void Awake()
{
fl = transform.Find("Wheels/PivotFL");
fr = transform.Find("Wheels/PivotFR");
rl = transform.Find("Wheels/PivotRL");
rr = transform.Find("Wheels/PivotRR");
motor = GetComponent <TrafPCH>();
var rend = GetComponentInChildren <Renderer>();
visPasser = rend.gameObject.AddComponent <OnBecameVisiblePass>();
visPasser.onVisbilityChange = OnVisibilityChange;
}
void EnvironmentDetect()
{
float currentSpeed = gameObject.GetComponent <VehicleController>().CurrentSpeed;
int safetyDist = Mathf.RoundToInt(Mathf.Pow(currentSpeed / 10, 2));
if (safetyDist < 50)
{
safetyDist = 50;
}
LayerMask mask = (/*1 << LayerMask.NameToLayer("Traffic")) | (1 << LayerMask.NameToLayer("obstacle")) |*/ 1 << LayerMask.NameToLayer("EnvironmentProp") | 1 << LayerMask.NameToLayer("Signage") | 1 << LayerMask.NameToLayer("Roads")); //restrict OverlapSphere only to the layers of interest
Collider[] colls = Physics.OverlapSphere(gameObject.transform.position, safetyDist, mask);
HashSet <Transform> curColls = new HashSet <Transform>(); //this is to store the root transform of the colliders returned by OverlapSphere
Timer -= Time.deltaTime; //thanks to this timer cubes and tags are instantiated only every 0.1 ms
if (Timer <= 0f)
{
foreach (KeyValuePair <GameObject, GameObject> pair in cubesAndTags)
{
Destroy(pair.Key);
Destroy(pair.Value);
//Debug.Log("destroyed" + g + "update is: " + i);
}
cubesAndTags.Clear();
foreach (Collider c in colls)
{
switch (c.gameObject.layer)
{
case 16: //EnvironmentProp
{
Bounds bounds = new Bounds();
if (c.transform.name.StartsWith("BasicCar"))
{
BoxCollider boxCol = c as BoxCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * boxCol.center;
bounds.size = boxCol.size;
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag trasl
traslL = new Vector3(traslL.x * 0.5f + 2.0f, traslL.y * 0.5f, 0);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 50.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], transform.rotation, infos, Color.white));
}
}
else if (c.transform.tag.Equals("Sign"))
{
BoxCollider boxCol = c as BoxCollider;
bounds.center = boxCol.center;
bounds.size = boxCol.size * 1.25f;
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 50.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), new GameObject()); //at the moment i don't need an InfoTag
}
}
switch (c.transform.name)
{
case "streetlight":
{
CapsuleCollider capsCol = c as CapsuleCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * capsCol.center;
bounds.size = new Vector3(capsCol.radius * 4.0f, capsCol.radius * 4.0f, capsCol.height);
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag trasl
traslL = new Vector3(traslL.x * 0.5f + 2.0f, 0, 0);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 10.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
RaycastHit hit;
Vector3 fwd = rayCastPos.TransformDirection(Vector3.forward);
bool isHit = Physics.Raycast(rayCastPos.position, fwd, out hit, 10.0f);
if (isHit)
{
//Debug.DrawLine(rayCastPos.position, hit.point, Color.yellow);
GameObject boundingCube = CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size);
GameObject infotag = CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[29], transform.rotation, infos, Color.red);
StartCoroutine(HideUnhide(infotag, isHit));
cubesAndTags.Add(boundingCube, infotag);
}
else
{
//Debug.DrawLine(rayCastPos.position, rayCastPos.position + (fwd * 10.0f), Color.magenta);
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], transform.rotation, infos, Color.white));
}
}
}
break;
case "tree_dec01":
{
Transform oldParent = c.transform.parent;
c.transform.parent = null; //I am forced to unparent since I can't take into account the parent scale in the bounding box computation
