private static void SetupVehicle()
{
EditorHelper.SetUndoGroup("Setup Vehicle");
GameObject selected = Selection.activeGameObject;
//Create raycast anchor
GameObject anchor = EditorHelper.CreateGameObject("Raycast Anchor", selected.transform);
//Add AI scripts
VehicleAI veAi = EditorHelper.AddComponent <VehicleAI>(selected);
WheelDrive wheelDrive = EditorHelper.AddComponent <WheelDrive>(selected);
TrafficSystem ts = GameObject.FindObjectOfType <TrafficSystem>();
//Configure the vehicle AI script with created objects
anchor.transform.localPosition = Vector3.zero;
anchor.transform.localRotation = Quaternion.Euler(Vector3.zero);
veAi.raycastAnchor = anchor.transform;
if (ts != null)
{
veAi.trafficSystem = ts;
}
//Create layer AutonomousVehicle if it doesn't exist
EditorHelper.CreateLayer("AutonomousVehicle");
//Set the tag and layer name
selected.tag = "AutonomousVehicle";
EditorHelper.SetLayer(selected, LayerMask.NameToLayer("AutonomousVehicle"), true);
}
void Start()
{
wheelDrive = this.GetComponent <WheelDrive>();
if (trafficSystem == null)
{
return;
}
initMaxSpeed = wheelDrive.maxSpeed;
SetWaypointVehicleIsOn();
}
void MoveVehicle()
{
//Default, full acceleration, no break and no steering
float acc = 1;
float brake = 0;
float steering = 0;
wheelDrive.maxSpeed = initMaxSpeed;
//Calculate if there is a planned turn
Transform targetTransform = trafficSystem.segments[currentTarget.segment].waypoints[currentTarget.waypoint].transform;
Transform futureTargetTransform = trafficSystem.segments[futureTarget.segment].waypoints[futureTarget.waypoint].transform;
Vector3 futureVel = futureTargetTransform.position - targetTransform.position;
float futureSteering = Mathf.Clamp(this.transform.InverseTransformDirection(futureVel.normalized).x, -1, 1);
//Check if the car has to stop
if (vehicleStatus == Status.STOP)
{
acc = 0;
brake = 1;
wheelDrive.maxSpeed = Mathf.Min(wheelDrive.maxSpeed / 2f, 5f);
}
else
{
//Not full acceleration if have to slow down
if (vehicleStatus == Status.SLOW_DOWN)
{
acc = .3f;
brake = 0f;
}
//If planned to steer, decrease the speed
if (futureSteering > .3f || futureSteering < -.3f)
{
wheelDrive.maxSpeed = Mathf.Min(wheelDrive.maxSpeed, wheelDrive.steeringSpeedMax);
}
//2. Check if there are obstacles which are detected by the radar
float hitDist;
GameObject obstacle = GetDetectedObstacles(out hitDist);
//Check if we hit something
if (obstacle != null)
{
WheelDrive otherVehicle = null;
otherVehicle = obstacle.GetComponent <WheelDrive>();
///////////////////////////////////////////////////////////////
//Differenciate between other vehicles AI and generic obstacles (including controlled vehicle, if any)
if (otherVehicle != null)
{
//Check if it's front vehicle
float dotFront = Vector3.Dot(this.transform.forward, otherVehicle.transform.forward);
//If detected front vehicle max speed is lower than ego vehicle, then decrease ego vehicle max speed
if (otherVehicle.maxSpeed < wheelDrive.maxSpeed && dotFront > .8f)
{
float ms = Mathf.Max(wheelDrive.GetSpeedMS(otherVehicle.maxSpeed) - .5f, .1f);
wheelDrive.maxSpeed = wheelDrive.GetSpeedUnit(ms);
}
//If the two vehicles are too close, and facing the same direction, brake the ego vehicle
if (hitDist < emergencyBrakeThresh && dotFront > .8f)
{
acc = 0;
brake = 1;
wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);
}
//If the two vehicles are too close, and not facing same direction, slight make the ego vehicle go backward
else if (hitDist < emergencyBrakeThresh && dotFront <= .8f)
{
acc = -.3f;
brake = 0f;
wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);
//Check if the vehicle we are close to is located on the right or left then apply according steering to try to make it move
float dotRight = Vector3.Dot(this.transform.forward, otherVehicle.transform.right);
//Right
if (dotRight > 0.1f)
{
steering = -.3f;
}
//Left
else if (dotRight < -0.1f)
{
steering = .3f;
}
//Middle
else
{
steering = -.7f;
}
}
//If the two vehicles are getting close, slow down their speed
else if (hitDist < slowDownThresh)
{
acc = .5f;
brake = 0f;
//wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 1.5f, wheelDrive.minSpeed);
}
}
///////////////////////////////////////////////////////////////////
// Generic obstacles
else
{
//Emergency brake if getting too close
if (hitDist < emergencyBrakeThresh)
{
acc = 0;
brake = 1;
wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);
}
//Otherwise if getting relatively close decrease speed
else if (hitDist < slowDownThresh)
{
acc = .5f;
brake = 0f;
}
}
}
//Check if we need to steer to follow path
if (acc > 0f)
{
Vector3 desiredVel = trafficSystem.segments[currentTarget.segment].waypoints[currentTarget.waypoint].transform.position - this.transform.position;
steering = Mathf.Clamp(this.transform.InverseTransformDirection(desiredVel.normalized).x, -1f, 1f);
}
}
//Move the car
wheelDrive.Move(acc, steering, brake);
}
