private void JoinLaneIfSafe(Vector3 direction)
{
// Debug.Log("Current speed is " + vehicle.GetCurrentSpeed() + ", ideal speed " + idealLaneMergingSpeed.ToString());
if (ReachedDestinationLane())
{
// Debug.Log("Reached destination lane");
CurrentLane = GetDesiredLane();
CurrentState = DrivingAgentState.Driving;
return;
}
if (IsDesiredLaneFreeOfObstacles())
{
Debug.Log("Lane is free. Steering towards it...");
Vector3 dir = (GetLaneAdjustedTarget() - gameObject.transform.position).normalized;
float currentSteeringAngle = Vector3.Dot(dir, transform.forward);
// Steer towards lane.
direction = TrafficDirection == Vector3.left ? direction : -direction;
if (direction == Vector3.left && currentSteeringAngle > 1 - LaneMergingMaxSteeringAngle)
{
vehicle.SteerLeft();
}
else if (direction == Vector3.right && currentSteeringAngle > 1 - LaneMergingMaxSteeringAngle)
{
vehicle.SteerRight();
}
}
}
private int GetChangeInLaneInt(DrivingAgentState state)
{
switch (state)
{
case DrivingAgentState.JoiningInternalLane:
return(-1);
case DrivingAgentState.JoiningExternalLane:
return(1);
default:
return(0);
}
}