public State StartTree()
{
// Check future positions for collisions
CheckForCollisions();
// If not currently switching to the left lane
if (!switchingLanes)
{
// Steer to the next point in the route
car.SteerToNextPoint();
if (car.isInLeftLane)
{
car.speed = car.leftLaneSpeed;
// Check if future point of collision has been passed, if one exists
if (CheckIfPastPointOfCollision())
{
// Check the radius for other cars
if (CheckRadius() == State.SUCCESSFUL)
{
car.isInLeftLane = false;
}
}
}
}
else
{
car.SwitchingLanes();
switchingLanes = false;
}
if (!returnToMainTree)
{
return(State.RUNNING);
}
else
{
return(State.SUCCESSFUL);
}
}