)
{
goto DoThisEveryFrame;
}
//This bit only runs every 5 frames
_currBend = _gps.CurrBend;
_nextBend = _gps.NextBend;
_gpsNextBendAngle = _nextBend.Angle;
SegFwdDir = _currXSec.Forward;
Vector3 Heading = transform.forward;
HeadingAngle = Vector3.Angle(Heading, SegFwdDir);
Vector3 cross = Vector3.Cross(Heading, SegFwdDir);
if (cross.y > 0)
{
HeadingAngle = -HeadingAngle;
}
//Postition across the cross sec
Vector3 L = Road.Instance.XSecs[SegIdx].KerbL;
Vector3 R = Road.Instance.XSecs[SegIdx].KerbR;
DistFromLKerb = Vector3.Distance(_currXSec.KerbL, transform.position);
DistFromRKerb = Vector3.Distance(_currXSec.KerbR, transform.position);
_bendPhase = BendPhase.Straight;
int ApproachSegs = Mathf.RoundToInt(0.5f * _speed * _speed + _speed / 2);
XSec _approachXSec = Rd.XSecs[SegIdx + ApproachSegs];
XSec _decisionXSec = Rd.XSecs[SegIdx + Mathf.RoundToInt(_speed * 2)];
bool FirstHalfOfBend = _currBend != null && _currXSec.IsBefore(_currBend.ApexXSec);
if (!FirstHalfOfBend)
{
_approachBend = _nextBend;
if (_approachBend.TurninXSec.IsBefore(_approachXSec))
{
_bendPhase = BendPhase.Approach;
SpeedAdj = 1f;
DriftAngle = _approachBend.DriftAngle * Mathf.Pow(TurnInSpeed / _approachBend.Speed, 2.8f) * _approachBend.Sign; //this is cool
//Slide the Adjusted turnin point along the gate
SlideFrac = Mathf.Sqrt(Mathf.Clamp01(TurnInSpeed / _nextBend.Speed)); // - Mathf.Abs(Mathf.Sin(DriftAngle)) * 1.5f); //SlideFrac=1 for a big swingout
//Debug.Log("SlideFrac=" + TurnInSpeed + "/" + _nextBend.Speed + "=" + SlideFrac);
AdjustedTurninPt = Vector3.Lerp(_nextBend.MinTurninPos, _nextBend.TurninPos, SlideFrac);
AdjustedTurninXSec = Rd.XSecs[Mathf.RoundToInt(Mathf.Lerp(_nextBend.StartSegIdx, _nextBend.TurninSegIdx, SlideFrac))];
CalcBrakePoint();
//Have we reached the decision point? We only decide the flickSegs once we reach the decision point
if ((_approachBend.TurninXSec.IsBefore(_decisionXSec) && FlickXSec == null) || (FlickXSec != null && _currXSec.IsOnOrBefore(FlickXSec)))
{
FlickSegs = 0;
ReachedFlickEnd = false;
//This is the basic flickseg pre-calculation = 150/Radius*FlickSegMultiplier
FlickSegs = _approachBend.FlickSegs;
//Are we approaching at an angle or spinning?
float FlickSegAdj = Rd.XSecs.Diff(AdjustedTurninXSec, _approachBend.ApexXSec) * (TurnInSpeed - _approachBend.Speed) / _approachBend.Speed; // (HeadingAngle + _rb.angularVelocity.y * 20) * _approachBend.FlickSegsMultiplier * -_approachBend.Sign;
//if (_approachBend.Type == BendType.Right) FlickSegAdj = -FlickSegAdj;
//Debug.Log("FlickSegs = " + FlickSegs + " FlickSegAdj=(" + Rd.XSecs.Diff(AdjustedTurninXSec, _approachBend.ApexXSec) + " * " + (TurnInSpeed - _approachBend.Speed) / _approachBend.Speed + " = " + FlickSegAdj + "\nTotal=" + (FlickSegs + FlickSegAdj));
FlickSegs += FlickSegAdj;
//Too slow, the flick will be too harsh
//Debug.Log("FlickSegs*=" + TurnInSpeed + "^2/225=" + FlickSegs);
//Wrong siede of the road
if (_approachBend.Type == BendType.Right ? (DistFromLKerb > DistFromRKerb) : (DistFromRKerb > DistFromLKerb))
{
FlickSegs = 0;
}
//Is there a long curve on the turnin?
