private void DriveCar(float x, float y)
{
// Calculate speed from input and acceleration (transform.up is forward)
Vector2 speed = transform.up * (y * carManager.acceleration);
rb.AddForce(speed);
// Create car rotation
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
rb.rotation += x * carManager.steering * (rb.velocity.magnitude / carManager.maxSpeed);
}
else
{
rb.rotation -= x * carManager.steering * (rb.velocity.magnitude / carManager.maxSpeed);
}
// Change velocity based on rotation
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.left)) * 2f;
Vector2 relativeForce = Vector2.right * driftForce;
rb.AddForce(rb.GetRelativeVector(relativeForce));
// Force max speed limit
if (rb.velocity.magnitude > carManager.maxSpeed)
{
rb.velocity = rb.velocity.normalized * carManager.maxSpeed;
}
currentSpeed = rb.velocity.magnitude;
}
void FixedUpdate()
{
if (AI)
{
List <double> inputs = new List <double>(System.Array.ConvertAll <Vector2, double>(sensorDirections, direction => {
RaycastHit2D hit = Physics2D.Raycast(rb.position, rb.GetRelativeVector(direction), 256, LayerMask.GetMask("Wall"));
return(hit ? hit.distance : 256);
}))
{
Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right)),
Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down))
};
double[] results = neuralNetwork.Calculate(inputs.ToArray());
ControlVehicle((float)results[0], (float)results[1]);
//Stop car if it has not gone through any checkpoint for 3 seconds
if (Time.time > lastTime + 3)
{
gameObject.SetActive(false);
}
}
else
{
ControlVehicle(Input.GetAxisRaw("Vertical"), Input.GetAxisRaw("Horizontal"));
}
}
private void FixedUpdate()
{
Vector2 Vel = transform.right * (MovX * Acceleration);
rb.AddForce(Vel);
float Dir = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right));
if (Acceleration > 0)
{
if (Dir > 0)
{
rb.rotation += MovY * RotationControl * (rb.velocity.magnitude / Speed);
}
else
{
rb.rotation -= MovY * RotationControl * (rb.velocity.magnitude / Speed);
}
}
float trustForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down)) * 2.0f;
Vector2 relForce = Vector2.up * trustForce;
rb.AddForce(rb.GetRelativeVector(relForce));
if (rb.velocity.magnitude > Speed)
{
rb.velocity = rb.velocity.normalized * Speed;
}
}
void FixedUpdate()
{
if (carBehaviour.IsCarOff())
{
return;
}
//float h = 0;
//float v = 0;
//if (shouldMove)
//{
// var heightMovement = Screen.height * 0.5f;
// var mousePosition = Input.mousePosition.y;
// h = Mathf.Clamp((mousePosition - heightMovement) / (heightMovement), -1, 1);
// v = 1;
//} else
//{
// v = 0;
//}
float h = 0;
float v = 1;
//rb.AddForce(transform.right * aceleration * v);
//rb.AddTorque(h * steering, ForceMode2D.Impulse);
Vector2 speed = transform.right * (v * aceleration);
rb.AddForce(speed);
transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.AngleAxis(maxTurnAngle * h, Vector3.forward), steering * Time.fixedDeltaTime);
//float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right));
//if (direction >= 0.0f)
//{
// rb.rotation += h * steering * (rb.velocity.magnitude / maxSpeed);
//}
//else
//{
// rb.rotation -= h * steering * (rb.velocity.magnitude / maxSpeed);
//}
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down)) * 4f;
Vector2 relativeForce = Vector2.up * driftForce;
rb.AddForce(rb.GetRelativeVector(relativeForce));
if (rb.velocity.magnitude > maxSpeed)
{
rb.velocity = rb.velocity.normalized * maxSpeed;
}
else if (v == 0)
{
rb.velocity = Vector3.Lerp(rb.velocity, Vector3.zero, this.breaking * Time.fixedDeltaTime);
}
currentSpeed = rb.velocity.magnitude;
}
private void FixedUpdate()
{
Vector2 vel = transform.right * (movX * acceleration);
rb.AddForce(vel);
float dir = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right));
if (acceleration > 0)
{
rb.rotation += movY * rotationControl * (rb.velocity.magnitude / speed);
