private void UpdateGoal()
{
foreach (KeyValuePair <GameObject, int> entry in companionCars)
{
GameObject car = entry.Key;
int lane = entry.Value;
DrivingMode drivingMode = companionCarModes[car.name];
// Select lane and longitudinal goal
int maxLaneChange = 1;
float maxZ = trackLength / 2;
float goalZ;
int newLane;
switch (drivingMode)
{
default:
{
goalZ = Mathf.Clamp(Random.Range(car.transform.position.z - maxZ, car.transform.position.z + maxZ), trackLength * 0.1f, trackLength * 0.9f);
newLane = Mathf.Clamp(Random.Range(lane - maxLaneChange, lane + maxLaneChange), 0, numLanes);
break;
}
case DrivingMode.PURSUIT:
{
goalZ = egoCar.transform.position.z;
newLane = Mathf.Clamp(NearestLane(egoCar.transform.position.x), lane - maxLaneChange, lane + maxLaneChange);
break;
}
}
// Only change lanes if not moving backwards
if (goalZ < car.transform.position.z)
{
newLane = lane;
}
Vector3 goalPos = new Vector3(laneLines[newLane] - laneMidPointOffset, 0, goalZ);
if (!PathOccupied(car, goalPos))
{
Debug.Log(string.Format("{0} goal: {1}", car.name, goalPos));
car.gameObject.GetComponent <CompanionCarInterface>().SetTargetPosition(goalPos);
}
}
}
public override int GetHashCode()
{
int hash = 1;
if (header_ != null)
{
hash ^= Header.GetHashCode();
}
if (DrivingMode != 0)
{
hash ^= DrivingMode.GetHashCode();
}
if (Action != 0)
{
hash ^= Action.GetHashCode();
}
return(hash);
}
public Car(CarType type, double initialVelocity, DrivingMode drivingMode)
{
Type = type;
Velocity = initialVelocity;
DrivingMode = drivingMode;
}
public void SetDrivingMode(string carName, DrivingMode mode)
{
companionCarModes[carName] = mode;
}
public override int GetHashCode()
{
int hash = 1;
if (X != 0D)
{
hash ^= X.GetHashCode();
}
if (Y != 0D)
{
hash ^= Y.GetHashCode();
}
if (Z != 0D)
{
hash ^= Z.GetHashCode();
}
if (Timestamp != 0D)
{
hash ^= Timestamp.GetHashCode();
}
if (Roll != 0D)
{
hash ^= Roll.GetHashCode();
}
if (Pitch != 0D)
{
hash ^= Pitch.GetHashCode();
}
if (Yaw != 0D)
{
hash ^= Yaw.GetHashCode();
}
if (Heading != 0D)
{
hash ^= Heading.GetHashCode();
}
if (Kappa != 0D)
{
hash ^= Kappa.GetHashCode();
}
if (LinearVelocity != 0D)
{
hash ^= LinearVelocity.GetHashCode();
}
if (AngularVelocity != 0D)
{
hash ^= AngularVelocity.GetHashCode();
}
if (LinearAcceleration != 0D)
{
hash ^= LinearAcceleration.GetHashCode();
}
if (Gear != 0)
{
hash ^= Gear.GetHashCode();
}
if (DrivingMode != 0)
{
hash ^= DrivingMode.GetHashCode();
}
if (pose_ != null)
{
hash ^= Pose.GetHashCode();
}
return(hash);
}