CapsuleCollider capsCol = c as CapsuleCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * new Vector3(capsCol.center.x * c.transform.localScale.x, capsCol.center.y * c.transform.localScale.y, capsCol.center.z * c.transform.localScale.z);
bounds.size = new Vector3(capsCol.radius * 2.0f * c.transform.localScale.x, capsCol.radius * 2.0f * c.transform.localScale.y, capsCol.height * c.transform.localScale.z);
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag trasl
traslL = new Vector3(traslL.x * 0.5f + 3.0f, 0, 0);
Debug.Log(c.transform.name + ", " + traslL);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
c.transform.parent = oldParent;
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 10.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], transform.rotation, infos, Color.white));
}
}
break;
case "Dumpster":
case "busstop":
case "barrier_concrete":
case "barrier_metal":
case "Lamppost":
case "Table_For2":
case "Table_For4":
{
BoxCollider boxCol = c as BoxCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * new Vector3(boxCol.center.x * c.transform.localScale.x, boxCol.center.y * c.transform.localScale.y, boxCol.center.z * c.transform.localScale.z);
bounds.size = new Vector3(boxCol.size.x * c.transform.localScale.x, boxCol.size.y * c.transform.localScale.y, boxCol.size.z * c.transform.localScale.z);
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag trasl
traslL = new Vector3(traslL.x * 0.5f + 2.0f, traslL.y * 0.5f, 0);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 10.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], transform.rotation, infos, Color.white));
}
}
break;
}
}
break;
case 17: //Signage
{
Bounds bounds = new Bounds();
if (c.transform.parent.name.Equals("StreetArrows") || c.transform.name.Equals("Post"))
{
break;
}
BoxCollider boxCol = c as BoxCollider;
bounds.center = boxCol.center;
bounds.size = boxCol.size * 1.25f;
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 50.0f)
{
infos[0] = "0" + " KPH"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString() + " M";
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), new GameObject());
}
}
break;
case 12: //obstacle
{
Bounds bounds = ComputeBounds(c.transform);
infos[0] = Mathf.RoundToInt(CalculateObstacleSpeed(c.transform)).ToString() + " KPH";
infos[1] = Mathf.RoundToInt(CalculateDistance(rayCastPos.position, bounds.center)).ToString() + " M";
infos[2] = "";
//cubesAndTags.Add(CreateBoundingCube(c.transform, bounds.center, bounds.size), CreateInfoTag(bounds.center, bounds.size, sprites[28], infos));
}
break;
case 8:
{ //Traffic
if (!curColls.Contains(c.transform.root))
{ //this is in order to check if an object has more colliders than one; if so, one is sufficient so simply discard other otherwise the cube instantiated would be equal to the number of colliders
Bounds bounds = ComputeBounds(c.transform.root);
TrafPCH trafPCH = c.transform.root.GetComponent <TrafPCH>();
if (trafPCH != null)
{
float speed = trafPCH.currentSpeed;
infos[0] = Mathf.RoundToInt(speed * 3.6f).ToString() + " KPH";
infos[1] = Mathf.RoundToInt(CalculateDistance(rayCastPos.position, bounds.center)).ToString() + " M";
infos[2] = "";
//cubesAndTags.Add(CreateBoundingCube(c.transform.root, bounds.center, bounds.size), CreateInfoTag(bounds.center, bounds.size, sprites[0], infos));
curColls.Add(c.transform.root);
}
}
}
break;
case 18: //Roads
{
if (c.transform.name.StartsWith("TrafficLight"))
{
TrafLightState currentState = c.transform.GetComponent <TrafficLightContainer>().State;
Dictionary <string, Transform> trafLightChildren = new Dictionary <string, Transform>();
List <Bounds> bounds = new List <Bounds>();