}
else
{
rb.rotation -= movY * rotationControl * (rb.velocity.magnitude / speed);
}
float thrustForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down)) * 2.0f;
Vector2 relativeForce = Vector2.up * thrustForce;
rb.AddForce(rb.GetRelativeVector(relativeForce));
if (rb.velocity.magnitude > speed)
{
rb.velocity = rb.velocity.normalized * speed;
}
}
private void FixedUpdate()
{
Vector2 Direction = transform.position - Target.position;
Direction.Normalize();
float cross = Vector3.Cross(Direction, transform.right).z;
rb.angularVelocity = RotationControl * cross;
Vector2 Vel = transform.right * (MovX * Acceleration);
rb.AddForce(Vel);
float Dir = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right));
float trustForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down)) * 2.0f;
Vector2 relForce = Vector2.up * trustForce;
rb.AddForce(rb.GetRelativeVector(relForce));
if (rb.velocity.magnitude > Speed)
{
rb.velocity = rb.velocity.normalized * Speed;
}
}
private void ProcessPhysics()
{
var steering = _currentVehicle.Performance.Steering;
Vector2 speed = HandlingObject.transform.up * (_v * _currentVehicle.Performance.Acceleration);
_vehicleRb.AddForce(speed);
// Speed vector * Car forward vector in global space
// Shows how is speed vector equals car forward direction
// 0 when moving sidewais, positive when moving forward, negative when moving backward
float direction = Vector2.Dot(_vehicleRb.velocity, _vehicleRb.GetRelativeVector(Vector2.up));
var curAngle = HandlingObject.transform.rotation.eulerAngles.z;
_debugLabel.text = "Angle: " + curAngle + " H: " + _h;
// Moving forward
if (direction >= 0.0f)
{
if (_h >= 0 && (curAngle <= _turnAngle || curAngle > 180) || _h <= 0 && (curAngle >= 360 - _turnAngle || curAngle < 180))
{
_vehicleRb.AddTorque((_h * steering) * (_vehicleRb.velocity.magnitude / 10.0f));
}
else
{
if (curAngle > _turnAngle && curAngle < 180)
{
_vehicleRb.AddTorque(-steering * (_vehicleRb.velocity.magnitude / 10.0f));
}
else if (curAngle < 360 - _turnAngle && curAngle > 180)
{
_vehicleRb.AddTorque(steering * (_vehicleRb.velocity.magnitude / 10.0f));
}
}
}
// Moving backward, we shouldn't do that
else
{
_vehicleRb.AddTorque((-_h * steering) * (_vehicleRb.velocity.magnitude / 10.0f));
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle = _vehicleRb.angularVelocity > 0 ? -90 : 90;
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
Debug.DrawLine((Vector3)_vehicleRb.position, (Vector3)_vehicleRb.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(_vehicleRb.velocity, _vehicleRb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
Debug.DrawLine((Vector3)_vehicleRb.position, (Vector3)_vehicleRb.GetRelativePoint(relativeForce), Color.red);
_vehicleRb.AddForce(_vehicleRb.GetRelativeVector(relativeForce));
}
void FixedUpdate()
{
float h = 0;
float v = 0;
if (shouldMove)
{
var heightMovement = Screen.height * 0.5f;
var mousePosition = Input.mousePosition.y;
h = Mathf.Clamp((mousePosition - heightMovement) / (heightMovement), -1, 1);
v = 1 - (h / 2);
//Move backwards
var point = Input.mousePosition.x - (Screen.width * 0.5f);
if (point < offsetBackwards)
{
v = -v;
}
}
else
{
v = 0;
}
//transform.rotation = Quaternion.Lerp(transform.rotation, Quaternion.AngleAxis(maxTurnAngle * h, Vector3.forward), steering * Time.fixedDeltaTime);
if (shouldMove)
{
Vector2 speed = transform.right * (v * aceleration);
rb.AddForce(speed);
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.right));
if (direction >= 0.0f)
{
rb.rotation += h * steering * (rb.velocity.magnitude / maxSpeed);
}
else
{
rb.rotation -= h * steering * (rb.velocity.magnitude / maxSpeed);
}
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.down)) * 4f;
Vector2 relativeForce = Vector2.up * driftForce;
rb.AddForce(rb.GetRelativeVector(relativeForce));
}
if (rb.velocity.magnitude > maxSpeed)
{
rb.velocity = rb.velocity.normalized * maxSpeed;
}
else if (v == 0)
{
rb.velocity = Vector3.Lerp(rb.velocity, Vector3.zero, this.breaking * Time.fixedDeltaTime);
}
currentSpeed = rb.velocity.magnitude;
}
private void FixedUpdate()
{
float h = -Input.GetAxis("Horizontal");
float v = Input.GetAxis("Vertical");
Vector2 speed = transform.up * (v * acceleration);
rb.AddForce(speed);
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
rb.rotation += h * steering * (rb.velocity.magnitude / 5.0f);
//rb.AddTorque((h * steering) * (rb.velocity.magnitude / 10.0f));
}
else
{
rb.rotation -= h * steering * (rb.velocity.magnitude / 5.0f);
//rb.AddTorque((-h * steering) * (rb.velocity.magnitude / 10.0f));
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
// Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
// Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(relativeForce), Color.red);
rb.AddForce(rb.GetRelativeVector(relativeForce));
float currentSpeed = Vector3.Magnitude(rb.velocity); // test current object speed
if (currentSpeed > maximumSpeed)
{
float brakeSpeed = currentSpeed - maximumSpeed; // calculate the speed decrease
Vector3 normalisedVelocity = rb.velocity.normalized;
Vector3 brakeVelocity = normalisedVelocity * brakeSpeed; // make the brake Vector3 value
rb.AddForce(-brakeVelocity); // apply opposing brake force
}
}
/// <summary>
/// Physics related calculations done in FixedUpdate
/// </summary>
void FixedUpdate()
{
if (!canMove) //Checing if game is On or not
{
return;
}
Vector2 speed = transform.up * gameData.GetSnakeSpeed() * Time.deltaTime;
rb.AddForce(speed);
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
currentEulerAngles = new Vector3(headTransform.rotation.x, headTransform.rotation.y, direction);
//moving the value of the Vector3 into Quanternion.eulerAngle format
currentRotation.eulerAngles = currentEulerAngles;
//apply the Quaternion.eulerAngles change to the gameObject
headTransform.rotation = currentRotation;
if (direction >= 0.0f)
{
rb.rotation += Config.steeringDirection * gameData.GetSnakeSteering() * (rb.velocity.magnitude / gameData.GetTurnRateFactor());
}
else
{
rb.rotation -= Config.steeringDirection * gameData.GetSnakeSteering() * (rb.velocity.magnitude / gameData.GetTurnRateFactor());
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
// Find a Vector2 that is 90 degrees relative to the local forward direction
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
// Calculate an opposite force to the drift and apply this to generate sideways traction
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
// Calculate an opposite force to the drift and apply this to generate sideways traction
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * gameData.GetDriftForce());
rb.AddForce(rb.GetRelativeVector(relativeForce));
}
void FixedUpdate()
{
float h = -Input.GetAxis("Horizontal");
float v = Input.GetAxis("Vertical");
Vector2 speed = transform.up * (v * acceleration);
rb.AddForce(speed);
// Engine sound
if (engineSound.clip != null)
{
engineSound.pitch = 1 + Mathf.Abs(v / 2);
}
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
rb.rotation += h * steering * (rb.velocity.magnitude / 5.0f);
//rb.AddTorque((h * steering) * (rb.velocity.magnitude / 10.0f));
}
else
{
rb.rotation -= h * steering * (rb.velocity.magnitude / 5.0f);
//rb.AddTorque((-h * steering) * (rb.velocity.magnitude / 10.0f));
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(relativeForce), Color.red);
rb.AddForce(rb.GetRelativeVector(relativeForce));
ShowPlayerShooterOrDirectionIndicator();
}
void FixedUpdate()
{
float h = -Input.GetAxis(horAxis);
float v = Input.GetAxis(verAxis);
//Debug.Log(v);
Vector2 speed = transform.up * (v * acceleration);
rb.AddForce(speed);
if (rb.velocity.magnitude > maxSpeed)
{
