protected Transform FindClosestHitObject(Ray ray, out Vector3 hitPoint)
{
// RaycastHit[] hits = Physics.RaycastAll(ray);
colliders = transform.root.gameObject.GetComponentsInChildren <PhysXCollider>();
Transform closestHit = null;
float distance = 0;
hitPoint = Vector3.zero;
PhysXRaycastHit hitPhysX = PhysXRaycast.GetRaycastHit();
if (PhysXRaycast.Fire(ray.origin, ray.direction, hitPhysX, 9999, raycastLayers, rigidbodyVehicleId))
{
closestHit = hitPhysX.transform;
hitPoint = hitPhysX.point;
}
PhysXRaycast.ReleaseRaycastHit(hitPhysX);
// closestHit is now either still null (i.e. we hit nothing) OR it contains the closest thing that is a valid thing to hit
return(closestHit);
}
protected Transform FindClosestHitObject(Ray ray, out Vector3 hitPoint)
{
Transform closestHit = null;
hitPoint = Vector3.zero;
PhysXRaycastHit hitPhysX = PhysXRaycast.GetRaycastHit();
if (PhysXRaycast.Fire(ray.origin, ray.direction, hitPhysX, raycastLayers, rigidbodyVehicleId))
{
closestHit = hitPhysX.transform;
hitPoint = hitPhysX.point;
}
PhysXRaycast.ReleaseRaycastHit(hitPhysX);
return(closestHit);
}
protected RaycastHitDetails FindClosestRaycastHitDetails(Ray ray, Vector3 targetPoint)
{
RaycastHitDetails raycastHitDetails = new RaycastHitDetails(targetPoint, Vector3.zero, null, false, false);;
//RaycastHit[] hits = Physics.RaycastAll(ray);
// if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId)) {
Transform closestHit = null;
float distance = 0;
Vector3 hitPoint = Vector3.zero;
PhysXRaycastHit hitPhysX = PhysXRaycast.GetRaycastHit();
if (PhysXRaycast.Fire(ray.origin, ray.direction, hitPhysX, 999, raycastLayers, rigidbodyVehicleId))
{
closestHit = hitPhysX.transform;
distance = hitPhysX.distance;
hitPoint = hitPhysX.point;
// get local hitpoint
Vector3 localHitPoint = closestHit.root.InverseTransformPoint(hitPoint);
// the health script exists
if (hitPhysX.transform.root.GetComponent <VehicleHealthManager>() != null)
{
raycastHitDetails = new RaycastHitDetails(hitPoint, localHitPoint, closestHit, true, true);
}
else
{
raycastHitDetails = new RaycastHitDetails(hitPoint, localHitPoint, closestHit, false, true);
}
}
PhysXRaycast.ReleaseRaycastHit(hitPhysX);
return(raycastHitDetails);
}
bool SensorsManouvre()
{
bool avoiding = false;
// RaycastHit hit;
Vector3 sensorStartPos = transform.position;
sensorStartPos += transform.forward * frontSensorPosition.z;
sensorStartPos += transform.up * frontSensorPosition.y;
float avoidMultiplier = 0;
avoiding = false;
PhysXRaycastHit hit = PhysXRaycast.GetRaycastHit();
//front right sensor
sensorStartPos += transform.right * frontSideSensorPosition;
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
Debug.DrawLine(sensorStartPos, hit.point);
avoiding = true;
avoidMultiplier -= 1f;
}
//front right angle sensor
else if (PhysXRaycast.Fire(sensorStartPos, Quaternion.AngleAxis(frontSensorAngle, transform.up) * transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
Debug.DrawLine(sensorStartPos, hit.point);
avoiding = true;
avoidMultiplier -= 0.5f;
}
//front left sensor
sensorStartPos -= transform.right * (frontSideSensorPosition * 2);
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
Debug.DrawLine(sensorStartPos, hit.point);
avoiding = true;
avoidMultiplier += 1f;
}
//front left angle sensor
else if (PhysXRaycast.Fire(sensorStartPos, Quaternion.AngleAxis(-frontSensorAngle, transform.up) * transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
Debug.DrawLine(sensorStartPos, hit.point);
avoiding = true;
avoidMultiplier += 0.5f;
}
//front center sensor
if (avoidMultiplier == 0)
{
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (!terrainTags.Contains(hit.collider.tag))
{
Debug.DrawLine(sensorStartPos, hit.point);
avoiding = true;
if (hit.normal.x < 0)
{
avoidMultiplier = -1;
}
else
{
avoidMultiplier = 1;
}
}
}
}
if (avoiding)
{
CarDriver.Steer(avoidMultiplier);
if (avoidMultiplier >= 1 && myRb.velocity.magnitude > maxSpeed / 2)
{
CarDriver.Reverse();
}
else if (avoidMultiplier <= -1 && myRb.velocity.magnitude > maxSpeed / 2)
{
CarDriver.Reverse();
}
}
return(avoiding);
}
void CalculateSensors()
{
//Debug.Log("player layer: " + playerLayer);
float leftRightCoefficient = 0;
bool avoiding = false;
bool playerAhead = false;
Vector3 sensorStartPos = transform.position;
sensorStartPos += transform.forward * frontSensorPosition.z;
sensorStartPos += transform.up * frontSensorPosition.y;
float crashSensorValue = 0;
float telecastCrashSensorValue = 0;
distList.Clear();
timeList.Clear();
// calculate a value of crashing
// Vector3 targetVel = Vector3.zero;
//front right sensor
sensorStartPos += transform.right * frontSideSensorPosition;
