//car driving around the waypoints
void AI_Update()
{
//avoidObject = GetComponent<ObstacleAvoid> ().avoidObstacle;
//angleObject = GetComponent<ObstacleAvoid> ().angleObstacle;
//posObject = GetComponent<ObstacleAvoid> ().obstaclePosition;
leftObj = GetComponent <ObstacleAvoid> ().leftObs;
centerObj = GetComponent <ObstacleAvoid> ().centerObs;
rightObj = GetComponent <ObstacleAvoid> ().rightObs;
LeftDis = GetComponent <ObstacleAvoid> ().LeftDis;
RightDis = GetComponent <ObstacleAvoid> ().RightDis;
CenterDis = GetComponent <ObstacleAvoid> ().CenterDis;
rb.drag = rb.velocity.magnitude / 250;
//Check if the next path segment needs to be calculated in a thread
if (pathCalculated == false && jobInProgress == false)
{
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode,
PathPlanningDataStructures.graph.endNode);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress)
{
if (currentThreadJob.isFinished())
{
nextWayPoints = currentThreadJob.getPathWayPoints();
pathCalculated = true;
jobInProgress = false;
Debug.Log("Finished next thread job. Size: " + nextWayPoints.Count);
}
}
GoToWayPoint();
input_rpm = (GetCollider(0).rpm + GetCollider(1).rpm) / 2 * GearRatio [CurrGear];
ShiftGears();
GetCollider(0).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(1).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(2).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(3).motorTorque = engineTorque / GearRatio [CurrGear] * input_torque;
GetCollider(0).brakeTorque = brake_power;
GetCollider(1).brakeTorque = brake_power;
GetCollider(2).brakeTorque = brake_power;
GetCollider(3).brakeTorque = brake_power;
GetCollider(0).steerAngle = maxSteer * input_steer;
GetCollider(1).steerAngle = maxSteer * input_steer;
//print (avoidObject);
}
// <summary>
// Performs path planning for the next path segment by utilizing a DynamicPathThreadJob
// that calculates the path in the background
// </summary>
public void PathPlanNextSegment()
{
bool noItem = (GetComponent <PowerUp>().powerUp == "");
//Check if the next path segment needs to be calculated in a thread
if (jobInProgress == false && nextWayPoints == null && dynamicReplan == false)
{
//trigger thread job for this car to obtain the next set of waypoints
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = currentThreadJob.destinationNode;
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 12.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
else if (jobInProgress == false && dynamicReplan)
{
Node pathStartNode;
if (currentThreadJob.destinationNode == PathPlanningDataStructures.graph.endNode)
{
pathStartNode = startNode;
}
else
{
pathStartNode = PathPlanningDataStructures.graph.getClosestNode(transform.position + 3 * transform.forward);
}
currentThreadJob = new DynamicPathThreadJob(pathStartNode, PathPlanningDataStructures.graph.endNode, closedNodes, 5.0f, noItem);
currentThreadJob.Start();
jobInProgress = true;
}
//Check if in progress thread has completed the path calculation
if (jobInProgress)
{
if (currentThreadJob.isFinished())
{
if (dynamicReplan)
{
dynamicWayPoints = currentThreadJob.getPathWayPoints();
nextWayPoints = null;
}
else
{
nextWayPoints = currentThreadJob.getPathWayPoints();
dynamicWayPoints = null;
}
closedNodes = currentThreadJob.getClosedNodes();
jobInProgress = false;
}
}
}