rb.velocity = rb.velocity.normalized * maxSpeed;
}
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
//rb.rotation += h * steering * (rb.velocity.magnitude / 5.0f);
rb.AddTorque((h * steering) * (rb.velocity.magnitude / 10.0f));
}
else
{
//rb.rotation -= h * steering * (rb.velocity.magnitude / 5.0f);
rb.AddTorque((-h * steering) * (rb.velocity.magnitude / 10.0f));
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(relativeForce), Color.red);
rb.AddForce(rb.GetRelativeVector(relativeForce));
}
void FixedUpdate()
{
//using these feels more natural & sort of simulates jerk (velocity, acceleration, jerk, snap, crackle, pop)
h = -Input.GetAxis("Horizontal");
v = Input.GetAxis("Vertical");
//move forward & back
Vector2 speed = transform.up * (v * acceleration);
body.AddForce(speed);
//turn left & right
float direction = Vector2.Dot(body.velocity, body.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
body.rotation += h * steering * (body.velocity.magnitude / 5.0f);
//body.AddTorque((h * steering) * (body.velocity.magnitude / 10.0f));
}
else
{
body.rotation -= h * steering * (body.velocity.magnitude / 5.0f);
//body.AddTorque((-h * steering) * (body.velocity.magnitude / 10.0f));
}
//calculate drag
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (body.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
driftForce = Vector2.Dot(body.velocity, body.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
body.AddForce(body.GetRelativeVector(relativeForce));
//drawing debug lines
topGear = body.velocity.magnitude;
Debug.DrawLine((Vector3)body.position, (Vector3)body.GetRelativePoint(rightAngleFromForward), Color.green);
Debug.DrawLine((Vector3)body.position, (Vector3)body.GetRelativePoint(relativeForce), Color.red);
}
void FixedUpdate()
{
if (!isLocalPlayer)
{
return;
}
float h = -Input.GetAxis("Horizontal");
float v = Input.GetAxis("Vertical");
Vector2 speed = transform.up * (v * acceleration);
rb.AddForce(speed);
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
rb.rotation += h * steering * (rb.velocity.magnitude / 5.0f);
}
else
{
rb.rotation -= h * steering * (rb.velocity.magnitude / 5.0f);
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
Debug.DrawLine((Vector3)rb.position, (Vector3)rb.GetRelativePoint(relativeForce), Color.red);
rb.AddForce(rb.GetRelativeVector(relativeForce));
}
private void FixedUpdate()
{
qtdDirecao = 0f;
aceleracao = 0f;
if (Input.GetKey(KeyCode.A))
{
qtdDirecao = -1f;
}
else if (Input.GetKey(KeyCode.D))
{
qtdDirecao = 1f;
}
if (Input.GetKey(KeyCode.W))
{
aceleracao = -1f;
}
else if (Input.GetKey(KeyCode.S))
{
aceleracao = 1f;
}
velocidade = aceleracao * forcaAceleracao;
direcao = Mathf.Sign(Vector2.Dot(rb2d.velocity, rb2d.GetRelativeVector(Vector2.up)));
rb2d.rotation += qtdDirecao * forcaDirecao * rb2d.velocity.magnitude * direcao;
rb2d.AddRelativeForce(Vector2.up * velocidade);
rb2d.AddRelativeForce(-Vector2.right * rb2d.velocity.magnitude * qtdDirecao / 2);
}
void FixedUpdate()
{
steeringAmount = -variableJoystick.Horizontal;
speed = variableJoystick.Vertical * accelerationPower;
direction = Mathf.Sign(Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up)));
rb.rotation += steeringAmount * steeringPower * rb.velocity.magnitude * direction;
rb.AddRelativeForce(Vector2.up * speed);
rb.AddRelativeForce(-Vector2.right * rb.velocity.magnitude * steeringAmount / 2);
if (speed == 0 && !playingIdle)
{
playingIdle = true;
playing = false;
sound.clip = engineSounds[1];
sound.loop = true;
sound.Play();
}
else if (speed != 0 && !playing)
{
playingIdle = false;
playing = true;
sound.loop = true;
sound.clip = engineSounds[2];
sound.Play();
}
}
// Moving method I've found from online tutorials
void move()
{
//X = Input.GetAxis("Horizontal");
Vector2 speed = transform.up * (Y * acc);
rb.AddForce(speed);
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
