void DriveToCurrentWaypoint()
{
//Waypoint reached
if (WaypointReached(currentWaypoint))
{
//tell plan that we have arrived at the waypoint
NotifyWaypointReached();
return;
}
if (currentWaypoint == null)
{
Debug.LogError("Car driving to null.");
return;
}
//change direction
Vector3 heading = currentWaypoint.AsVector() - transform.position.ToVector2();
directionHeading = heading.normalized;
//Do actual driving
Accelerate(maxSpeed);
Steer();
}
//Slowly move the car to waypoint w
public IEnumerator MoveToWaypoint(Waypoint w)
{
while (!WaypointReached(w))
{
var diff = w.AsVector() - transform.position.ToVector2();
var add = (diff * 0.01f).ToVector3();
transform.position += Vector3.Lerp(Vector3.zero, add, Time.deltaTime);
yield return(new WaitForFixedUpdate());
}
yield break;
}
//Checks whether the car is at the waypoint
bool WaypointReached(Waypoint w)
{
if (w == null)
{
return(false);
}
Vector2 dist = w.AsVector() - new Vector2(transform.position.x, transform.position.y);
if (dist.magnitude < 0.1f)
{
if (w.onRoad == null)
{
Debug.Log(w);
}
road = w.onRoad;
return(true);
}
return(false);
}