foreach (Transform t in c.transform)
{
if (t.name.StartsWith("Light") && t.gameObject.activeInHierarchy) //there are some trafficLights not active so I have to exclude them
{
trafLightChildren.Add(t.name, t);
bounds.Add(ComputeBounds(t));
}
}
if (trafLightChildren.Count != 0) //I have to check whether the dictionary is empty or not since there may be some inactive trafficLights which in the next code I will erronously reference
{
infos[0] = infos[1] = "";
if (currentState.Equals(TrafLightState.GREEN))
{
infos[2] = "GO";
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light0"], bounds[0].center, bounds[0].size), CreateInfoTag(bounds[0].center, new Vector3(0, 0, -bounds[0].size.x), new Vector3(0, 0, -bounds[0].size.x), sprites[25], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light0"].rotation, infos, Color.white)); //I add another 90 degrees to position the tag orthogonally with respect to the trafficLight
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light1"], bounds[1].center, bounds[1].size), CreateInfoTag(bounds[1].center, new Vector3(0, 0, -bounds[1].size.x), new Vector3(0, 0, -bounds[1].size.x), sprites[25], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light1"].rotation, infos, Color.white));
}
else if (currentState.Equals(TrafLightState.YELLOW))
{
infos[2] = "GO";
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light0"], bounds[0].center, bounds[0].size), CreateInfoTag(bounds[0].center, new Vector3(0, 0, -bounds[0].size.x), new Vector3(0, 0, -bounds[0].size.x), sprites[27], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light0"].rotation, infos, Color.white));
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light1"], bounds[1].center, bounds[1].size), CreateInfoTag(bounds[1].center, new Vector3(0, 0, -bounds[1].size.x), new Vector3(0, 0, -bounds[1].size.x), sprites[27], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light1"].rotation, infos, Color.white));
}
else
{
infos[2] = "STOP";
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light0"], bounds[0].center, bounds[0].size), CreateInfoTag(bounds[0].center, new Vector3(0, 0, -bounds[0].size.x), new Vector3(0, 0, -bounds[0].size.x), sprites[26], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light0"].rotation, infos, Color.white));
cubesAndTags.Add(CreateBoundingCube(trafLightChildren["Light1"], bounds[1].center, bounds[1].size), CreateInfoTag(bounds[1].center, new Vector3(0, 0, -bounds[1].size.x), new Vector3(0, 0, -bounds[1].size.x), sprites[26], Quaternion.Euler(0f, 90f, 0f) * trafLightChildren["Light1"].rotation, infos, Color.white));
}
}
}
}
break;
}
}
Timer = 0.1f;
}
//i++;
}
void FixedUpdate()
{
var predicted = GetPredictedPoint();
var normal = GetNormalPoint(predicted, currentWaypoint, nextWaypoint);
if (evitare && hitInfo.collider != null && hitInfo.collider.gameObject.layer == 12)
{
evita();
return;
}
if (inchiodare && hitInfo.collider != null && hitInfo.collider.gameObject.layer == 12)
{
inchioda();
return;
}
if (sosta)
{
sostaDopoPericolo();
return;
}
//check if we are heading past the current waypoint
if (Vector3.Dot(normal - nextWaypoint, nextWaypoint - currentWaypoint) >= 0)
{
contatore++;
currentWaypoint = nextWaypoint;
currentNode = nextNode;
currentWaypointIndex = nextWaypointIndex;
UpdateNextWaypoint();
}
if (Vector3.Distance(transform.position, new Vector3(target.x, transform.position.y, target.z)) <= 10f || target == Vector3.zero)
{
RoadPathNode prossimoNodo5 = path.pathNodes[currentWaypointIndex + 2];
target = prossimoNodo5.position;
}
//lancio il raggio per vedere cosa ho davanti
if (Time.time > nextRaycast)
{
hitInfo = new RaycastHit();
somethingInFront = CheckFrontBlocked(out hitInfo);
