void OnCollisionEnter(Collision collision)
{
if (collision.gameObject.layer == agentLayer)
{
ApiManager.Instance?.AddCollision(gameObject, collision.gameObject, collision);
SimulatorManager.Instance.AnalysisManager.IncrementNPCCollision();
ActiveBehaviour?.OnAgentCollision(collision.gameObject);
}
}
public void PhysicsUpdate()
{
if (!gameObject.activeInHierarchy)
{
return;
}
if (wheels.Count < 4)
{
Vector3 newLeft = Vector3.Cross(transform.forward, Vector3.up);
Vector3 desiredUp = Vector3.Cross(transform.forward, newLeft);
if (desiredUp.y < 0)
{
desiredUp = -desiredUp;
}
Quaternion delta = Quaternion.FromToRotation(transform.up, desiredUp);
delta.ToAngleAxis(out float angle, out Vector3 axis);
Vector3 torque = axis * (angle * adjustFactor - rb.angularVelocity.z * dampenFactor);
rb.AddTorque(torque, ForceMode.Acceleration);
}
if (Time.fixedDeltaTime > 0)
{
var previousVelocity = simpleVelocity;
simpleVelocity = (rb.position - lastRBPosition) / Time.fixedDeltaTime;
simpleAcceleration = simpleVelocity - previousVelocity;
Vector3 euler1 = lastRBRotation.eulerAngles;
Vector3 euler2 = rb.rotation.eulerAngles;
Vector3 diff = euler2 - euler1;
for (int i = 0; i < 3; i++)
{
diff[i] = (diff[i] + 180) % 360 - 180;
}
simpleAngularVelocity = diff / Time.fixedDeltaTime * Mathf.Deg2Rad;
SetLastPosRot(rb.position, rb.rotation);
}
if (ActiveBehaviour)
{
ActiveBehaviour.PhysicsUpdate();
}
if (currentSpeed > 0.1f)
{
WheelMovement();
}
}
internal NPCBehaviourBase SetBehaviour(Type t)
{
if (ActiveBehaviour != null && ActiveBehaviour.GetType().IsAssignableFrom(t))
{
return(_ActiveBehaviour);
}
if (_ActiveBehaviour != null)
{
Destroy(_ActiveBehaviour);
_ActiveBehaviour = null;
}
NPCBehaviourBase behaviour = (NPCBehaviourBase)gameObject.AddComponent(t);
_ActiveBehaviour = behaviour;
_ActiveBehaviour.controller = this;
_ActiveBehaviour.rb = rb;
_ActiveBehaviour.Init(_seed);
return(behaviour);
}