rotations.Add(X);
if (acc > 0)
{
if (direction > 0)
{
rb.rotation -= X * steering * (rb.velocity.magnitude / MaxSpeed);
}
else
{
rb.rotation += X * steering * (rb.velocity.magnitude / MaxSpeed);
}
}
if (rb.velocity.magnitude > MaxSpeed)
{
rb.velocity = rb.velocity.normalized * MaxSpeed;
}
}
void Poop()
{
if (isDying)
{
return;
}
if (mutations.Contains(Mutation.Bomberman))
{
var giant = mutations.Contains(Mutation.Giant);
var numBombs = giant ? 2 : Random.Range(2, 6);
var scale = giant ? .5f : .2f;
var offset = body.GetRelativeVector(Vector2.down)
* collider.size.y * transform.localScale.y * 1.2f;
// Poop bombs
for (int i = 0; i < numBombs; i++)
{
var bombInstance = Instantiate(bomb);
bombInstance.transform.position = body.position + offset
+ Random.insideUnitCircle * .1f;
bombInstance.scale = scale;
}
}
}
void FixedUpdate()
{
// Inverted horizontal value so that it maps to clockwise (positive) and counter-clockwise (negative)
h = -Input.GetAxis("Horizontal");
Debug.DrawLine(new Vector2(0, 0), new Vector2(-h * 5, 0), Color.blue);
v = Input.GetAxis("Vertical");
// Steering
if (steerable)
{
rb.rotation += h * steerPower;
}
acceleration = transform.up * v * power;
rb.AddForce(acceleration);
// Calculate the sideways drift velocity
driftForce = new Vector2(transform.InverseTransformVector(rb.velocity).x, 0);
Debug.DrawLine(rb.position, rb.GetRelativePoint(driftForce * 5), Color.red);
// Calculate an opposing friction force to counteract drift, limited by a maximum type grip
frictionForce = Vector2.ClampMagnitude(driftForce * -1 * surfaceFriction, maxTyreFriction);
Debug.DrawLine(rb.position, rb.GetRelativePoint(frictionForce * 5), Color.green);
// TODO
// Improve the friction response to reduce drift at low speeds and stabilise drift at higher speeds
// Apply the friction force to counteract drift, i.e. so wheels 'roll' forwards/backwards but not sideways
rb.AddForce(rb.GetRelativeVector(frictionForce), ForceMode2D.Impulse);
// Draw skidmarks when drift force exceeds maximum friction
skidmarks.emitting = driftForce.sqrMagnitude > frictionForce.sqrMagnitude * skidmarkThreshold ? true : false;
}
// Update is called once per frame
void FixedUpdate()
{
// Debug.DrawRay(transform.position,transform.up-transform.right, Color.cyan );
if (!hitBorder)
{
updateSensors();
var(accelarationInput, steeringInput) = neuralNetwork.RunNetwork(leftSensor, frontSensor, rightSensor);
float acceleration = accelarationInput * accelerationRate;
float steeringPower = steeringInput;
//Input.GetAxis("Horizontal");
// print("Vertical: " + Input.GetAxis("Vertical") + ", Horizontal: " + Input.GetAxis("Horizontal"));
//float acceleration = Random.Range(0f, 1f) * accelerationRate;
//float steeringPower = Random.Range(-1f, 1f);//Input.GetAxis("Horizontal");
// get the object steering direction
float direction = Mathf.Sign(Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up)));
rb.rotation += steeringPower * steeringRate * rb.velocity.magnitude * -direction;
// accelerate object according to its local transform value
rb.AddRelativeForce(Vector2.up * acceleration);
rb.AddRelativeForce(Vector2.right * rb.velocity.magnitude * steeringPower / 2);
calculateFitness();
//update position value
lastPosition = transform.position;
timeLived += Time.deltaTime;
}
else
{
Death();
}
}
void FixedUpdate()
{
// Steering
if (steerable)
{
//rb.AddTorque(h * steerPower);
//rb.rotation += h * steerPower;
rb.SetRotation(rb.rotation + h * steerPower);
// TODO
// Figure out a way to use rb.MoveRotation() so that interpolation is respected
// Using this will mean that the Friction Joint 2D will be overriden, so a work-around is needed
}
acceleration = transform.up * v * power;
rb.AddForce(acceleration);
// Calculate the sideways drift velocity
driftForce = new Vector2(transform.InverseTransformVector(rb.velocity).x, 0);