nextRaycast = NextRaycastTime();
}
if (somethingInFront)
{
if (hitInfo.collider.gameObject.name.Equals("RocciaTest"))
{
vehicleController.accellInput = -0.18f;
if (hitInfo.distance < 15f)
{
vehicleController.steerInput = -8f / 45f;
}
return;
}
if (hitInfo.rigidbody != null && ((hitInfo.rigidbody.tag.Equals("TrafficCar")) || hitInfo.rigidbody.tag.Equals("DangerousCar") || hitInfo.rigidbody.gameObject.layer.Equals(12)))
{
if (hitInfo.rigidbody.tag.Equals("TrafficCar") || hitInfo.rigidbody.tag.Equals("DangerousCar"))
{
Debug.DrawLine(this.transform.position, hitInfo.transform.position);
if (hitInfo.distance <= 35f)
{
TrafPCH macchinaDavanti = hitInfo.rigidbody.GetComponent <TrafPCH>();
float frontSpeed = macchinaDavanti.currentSpeed;
float velocitaTarget = Mathf.Min(targetSpeed, (frontSpeed - 0.25f));
float miaVelocita = this.GetComponent <Rigidbody>().velocity.magnitude;
double distanzaSicurezzaUpdate = (Math.Pow((this.GetComponent <Rigidbody>().velocity.magnitude * 3.6f / 10f), 2) + 5f); //+ questo valore perchè la distanza viene calcolata dal centro dell'auto del traffico
bool sottoDistanzaSicurezza = (distanzaSicurezzaUpdate - hitInfo.distance) > 1f;
bool piuVeloceDelTarget = (miaVelocita - velocitaTarget) >= 1f;
if ((piuVeloceDelTarget || sottoDistanzaSicurezza))
{
if (autoDavanti == false)
{
if (sottoDistanzaSicurezza)
{
distanzaSicurezza = distanzaSicurezzaUpdate;
}
else
{
distanzaSicurezza = (Math.Pow((frontSpeed * 3.6f / 10f), 2) + 5f);
}
autoDavanti = true;
distanzaInizialeSicurezza = hitInfo.distance;
velocitàInizialeSicurezza = this.GetComponent <Rigidbody>().velocity.magnitude;
}
}
else
{
autoDavanti = false;
}
if (Math.Abs(hitInfo.distance - distanzaSicurezza) >= 1f && autoDavanti && miaVelocita > 0.1f)
{
/* se Vf è la velocita finale, Vi quella iniziale, Df la distanza finale, Di la distanza iniziale, Dc la distanza corrente
* allora Vx = (Vf + Vi) / ((Df + Di)/Dc)*/
targetSpeed = (velocitaTarget + velocitàInizialeSicurezza) / (((float)distanzaSicurezza + distanzaInizialeSicurezza) / hitInfo.distance);
}
else
{
autoDavanti = false;
targetSpeed = velocitaTarget;
}
}
}
if (hitInfo.rigidbody.gameObject.layer.Equals(12))
{
float distanza = Vector3.Distance(transform.position, hitInfo.rigidbody.transform.position);
double spazioFrenata = (Math.Pow(GetComponent <Rigidbody>().velocity.magnitude, 2)) / (2 * 2.3f);
if (spazioFrenata > distanza)
{
evitare = true;
}
else
{
inchiodare = true;
}
}
}
else
{
evitare = inchiodare = false;
if (currentNode.isInintersection)
{
targetSpeed = 4f;
}
else
{
targetSpeed = maxSpeed;
}
}
}
else
{
evitare = inchiodare = false;
if (currentNode.isInintersection)
{
targetSpeed = 4f;
}
else
{
targetSpeed = maxSpeed;
}
}
Debug.DrawLine(transform.position, target);
//STEER CAR
Vector3 steerVector = new Vector3(normal.x, transform.position.y, normal.z) - transform.position;
m_targetSteer = Vector3.SignedAngle(transform.forward, normal - transform.position, Vector3.up);
float differenza = Math.Abs(m_targetSteer) - Math.Abs(m_targetSteer_precedente);
float differenzaTarget = Math.Abs(m_targetSteer - m_targetSteer_target);
if (differenza <= 0.2f || (m_targetSteer_target != 0 && differenzaTarget > 0.2f))
{
if ((m_targetSteer_precedente < 0 && m_targetSteer > 0) || (m_targetSteer_precedente > 0 && m_targetSteer < 0) || m_targetSteer_target != 0)
{
if (m_targetSteer_target == 0)
{
m_targetSteer_target = m_targetSteer;
}
else
{
}
m_targetSteer = Mathf.Lerp(m_targetSteer_precedente, m_targetSteer_target, steerSpeed * Time.fixedDeltaTime);
m_targetSteer_precedente = m_targetSteer;
}
else
{
m_targetSteer = m_targetSteer_precedente;
m_targetSteer_precedente = m_targetSteer;
