private void ProcuraObstaculos()
{
Collider[] colliders = Physics.OverlapSphere(biarticulado.PosicaoReferencia().position, Mathf.Max(biarticulado.distanciaDeFrenagem, conAuto.dyn_distDeParada));
List <Semaforo> semaforos = new List <Semaforo>();
foreach (var item in colliders)
{
semaforoProximo = item.GetComponent <Semaforo>();
if (!semaforoProximo)
{
semaforoProximo = item.GetComponentInParent <Semaforo>();
}
if (semaforoProximo)
{
semaforos.Add(semaforoProximo);
}
}
FiltraSemaforos(semaforos);
}
private void DefineSteeringAngle()
{
if (!biarticulado.wp_proximo || biarticulado.veiculoSendoParado)
{
horizontal = 0;
return;
}
// calculate the local-relative position of the target, to steer towards
Vector3 targetPos = biarticulado.PosicaoReferencia().InverseTransformPoint(biarticulado.wp_proximo.transform.position);
// work out the local angle towards the target
float targetAngle = Mathf.Atan2(targetPos.x, targetPos.z) * Mathf.Rad2Deg;
// get the amount of steering needed to aim the car towards the target
VALOR = targetAngle;
horizontal = targetAngle / CVP_Calculos.MenorValor_SteeringAngle(biarticulado);
horizontal = Mathf.Clamp(horizontal, -1, 1); // * Mathf.Sign(m_CarController.CurrentSpeed);
}