//Debug.DrawLine(rb.position, rb.GetRelativePoint(driftForce * 5), Color.red);
// Calculate an opposing friction force to counteract drift, limited by a maximum type grip
frictionForce = Vector2.ClampMagnitude(driftForce * -1 * surfaceFriction, maxTyreFriction);
//Debug.DrawLine(rb.position, rb.GetRelativePoint(frictionForce * 5), Color.green);
// TODO
// Improve the friction response to reduce drift at low speeds and stabilise drift at higher speeds
// Apply the friction force to counteract drift, i.e. so wheels 'roll' forwards/backwards but not sideways
rb.AddForce(rb.GetRelativeVector(frictionForce), ForceMode2D.Impulse);
// Draw skidmarks when drift force exceeds maximum friction
skidmarks.emitting = driftForce.sqrMagnitude > frictionForce.sqrMagnitude * skidmarkThreshold ? true : false;
}
void FixedUpdate()
{
//vertical movement
speed = Input.GetAxis("Vertical") * accelerationPower; //keyboard input
//update with UI button
if (go)
{
speed = accelerationPower;
}
else if (rev)
{
speed = -accelerationPower;
}
if (!doors)//dont move if door is open
{
RB2.AddRelativeForce(Vector2.up * speed);
}
//horizontal movement
steeringAmount = -Input.GetAxis("Horizontal"); //keyboard input
//update with UI button
if (left)
{
steeringAmount = steeringPower;
}
else if (right)
{
steeringAmount = -steeringPower;
}
direction = Mathf.Sign(Vector2.Dot(RB2.velocity, RB2.GetRelativeVector(Vector2.up)));
RB2.rotation += steeringAmount * steeringPower * RB2.velocity.magnitude * direction;
RB2.AddRelativeForce(-Vector2.right * RB2.velocity.magnitude * steeringAmount / 2);
}
void FixedUpdate()
{
// rotation
targetTransform = target.transform;
rotateToTarget();
var carinfo = GetComponent <Car_info>();
// forward motion and drift (same as player car), always accelerate
Vector2 speed = transform.up * (1 * acceleration);
rb.AddForce(speed);
float drift = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.left)) * 2.0f;
Vector2 relativeForce = Vector2.right * drift;
Debug.DrawLine(rb.position, rb.GetRelativePoint(relativeForce), Color.green);
rb.AddForce(rb.GetRelativeVector(relativeForce));
if (rb.velocity.magnitude > maxSpeed)
{
rb.velocity = rb.velocity.normalized * maxSpeed;
}
carinfo.drift = drift;
curSpeed = rb.velocity.magnitude;
RaycastHit2D hit = CheckRaycast();
if (hasWeapon == true && weapon == 0)
{
if (hit.collider.tag == "Car")
{
GameObject go = (GameObject)Instantiate(missile, transform.position + (transform.up * 5), transform.rotation);
hasWeapon = false;
}
}
if (hasWeapon == true && weapon == 1)
{
Invoke("dropOil", Random.Range(0, 10));
hasWeapon = false;
}
}
private void CarMovement()
{
// Get the horizontal and vertical input
float horizontalInput = -Input.GetAxis("Horizontal");
float verticalInput = Input.GetAxis("Vertical");
// Set the player's speed based on it's input and acceleration
Vector2 speed = transform.up * (verticalInput * acceleration);
rb.AddForce(speed);
// Set the direction
float direction = Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up));
// Rotate the riggidbody based on input
if (direction >= 0.0f)
{
rb.rotation += horizontalInput * steering * (rb.velocity.magnitude / 5.0f);
}
else
{
rb.rotation -= horizontalInput * steering * (rb.velocity.magnitude / 5.0f);
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (rb.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
// Set the player's drift based on it's current steering
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
driftForce = Vector2.Dot(rb.velocity, rb.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
rb.AddForce(rb.GetRelativeVector(relativeForce));
}
public override void AgentAction(float[] vectorAction, string textAction)
{
int action = Mathf.FloorToInt(vectorAction[0]);
switch (action)
{
case 1:
//agent.transform.position = agent.transform.position + 1f * Vector3.up;