}
}
PIDControllerSterzata.pFactor = _pidPars.p_sterzataPCH;
PIDControllerSterzata.iFactor = _pidPars.i_sterzataPCH;
PIDControllerSterzata.dFactor = _pidPars.d_sterzataPCH;
if (sbacchettamentoEvitabile)
{
PIDControllerSterzata.dFactor = 0f;
}
else
{
PIDControllerSterzata.dFactor = 0.3f;
//if (sbacchettamentoForte)
//{
// PIDControllerSterzata.dFactor = 0.3f;
//}
//else
//{
// PIDControllerSterzata.dFactor = 0.3f;
//}
}
float turnPrecedente = vehicleController.steerInput * 45f;
float steeringAngle = PIDControllerSterzata.UpdatePars(m_targetSteer, turnPrecedente, Time.fixedDeltaTime);
//float steeringAngle = m_targetSteer;
//Limit the steering angle
steeringAngle = Mathf.Clamp(steeringAngle, -45, 45);
float differenzaTurn = Math.Abs(steeringAngle - turnPrecedente);
averageSteeringAngle = averageSteeringAngle + ((steeringAngle - averageSteeringAngle) / _pidPars.indiceSterzataCurva);
if (Mathf.Abs(averageSteeringAngle - turnPrecedente) <= _pidPars.puntoMortoSterzata)
{
averageSteeringAngle = turnPrecedente;
}
averageSteeringAngle = Mathf.Clamp(Mathf.Lerp(turnPrecedente, averageSteeringAngle, steerSpeed * Time.fixedDeltaTime), -45f, 45f);
vehicleController.steerInput = averageSteeringAngle / 45f;
//vehicleController.steerInput = steeringAngle / 45f;
//FINE STEERCAR
if (averageSteeringAngle > 5f || averageSteeringAngle < -5f)
{
//targetSpeed = targetSpeed * Mathf.Clamp(1 - (currentTurn / maxTurn), 0.1f, 1f);
targetSpeed = targetSpeed * Mathf.Clamp(1 - (Math.Abs(averageSteeringAngle) / 45), 0.2f, 1f);
}
MoveCarUtenteAccelerazione();
}
void EnvironmentDetect()
{
LayerMask mask = (1 << LayerMask.NameToLayer("Traffic")) | (1 << LayerMask.NameToLayer("obstacle")) | (1 << LayerMask.NameToLayer("EnvironmentProp")) | (1 << LayerMask.NameToLayer("Signage")); //restrict OverlapSphere only to the layers of interest
Collider[] colls = Physics.OverlapSphere(gameObject.transform.position, 50.0f, mask);
HashSet <Transform> curColls = new HashSet <Transform>(); //this is to store the root transform of the colliders returned by OverlapSphere
Timer -= Time.deltaTime; //thanks to this timer cubes and tags are instantiated only every 0.1 ms
if (Timer <= 0f)
{
foreach (KeyValuePair <GameObject, GameObject> pair in cubesAndTags)
{
Destroy(pair.Key);
Destroy(pair.Value);
//Debug.Log("destroyed" + g + "update is: " + i);
}
cubesAndTags.Clear();
foreach (Collider c in colls)
{
switch (c.gameObject.layer)
{
case 16:
{ //EnvironmentProp: remember that when you instantiate using transform.position it refers to the pivot and not to the center of the mesh; //so if there is still an offset between the bounding cube and the mesh is due to the pivot point
Bounds bounds = new Bounds();
if (c.transform.tag.Equals("Tree"))
{
CapsuleCollider capsCol = c as CapsuleCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * new Vector3(capsCol.center.x * c.transform.localScale.x, capsCol.center.y * c.transform.localScale.y, capsCol.center.z * c.transform.localScale.z);
bounds.size = new Vector3(capsCol.radius * 2.0f * c.transform.localScale.x, capsCol.radius * 2.0f * c.transform.localScale.y, capsCol.height * c.transform.localScale.z);
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag offset
traslL = new Vector3(traslL.x * 0.5f + 2.0f, 0, 0);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
Debug.Log(c.transform.name + ", " + traslL);
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 10.0f)
{
infos[0] = "0"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString();
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], infos));
}
}
else if (c.transform.tag.Equals("Rock"))
{
SphereCollider sphereCol = c as SphereCollider;
bounds.center = