/// <summary>
/// Determine a state change based on if car should to change lanes
/// or car has reached the end of it's lane
/// </summary>
/// <param name="deltaTime"></param>
/// <returns></returns>
public override DrivingState Update(float deltaTime)
{
DrivingState state = base.Update(deltaTime);
// Determine if lane change is complete (car is close enough to next lane trajectory)
// Sterring behavior will kick in and complete the change
float distanceToNextPath = nextLane.Path.DistanceToPath(car.Position);
if (distanceToNextPath <= Path.Radius)
{
state = new KeepLaneState(car, nextLane);
}
return(state);
}
/// <summary>
/// Determine a state change based on if car should to change lanes
/// or car has reached the end of it's lane.
/// </summary>
/// <param name="deltaTime">Time since last update</param>
/// <returns></returns>
public override DrivingState Update(float deltaTime)
{
DrivingState state = base.Update(deltaTime);
// Determine if I need to change lanes or if I'm at the end of a lane, and trigger a state change
float lerp = Path.InverseLerp(car.Position + car.Direction * car.VehicleLength / 2);
if (lerp >= 0.99 && NextLane != null) // End of the lane reached
{
state = new KeepLaneState(car, NextLane); // New wait for light state if next lane is available
}
else if (0.2 < lerp && lerp < 0.8) // Allow lane changing from the first 20% of the lane, until 80%
{
// Check via MOBIL for potential lane change
Lane newLane = Mobil.OptimalLane(car, lane);
if (newLane.LaneIdx != lane.LaneIdx)
{
state = new ChangeLaneState(car, lane, newLane);
}
}
return(state);
}