void OnCollisionEnter(Collision collision)
{
if ((collision.collider.gameObject.layer & LayerMask.NameToLayer("Map")) != 0)
{
StartCoroutine(Collided());
state = BUGState.Reverse;
}
}
IEnumerator Collided()
{
accel = -1f;
steering = 0f;
yield return(new WaitForSeconds(reverseTime));
state = BUGState.Line;
accel = 1f;
}
void FollowWall()
{
int ind = 0, step = 1;
if (wallSide == Direction.Left)
{
ind = 0;
step = 1;
}
else if (wallSide == Direction.Right)
{
ind = slices - 1;
step = -1;
}
Vector3 normal = Vector3.zero;
Vector3 target = Vector3.zero;
while (ind >= 0 && ind < slices)
{
if (!isFree[ind])
{
float len = normalVectors[ind].magnitude;
if (len > wallDistance)
{
len = 0;
}
else
{
len = len - wallDistance;
}
normal -= normalVectors[ind].normalized * len;
}
else
{
normal = normal.normalized;
target = freeVectors[ind];
break;
}
ind += step;
}
Vector3 tangent;
bool onPath = OnPath(out tangent);
Vector3 lineDir = tangent + lineVector * lineFollowDamp;
int sliceIndex;
int lineInd = ClosestVector(lasers.Vectors, lineDir, out sliceIndex);
if (onPath && isFree[sliceIndex])
{
state = BUGState.Line;
}
direction = target + normal;
}
void FollowPath()
{
Vector3 tangent;
bool onPath = OnPath(out tangent);
direction = tangent + lineVector * lineFollowDamp;
int dirIndex;
int sliceIndex;
dirIndex = ClosestVector(lasers.Vectors, direction, out sliceIndex);
if (!isFree[sliceIndex])
{
state = BUGState.Wall;
}
}
void Start()
{
// Get components
gps = GetComponent <GPS>();
lasers = GetComponent <Lasers>();
car = GetComponent <CarController>();
userControl = GetComponent <CarUserControl>();
// Init state
accel = 1f;
_slices = 0;
steering = 0f;
handbreak = 0f;
state = BUGState.Line;
win = false;
newLine = true;
}
