/// <summary>
/// Makes the car approach the target and slow down.
/// </summary>
/// <param name="velocity">Current velocity of the car</param>
/// <param name="yaw">Current relative yaw of the car</param>
/// <param name="addedRotation">Amount of rotation (in degrees) to add</param>
/// <param name="distanceToDestination">Distance to the destination</param>
public void HandleApproachTarget(ref Vector velocity, ref double yaw, ref double addedRotation, ref double distanceToDestination)
{
// Get the current speed and rotation of the car.
var speed = velocity.Length;
var rotation = MathUtil.VelocityToRotation(velocity);
// Check if we're going too fast, have passengers or are near the destination.
if (speed > maxTurningSpeed / 2d || Car.PassengerCount > 0 || distanceToDestination < 20)
{
// Check if we need to drop passengers off.
if (Car.PassengerCount > 0 && /*speed < 0.05 && */ speed > 0)
{
var distance = Car.DistanceTraveled - Car.PassengersBoardDistance;
var price = GPSSystem.CalculatePrice(distance);
App.Console.Print($"[C{Car.Id}] Charged €{price:F2} for {distance:F1} units", Colors.Blue);
App.Console.Print($"[C{Car.Id}] Dropping customers", Colors.Blue);
var passenger = Car.Passengers[0];
TripEnd?.Invoke(this, new TripEventArgs(passenger.Group, passenger.Building.Location, Car.Location, Car));
Car.Passengers.Clear();
MainScreen.AILoop.Unsubscribe(Update);
}
// Slow down the car.
velocity = speed > 0.05
? Vector.Add(velocity, CalculateDeccelerationVector(velocity))
: new Vector();
}
// Get the target and current location.
var destination = Car.Destination.Location;
var location = Car.Location;
// Calculate the angle between the car and the target.
var sub = new Vector(
destination.X - location.X,
destination.Y - location.Y
);
sub.Normalize();
var angle = Vector.AngleBetween(rotation, sub);
// If we need to go to the right and are able to, do so.
if (angle > 0)
{
if (yaw > -maxInLaneRotation)
{
addedRotation -= rotationSpeed;
}
}
// If we need to go to the left and are able to, do so.
else
{
if (yaw < maxInLaneRotation)
{
addedRotation += rotationSpeed;
}
}
}
/*
* All the Handle functions take references to variable from the Update function.
* They will modify these variables to change behaviour of the car. The value of
* these variables shouldn't be overwritten, but only changed (adding, multiplying, etc)
*/
/// <summary>
/// Makes the car turn on an intersection towards the target.
/// </summary>
/// <param name="velocity">Current velocity of the car</param>
/// <param name="yaw">Current relative yaw of the car</param>
/// <param name="addedRotation">Amount of rotation (in degrees) to add</param>
public void HandleTurn(ref Vector velocity, ref double yaw, ref double addedRotation)
{
// Get the current speed and rotation of the car.
var speed = velocity.Length;
var rotation = MathUtil.VelocityToRotation(velocity);
var intersection = Car.CurrentIntersection;
// If we're going too fast to turn, slow down.
if (speed > maxTurningSpeed)
{
velocity = Vector.Add(velocity, CalculateDeccelerationVector(velocity));
}
// If we're not on the intersection yet, just keep driving straight.
if (intersection == null)
{
HandleStayInLane(ref velocity, ref yaw, ref addedRotation);
return;
}
// Get the target and current location.
var target = Car.CurrentTarget;
var location = Car.Location;
// Calculate the angle between the car and the target.
var targetAngle = new Vector(
target.X - location.X,
target.Y - location.Y
);
var angle = Vector.AngleBetween(rotation, targetAngle);
if (angle < 0)
{
angle += 360;
}
// If the angle is more than 225 degrees (-90 - 45), rotate to the left.
if (angle > 225 && angle < 315)
{
// If we're not turning around, slowly turn left.
if (!flipping)
{
addedRotation += rotationSpeed * 0.8;
}
// If we are turning around, keep steering steeply left.
else
{
addedRotation += rotationSpeed * 6;
}
}
// If the angle is more than 135 degrees (180 - 45), turn around.
else if (angle > 135 && angle < 315)
{
if (!flipping)
{
flipping = true;
App.Console.Print($"[C{Car.Id}] Initiating turn-around", Colors.Blue);
}
addedRotation += rotationSpeed * 6;
}
// If the angle is more than 45 degrees (90 - 45), rotate to the right.
else if (angle > 45 && angle < 315)
{
addedRotation -= rotationSpeed * 6;
}
// Otherwise, keep going straight.
else
{
addedRotation = yaw < 0 ? rotationSpeed : -rotationSpeed;
}
}
public static double Angle(Vector v1, Vector v2)
{
return(Vector.AngleBetween(v1, v2));
}