private void OnACPhysics(object sender, PhysicsEventArgs e)
{
RaceState.ReadFromMemory();
if (RaceState.Instance.CarVelocities == null || RaceState.Instance.CarVelocities.Count == 0)
{
return;
}
if (RaceState.Instance.CarPositions == null || RaceState.Instance.CarPositions.Count == 0)
{
return;
}
var frontX = (float)((e.Physics.TyreContactPoint[0].X + e.Physics.TyreContactPoint[1].X) / 2.0);
var frontY = (float)((e.Physics.TyreContactPoint[0].Y + e.Physics.TyreContactPoint[1].Y) / 2.0);
var frontZ = (float)((e.Physics.TyreContactPoint[0].Z + e.Physics.TyreContactPoint[1].Z) / 2.0);
var rearX = (float)((e.Physics.TyreContactPoint[2].X + e.Physics.TyreContactPoint[3].X) / 2.0);
var rearY = (float)((e.Physics.TyreContactPoint[2].Y + e.Physics.TyreContactPoint[3].Y) / 2.0);
var rearZ = (float)((e.Physics.TyreContactPoint[2].Z + e.Physics.TyreContactPoint[3].Z) / 2.0);
frontCoordinates = new Vector3(frontX, frontY, frontZ);
rearCoordinates = new Vector3(rearX, rearY, rearZ);
if (!isSpeedInit)
{
Console.WriteLine("Resetting speed.");
AntManagerState.Instance.BikeSpeedKmh = e.Physics.SpeedKmh;
isSpeedInit = true;
}
AntManagerState.Instance.AirDensity = e.Physics.AirDensity;
AntManagerState.Instance.DraftingCoefficient = (float)draftingPhysics.DraftingCoefficient(RaceState.Instance);
// Console.WriteLine("Drafting : {0}", AntManagerState.Instance.DraftingCoefficient);
if (useAssistLine)
{
if (RaceState.Instance.CarPositions.Count == 0 || RaceState.Instance.NormalizedCarPositions.Count == 0)
{
Console.WriteLine("No car positions..");
return;
}
var orientation = frontCoordinates - rearCoordinates;
orientation = Vector3.Normalize(orientation);
assistLineFollower.CarOrientation = orientation;
assistLineFollower.CarPosition = RaceState.Instance.CarPositions[0];
assistLineFollower.CarVelocity = RaceState.Instance.CarVelocities[0];
assistLineFollower.NormalizedCarPosition = RaceState.Instance.NormalizedCarPositions[0];
assistLineFollower.Update(RaceState.Instance);
if (AntManagerState.Instance.BikeSpeedKmh > assistLineFollower.SpeedLimit)
{
AntManagerState.Instance.BikeSpeedKmh = assistLineFollower.SpeedLimit;
}
joyControl.Direction(10 * assistLineFollower.Direction); // Should be ratio between steering value and angle
}
else
{
joyControl.Direction(0);
}
var acSpeed = e.Physics.SpeedKmh;
var targetSpeed = AntManagerState.Instance.BikeSpeedKmh;
var throttle = 10 * (targetSpeed - acSpeed) / (10 + targetSpeed);
joyControl.Throttle(Math.Max(0, throttle));
}