//Debug.Log("TurninCurve=" + Vector3.Angle(_approachBend.StartXSec.Forward, _approachBend.TurninXSec.Forward) + "\nFlickSegs=" + FlickSegs);
//RequiredRotation worked ok but didnt take into account the initial rotation
//float RequiredRotation = Vector3.Angle(transform.forward, _approachBend.ApexXSec.Forward);
//FlickXSec = Rd.XSecs[Mathf.RoundToInt(_approachBend.TurninSegIdx - Mathf.Abs(RequiredRotation) / 2.8f)];
FlickXSec = Rd.XSecs[AdjustedTurninXSec.Idx - Mathf.RoundToInt(FlickSegs)];
} //End of Decision
if (_currXSec.IsAfter(BrakeXSec) && _currXSec.IsBefore(FlickXSec))
{
_bendPhase = BendPhase.Brake;
}
if (FlickXSec != null && _currXSec.IsAfter(FlickXSec))
{
_bendPhase = BendPhase.Turnin;
}
PrevFrac = SlideFrac; //used in the turnin
}//end if Approach
} //end if !FirstHalfOfBend
else
{ //if FIrstHalfOfBend
_approachBend = _currBend;
_bendPhase = BendPhase.Turnin;
}
if (_currBend != null && !FirstHalfOfBend)
{
if (_bendPhase != BendPhase.Approach)
{
_bendPhase = BendPhase.Exit; FlickXSec = null;
}
}
if (_bendPhase == BendPhase.Straight)
{
Vector3 _apprXSecFwd = _approachXSec.Forward;
float _curveAngle = Vector3.Angle(SegFwdDir, _apprXSecFwd);
if (Vector3.Cross(SegFwdDir, _apprXSecFwd).y > 0)
{
_curveAngle = -_curveAngle;
}
if (_curveAngle > 15)
{
_bendPhase = BendPhase.LCurve;
}
if (_curveAngle < -15)
{
_bendPhase = BendPhase.RCurve;
}
}
//************************************************************************************************
DoThisEveryFrame:
AimPoint = Rd.XSecs[SegIdx + 20].MidPt;
SteerOverride = null;
if (_bendPhase == BendPhase.Approach)
{
Accel = 1; BrakeForce = 0;
float AvgApprSpeed = (_speed + LiftOffSpeed) / 2;
float TimeToBrakePt = DistToBrakePt / AvgApprSpeed;
//Aim for half the dist to the turnin
XSec AimXSec = Rd.XSecs[_currXSec.Idx + Rd.XSecs.Diff(_currXSec, AdjustedTurninXSec) / 2];
Vector3 T = (AimXSec.KerbR - AimXSec.KerbL).normalized * _approachBend.TurninGap;
if (_approachBend.Type == BendType.Right)
{
if (TimeToBrakePt < 1)
{
SlideFrac = DistFromRKerb / (DistFromLKerb + DistFromRKerb - _approachBend.TurninGap);
}
AimPoint = Vector3.Lerp(AimXSec.KerbR, AimXSec.KerbL + T, SlideFrac);
}
else
{
if (TimeToBrakePt < 1)
{
SlideFrac = DistFromLKerb / (DistFromLKerb + DistFromRKerb - _approachBend.TurninGap);
}
AimPoint = Vector3.Lerp(AimXSec.KerbL, AimXSec.KerbR - T, SlideFrac);
}
//I abandoned this because it never had time to straighten up
/// <image url="$(SolutionDir)\CommonImages\SCurve.png" scale="0.7"/>
}
if (_bendPhase == BendPhase.Brake)
{
Accel = 0; BrakeForce = 1;
AimPoint = (AdjustedTurninPt + transform.position + transform.forward) / 2;
}
int SegsToApex = 0;
float diff = 0;
if (_bendPhase == BendPhase.Turnin)
{
float TotSegsToApex = Rd.XSecs.Diff(AdjustedTurninXSec, _approachBend.ApexXSec);
float SegFrac = 1 - SegsToApex / TotSegsToApex;
//SegFrac starts at 0 at the turninPt and ends at 1 at the apex
