private void FixedUpdate()
{
// pass the input to the car!
//double h = gain * CrossPlatformInputManager.GetAxis("Horizontal");
double hh = Input.GetAxis("Horizontal");
//double v = gain * CrossPlatformInputManager.GetAxis("Vertical");
double vv = Input.GetAxis("Vertical");
//double h_raw = Input.GetAxisRaw("Horizontal");
//double v_raw = Input.GetAxisRaw("Vertical");
//Debug.Log("Horizontal: " + hh.ToString());
//Debug.Log("Vertical: " + vv.ToString());
/*
#if !MOBILE_INPUT
* float handbrake = CrossPlatformInputManager.GetAxis("Jump");
*/
//m_Car.Move(h, v, v, handbrake);
/*#else*/
if (!m_allowReverse)
{
if (vv < 0 && Math.Abs(m_Car.CurrentSpeed) < 1f)
{
StopCar();
}
else if (Handbrake > 0f)
{
StartCar();
}
}
m_Car.Move((float)hh, (float)vv, (float)vv, Handbrake);
m_SteeringWheel.turnSteeringWheel((float)hh, m_Car.CurrentSteerAngle);
/*#endif*/
}
private void FixedUpdate()
{
if (m_Target == null || !m_Driving)
{
// Car should not be moving,
// use handbrake to stop
m_CarController.Move(0, 0, -1f, 1f);
}
else
{
/* SENSORS HERE */
if (m_isUser)
{
Dictionary <int, VRAVEObstacle> vo;
m_Sensors.Scan(out vo);
foreach (SensorResponseHandler s in m_sensorResponseHandlers)
{
s.handle(this, vo, m_CarController.CurrentSpeed, m_BrakeCondition);
}
/* End sensors */
}
Vector3 fwd = transform.forward;
if (m_Rigidbody.velocity.magnitude > m_CarController.MaxSpeed * 0.1f)
{
fwd = m_Rigidbody.velocity;
}
float desiredSpeed = m_CarController.MaxSpeed;
// now it's time to decide if we should be slowing down...
switch (m_BrakeCondition)
{
case BrakeCondition.TargetDirectionDifference:
{
// the car will brake according to the upcoming change in direction of the target. Useful for route-based AI, slowing for corners.
// check out the angle of our target compared to the current direction of the car
float approachingCornerAngle = Vector3.Angle(m_Target.forward, fwd);
//Debug.Log("Approaching Corner Angle: " + approachingCornerAngle);
// also consider the current amount we're turning, multiplied up and then compared in the same way as an upcoming corner angle
float spinningAngle = m_Rigidbody.angularVelocity.magnitude * m_CautiousAngularVelocityFactor;
//Debug.Log("Spinning Angle: " + spinningAngle);
// if it's different to our current angle, we need to be cautious (i.e. slow down) a certain amount
float cautiousnessRequired = Mathf.InverseLerp(0, m_CautiousMaxAngle,
Mathf.Max(spinningAngle,
approachingCornerAngle));
//Debug.Log("Cautiousness Required: " + cautiousnessRequired);
desiredSpeed = Mathf.Lerp(m_CarController.MaxSpeed, m_CarController.MaxSpeed * m_CautiousSpeedFactor,
cautiousnessRequired);
//Debug.Log("Approaching Corner Angle\tSpinningAngle" + approachingCornerAngle"DesiredSpeed: " + desiredSpeed);
break;
}
case BrakeCondition.TargetDistance:
{
// the car will brake as it approaches its target, regardless of the target's direction. Useful if you want the car to
// head for a stationary target and come to rest when it arrives there.
// check out the distance to target
Vector3 delta = m_Target.position - transform.position;
float distanceCautiousFactor = Mathf.InverseLerp(m_CautiousMaxDistance, 0, delta.magnitude);
// also consider the current amount we're turning, multiplied up and then compared in the same way as an upcoming corner angle
float spinningAngle = m_Rigidbody.angularVelocity.magnitude * m_CautiousAngularVelocityFactor;
// if it's different to our current angle, we need to be cautious (i.e. slow down) a certain amount
float cautiousnessRequired = Mathf.Max(
Mathf.InverseLerp(0, m_CautiousMaxAngle, spinningAngle), distanceCautiousFactor);
desiredSpeed = Mathf.Lerp(m_CarController.MaxSpeed, m_CarController.MaxSpeed * m_CautiousSpeedFactor,
cautiousnessRequired);
break;
}
case BrakeCondition.NeverBrake:
break;
}
// Evasive action due to collision with other cars:
// our target position starts off as the 'real' target position
Vector3 offsetTargetPos = m_Target.position;
// if are we currently taking evasive action to prevent being stuck against another car:
if (Time.time < m_AvoidOtherCarTime)
{
// slow down if necessary (if we were behind the other car when collision occured)
desiredSpeed *= m_AvoidOtherCarSlowdown;
// and veer towards the side of our path-to-target that is away from the other car
offsetTargetPos += m_Target.right * m_AvoidPathOffset;
}
else
{
// no need for evasive action, we can just wander across the path-to-target in a random way,
// which can help prevent AI from seeming too uniform and robotic in their driving
offsetTargetPos += m_Target.right *
(Mathf.PerlinNoise(Time.time * m_LateralWanderSpeed, m_RandomPerlin) * 2 - 1) *
m_LateralWanderDistance;
}
// use different sensitivity depending on whether accelerating or braking:
float accelBrakeSensitivity = (desiredSpeed < m_CarController.CurrentSpeed)
? m_BrakeSensitivity
: m_AccelSensitivity;
// decide the actual amount of accel/brake input to achieve desired speed.
float accel = Mathf.Clamp((desiredSpeed - m_CarController.CurrentSpeed) * accelBrakeSensitivity, -1, 1);
// add acceleration 'wander', which also prevents AI from seeming too uniform and robotic in their driving
// i.e. increasing the accel wander amount can introduce jostling and bumps between AI cars in a race
accel *= (1 - m_AccelWanderAmount) +
(Mathf.PerlinNoise(Time.time * m_AccelWanderSpeed, m_RandomPerlin) * m_AccelWanderAmount);
// calculate the local-relative position of the target, to steer towards
Vector3 localTarget = transform.InverseTransformPoint(offsetTargetPos);
// work out the local angle towards the target
float targetAngle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;
float steer = 0f;
if (!IsAvoidingObstacle)
{
// get the amount of steering needed to aim the car towards the target
steer = Mathf.Clamp(targetAngle * m_SteerSensitivity, -1, 1) * Mathf.Sign(m_CarController.CurrentSpeed);
}
else
{
steer = Mathf.Clamp(ObstacleAvoidanceSteerAmount * m_SteerSensitivity, -1, 1) * Mathf.Sign(m_CarController.CurrentSpeed);
accel = accel * 10f;
}
/*
* // FOLLOWING BEHAVIOR ONLY
* Mathf.Clamp(AccelMultiplier, -10, 10);
* if(TooClose)
* {
* //m_CarController.MaxSpeed = Time.deltaTime * m_CarController.MaxSpeed;
* accel = -1*accel - m_accelMultiplier*(accel*Time.deltaTime);
* Debug.Log("Too Close Accel : " + accel + " MaxSpeed: " + m_CarController.MaxSpeed);
*
* }
* else if(TooFar)
* {
* //m_CarController.MaxSpeed = Time.deltaTime * m_CarController.MaxSpeed;
* accel = accel + m_accelMultiplier*(accel*Time.deltaTime);
* Debug.Log("Too Far Accel : " + accel + " MaxSpeed: " + m_CarController.MaxSpeed);
* }
*/
m_CarController.Move(steer, accel, accel, 0f);
if (m_isUser)
{
// turn the steering wheel
m_SteeringWheel.turnSteeringWheel((float)steer, m_CarController.CurrentSteerAngle);
}
// if appropriate, stop driving when we're close enough to the target.
if (m_StopWhenTargetReached && localTarget.magnitude < m_ReachTargetThreshold)
{
m_Driving = false;
}
else if (!m_StopWhenTargetReached && localTarget.magnitude < m_ReachTargetThreshold)
{
if (m_isCircuit)
{
SetTarget(circuit.Waypoints [++progressNum % circuit.Waypoints.Length], false);
}
else
{
if (progressNum == circuit.Waypoints.Length - 1)
{
m_StopWhenTargetReached = true;
}
else
{
SetTarget(circuit.Waypoints [++progressNum], false);
}
}
}
}
}