PhysXRaycastHit hit = PhysXRaycast.GetRaycastHit();
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (drawDebugLines)
{
Debug.DrawLine(sensorStartPos, hit.point);
}
avoiding = true;
float increase = 1f;
float telecastIncrease = 1f;
// if normal is > angle
if (Vector3.Angle(hit.normal, transform.up) > crashAngleThreshold && Vector3.Dot(hit.normal, Vector3.up) < dotThreshold)
{
if (hit.collider.gameObject.layer == playerLayer)
{
telecastIncrease *= playerSensorMultiplier;
playerAhead = true;
CalculateTimeToHit(hit.collider.attachedRigidBody);
}
else
{
CalculateTimeToHit(hit.point);
}
crashSensorValue += increase;
telecastCrashSensorValue += telecastIncrease;
leftRightCoefficient += 0.75f;
}
else
{
distList.Add(myRb.velocity.magnitude * sensorLength);
timeList.Add(1f);
}
}
//front right angle sensor
else if (PhysXRaycast.Fire(sensorStartPos, Quaternion.AngleAxis(frontSensorAngle, transform.up) * transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (drawDebugLines)
{
Debug.DrawLine(sensorStartPos, hit.point);
}
float increase = 0.5f;
float telecastIncrease = 0.5f;
if (Vector3.Angle(hit.normal, transform.up) > crashAngleThreshold * 0.75 && Vector3.Dot(hit.normal, Vector3.up) < dotThreshold)
{
if (hit.collider.gameObject.layer == playerLayer)
{
telecastIncrease *= playerSensorMultiplier;
playerAhead = true;
CalculateTimeToHit(hit.collider.attachedRigidBody);
}
else
{
CalculateTimeToHit(hit.point);
}
crashSensorValue += increase;
telecastCrashSensorValue += telecastIncrease;
leftRightCoefficient += 0.25f;
}
else
{
distList.Add(myRb.velocity.magnitude * sensorLength);
timeList.Add(1f);
}
}
//front left sensor
sensorStartPos -= transform.right * (frontSideSensorPosition * 2);
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (drawDebugLines)
{
Debug.DrawLine(sensorStartPos, hit.point);
}
float increase = 1f;
float telecastIncrease = 1f;
if (Vector3.Angle(hit.normal, transform.up) > crashAngleThreshold && Vector3.Dot(hit.normal, Vector3.up) < dotThreshold)
{
if (hit.collider.gameObject.layer == playerLayer)
{
telecastIncrease *= playerSensorMultiplier;
playerAhead = true;
CalculateTimeToHit(hit.collider.attachedRigidBody);
}
else
{
CalculateTimeToHit(hit.point);
}
crashSensorValue += increase;
telecastCrashSensorValue += telecastIncrease;
leftRightCoefficient -= 0.75f;
}
else
{
distList.Add(myRb.velocity.magnitude * sensorLength);
timeList.Add(1f);
}
}
//front left angle sensor
else if (PhysXRaycast.Fire(sensorStartPos,
Quaternion.AngleAxis(-frontSensorAngle, transform.up) * transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (drawDebugLines)
{
Debug.DrawLine(sensorStartPos, hit.point);
}
float increase = 0.5f;
float telecastIncrease = 0.5f;
if (Vector3.Angle(hit.normal, transform.up) > crashAngleThreshold * 0.75 && Vector3.Dot(hit.normal, Vector3.up) < dotThreshold)
{
if (hit.collider.gameObject.layer == playerLayer)
{
telecastIncrease *= playerSensorMultiplier;
playerAhead = true;
CalculateTimeToHit(hit.collider.attachedRigidBody);
}
else
{
CalculateTimeToHit(hit.point);
}
crashSensorValue += increase;
telecastCrashSensorValue += telecastIncrease;
leftRightCoefficient -= 0.25f;
}
else
{
distList.Add(myRb.velocity.magnitude * sensorLength);
timeList.Add(1f);
}
}
//front center sensor
if (PhysXRaycast.Fire(sensorStartPos, transform.forward, hit, sensorLength, sensorLayerMask, myRb.vehicleId))
{
if (drawDebugLines)
{
Debug.DrawLine(sensorStartPos, hit.point);
}
float increase = 1.5f;
float telecastIncrease = 1.5f;
if (Vector3.Angle(hit.normal, transform.up) > crashAngleThreshold && Vector3.Dot(hit.normal, Vector3.up) < dotThreshold)
{
if (hit.collider.gameObject.layer == playerLayer)
{
telecastIncrease *= playerSensorMultiplier;
playerAhead = true;
// Debug.Log("hit collider is: " + hit.collider + " and rb is: " + hit.collider.attachedRigidBody);
CalculateTimeToHit(hit.collider.attachedRigidBody);
}
else
{
CalculateTimeToHit(hit.point);
}
crashSensorValue += increase;
telecastCrashSensorValue += telecastIncrease;
}
else
{
distList.Add(myRb.velocity.magnitude * sensorLength);
timeList.Add(1f);
}
}
PhysXRaycast.ReleaseRaycastHit(hit);
float meanDist = Mathf.Infinity;
float meanCrashTime = Mathf.Infinity;;
if (distList.Count > 0)
{
meanDist = distList.Average();
}
if (timeList.Count > 0)
{
meanCrashTime = timeList.Average();
}
//Debug.Log(meanCrashTime);
currentSensorReport.estimatedDistanceToHit = meanDist;
currentSensorReport.estimatedTimeToHit = meanCrashTime;
currentSensorReport.crashValue = crashSensorValue;
currentSensorReport.telecastCrashValue = telecastCrashSensorValue;
currentSensorReport.playerAhead = playerAhead;
currentSensorReport.leftRightCoefficient = leftRightCoefficient;
}