float TotalRequiredRotation = VectGeom.SignedAngle(AdjustedTurninXSec.Forward, _approachBend.ApexXSec.Forward) + DriftAngle;
float CurrRotation = VectGeom.SignedAngle(AdjustedTurninXSec.Forward, transform.forward);
float da = (Mathf.Abs(DriftAngle) < 20 && SegFrac > 0.5f) ? DriftAngle / 2 : DriftAngle;
float RequiredRotation = VectGeom.SignedAngle(transform.forward, _approachBend.ApexXSec.Forward) + DriftAngle;
SegsToApex = Rd.XSecs.Diff(_currXSec, _approachBend.ApexXSec);
float TimeToApex = SegsToApex / _gps.SegsPerSec;
float ProjectedRotation = _rb.angularVelocity.y * 57.3f * TimeToApex;
float ProjectedRotation2 = CurrRotation / SegFrac;
diff = ProjectedRotation - RequiredRotation;
Accel = 1; BrakeForce = 0;
if (_speed < 8)
{
AimPoint = _approachBend.Type == BendType.Right ? Rd.XSecs[SegIdx + 10].MidRight : Rd.XSecs[SegIdx + 10].MidLeft; BrakeForce = 0;
}
else
{
AimPoint = _approachBend.ApexPos;
//Debug.Log("rotdiff=" + ProjectedRotation + " - " + RequiredRotation + " = " + diff);
if (_approachBend.Type == BendType.Right)
{
/*
* //Manage the Fractional Distance
* if (PrevSegIdx != SegIdx)
* {
* FracPerSeg = (Frac - PrevFrac) / (SegIdx - PrevSegIdx);
* ProjectedFrac = Frac + FracPerSeg * SegsToApex;
* //Debug.Log("ProjectedFrac=" + ProjectedFrac);
* PrevFrac = Frac;
* }
*/
//Stop understeer
if (diff < 0)
{
BrakeForce = Mathf.Clamp01(-diff / 80); Accel = 1 - BrakeForce; SteerOverride = 40;
}
if (diff < -40)
{
BrakeForce = Mathf.Clamp01(-diff / 40); Accel = 1;
}
if (_rb.angularVelocity.y < 0)
{
BrakeForce = 0; AimPoint = _approachBend.ApexPos;
} //stop the backskid
}
if (_approachBend.Type == BendType.Left)
{
if (diff > 0)
{
BrakeForce = Mathf.Clamp01(diff / 80); Accel = 1 - BrakeForce; SteerOverride = -40;
}
if (diff > 40)
{
BrakeForce = Mathf.Clamp01(diff / 40); Accel = 1;
}
if (_rb.angularVelocity.y > 0)
{
BrakeForce = 0; AimPoint = _approachBend.ApexPos;
} //stop the backskid
//if (SegsToApex > 40) { BrakeForce = 0; Accel = 1; AimPoint = Rd.XSecs[SegIdx + 10].MidPt; } //Stop the serious oversteer
}
}
}
if (_bendPhase == BendPhase.Exit)
{
Accel = 1;
Vector3 _transverse = (_currXSec.KerbR - _currXSec.KerbL).normalized;
float SpeedTwdRKerb = Vector3.Dot(_rb.velocity, _transverse);
//Debug.Log("SpeedTwdKerb=" + SpeedTwdRKerb);
AimPoint = _currBend.ExitPos; BrakeForce = 0;
if (_currBend.Type == BendType.Right)
{
if (Rd.XSecs.Diff(_currXSec, _currBend.ExitXSec) > 5)
{
AimPoint = _currBend.ExitXSec.MidRight;
}
}
if (_currBend.Type == BendType.Left)
{
if (Rd.XSecs.Diff(_currXSec, _currBend.ExitXSec) > 5)
{
AimPoint = _currBend.ExitXSec.MidLeft;
}
}
}
XSec LongAimXSec = Rd.XSecs[SegIdx + 40];
Vector3 LongAimPoint = LongAimXSec.MidPt;
if (_bendPhase == BendPhase.Straight)
{
Accel = 1; BrakeForce = 0;
if (_nextBend == null)
{
Debug.Log("nbnull");
}
if (_nextBend.Type == BendType.Right)
{
AimPoint = Rd.XSecs[SegIdx + 20].MidLeft;
}
else
{
AimPoint = Rd.XSecs[SegIdx + 20].MidRight;
}
}
if (_bendPhase == BendPhase.RCurve)
{
Accel = 1; BrakeForce = 0; AimPoint = Rd.XSecs[SegIdx + 20].MidRight;
}
if (_bendPhase == BendPhase.LCurve)
{
Accel = 1; BrakeForce = 0; AimPoint = Rd.XSecs[SegIdx + 20].MidLeft;
}
//steer round the car in front
Vector3 FrontOfCar = transform.position + transform.up * 0.5f + transform.forward * 2.5f;
CollisionRay = new Ray(FrontOfCar, AimPoint + Vector3.up - FrontOfCar);
int layerMask = (1 << 8);
if (Physics.Raycast(CollisionRay, out CollisionHit, 50, layerMask))
{
if (CollisionHit.collider.name != this.name && CollisionHit.collider.name != "ColldrF")
{
if (CollisionHit.rigidbody.velocity.sqrMagnitude < 1)
{
StartCoroutine(ThreePointTurn("R"));
}
else
{
AimPoint = Rd.XSecs[SegIdx + 10].MidRight;
}
}
}
//Debug.DrawRay(FrontOfCar, AimPoint + Vector3.up - FrontOfCar, Color.red);
//**************************************************************************************
//Coming up to a hill, put your foot down
if (LongAimPoint.y - SegFwdDir.y > 0)
{
//Accel = ((LongAimPoint.y - SegFwdDir.y) * 0.005f) + 0.9f;
}
//coming up to a hill bend slow down
if (Mathf.Abs(_gpsNextBendAngle) > 10 && _gps.NextHill > 2 && _gps.Speed > 10)
{
// Accel = 0; BrakeForce = 0.5f;
}
//***********************************************************************************
// Pointing towards kerb - do a 3 point turn
if (HeadingAngle > -100 && HeadingAngle < -80 && DistFromLKerb < 3)
{
StartCoroutine(ThreePointTurn("L"));
return;
}
if (HeadingAngle < 100 && HeadingAngle > 80 && DistFromRKerb < 3)
{
StartCoroutine(ThreePointTurn("R"));
return;
}
if (SteerOverride == null)
{
//Steer towards the aim point
float DesiredHeadingAngle = Vector3.Angle(AimPoint - transform.position, SegFwdDir);
Vector3 crossDes = Vector3.Cross(AimPoint - transform.position, SegFwdDir);
if (crossDes.y > 0)
{
DesiredHeadingAngle = -DesiredHeadingAngle;
}
//Positive steer = right
Steer = (DesiredHeadingAngle - HeadingAngle);
}
else
{
Steer = (float)SteerOverride;
}
//if (_bendPhase == BendPhase.Flick) Steer = _gpsNextBendAngle > 0 ? 40 : -40;
if (_opponentCollisionDirec == CollisionDirection.Left && Steer < 0)
{
Steer = 10;
}
if (_opponentCollisionDirec == CollisionDirection.Right && Steer > 0)
{
Steer = -10;
}
if (_playerCollision)
{
if (Time.time - _playerCollisionTime > 3)
{
if (_playerGPS.IsOnRoad)
{
if (!_gps.IsOnRoad)
{
Main.Instance.PopupMsg("Road Rage Bonus\n$20", Color.red);
Race.Current.HogBonus += 20;
UserDataManager.Instance.Data.Coins += 10;
}
else if (_playerGPS.CurrSegIdx - _gps.CurrSegIdx > 12 && _playerGPS.CurrSegIdx - _gps.CurrSegIdx < 100)
{
int pts = (_playerGPS.CurrSegIdx - _gps.CurrSegIdx) / 6;
Race.Current.HogBonus += pts;
Main.Instance.PopupMsg("Road Hog Bonus\n$" + pts.ToString(), Color.red);
UserDataManager.Instance.Data.Coins += pts;
}
}
_playerCollision = false;
}
}
_inputBuffer.RecordInput(Accel, BrakeForce, Steer, Time.time);
}