rbBoat.AddRelativeForce(Vector2.up * speed);
break;
case 2:
//agent.transform.position = agent.transform.position + 1f * Vector3.down;
rbBoat.AddRelativeForce(Vector2.down * speed);
break;
case 3:
//agent.transform.position = agent.transform.position + 1f * Vector3.RotateTowards;
direction = Mathf.Sign(Vector3.Dot(rbBoat.velocity, rbBoat.GetRelativeVector(Vector2.up)));
rbBoat.rotation += -0.5f * steeringPower * rbBoat.velocity.magnitude * direction;
//rbBoat.AddRelativeForce(Vector3.right * rbBoat.velocity.magnitude / 2);
break;
case 4:
direction = Mathf.Sign(Vector3.Dot(rbBoat.velocity, rbBoat.GetRelativeVector(Vector2.up)));
rbBoat.rotation += 0.5f * steeringPower * rbBoat.velocity.magnitude * direction;
// rbBoat.AddRelativeForce(Vector3.right * rbBoat.velocity.magnitude / 2);
break;
}
curDist = Math.Sqrt(Math.Pow((goal.transform.position.x - agent.transform.position.x), 2) + Math.Pow((goal.transform.position.y - agent.transform.position.y), 2));
float calDist = Convert.ToSingle(preDist - curDist);
AddReward(calDist / 50);
Ray2D ray = new Ray2D(agent.transform.position, Vector2.zero);
RaycastHit2D hit = Physics2D.Raycast(ray.origin, ray.direction, 10f);
Debug.DrawRay(ray.origin, ray.direction * 10f, Color.red);
//Debug.Log(hit.distance);
}
// Use this for calculate
public override void OnCalculate()
{
Rigidbody2D rigidbody2D = _Rigidbody2D.value;
if (rigidbody2D != null)
{
_Result.SetValue(rigidbody2D.GetRelativeVector(_RelativeVector.value));
}
}
void FixedUpdate()
{
steeringAmount = -Input.GetAxis("Horizontal");
speed = Input.GetAxis("Vertical") * accelerationPower;
direction = Mathf.Sign(Vector2.Dot(rb.velocity, rb.GetRelativeVector(Vector2.up)));
rb.rotation += steeringAmount * steeringPower * rb.velocity.magnitude * direction;
rb.AddRelativeForce(Vector2.up * speed);
rb.AddRelativeForce(-Vector2.right * rb.velocity.magnitude * steeringAmount / 2);
}
// Update is called once per frame
void FixedUpdate()
{
Vector2 speed = transform.up * (v * acceleration) * 20;
RigidBodycar.AddForce(speed);
float direction = Vector2.Dot(RigidBodycar.velocity, RigidBodycar.GetRelativeVector(Vector2.up));
if (direction >= 0.0f)
{
RigidBodycar.rotation += h * steering * (RigidBodycar.velocity.magnitude / 5.0f);
//rb.AddTorque((h * steering) * (rb.velocity.magnitude / 10.0f));
}
else
{
RigidBodycar.rotation -= h * steering * (RigidBodycar.velocity.magnitude / 5.0f);
//rb.AddTorque((-h * steering) * (rb.velocity.magnitude / 10.0f));
}
Vector2 forward = new Vector2(0.0f, 0.5f);
float steeringRightAngle;
if (RigidBodycar.angularVelocity > 0)
{
steeringRightAngle = -90;
}
else
{
steeringRightAngle = 90;
}
Vector2 rightAngleFromForward = Quaternion.AngleAxis(steeringRightAngle, Vector3.forward) * forward;
Debug.DrawLine((Vector3)RigidBodycar.position, (Vector3)RigidBodycar.GetRelativePoint(rightAngleFromForward), Color.green);
float driftForce = Vector2.Dot(RigidBodycar.velocity, RigidBodycar.GetRelativeVector(rightAngleFromForward.normalized));
Vector2 relativeForce = (rightAngleFromForward.normalized * -1.0f) * (driftForce * 10.0f);
Debug.DrawLine((Vector3)RigidBodycar.position, (Vector3)RigidBodycar.GetRelativePoint(relativeForce), Color.red);
RigidBodycar.AddForce(RigidBodycar.GetRelativeVector(relativeForce));
}
//moves the bullet forward depending on the direction of the car
void Update()
{
rb.velocity = rb.GetRelativeVector(Vector2.up * m_Speed);
GameManager gM = GameObject.FindObjectOfType <GameManager>();
if (gM.destroyAllBullets)
{
Destroy(gameObject);
}
}
static int GetRelativeVector(IntPtr L)
{
LuaScriptMgr.CheckArgsCount(L, 2);
Rigidbody2D obj = LuaScriptMgr.GetNetObject <Rigidbody2D>(L, 1);
Vector2 arg0 = LuaScriptMgr.GetNetObject <Vector2>(L, 2);
Vector2 o = obj.GetRelativeVector(arg0);
LuaScriptMgr.PushValue(L, o);
return(1);
}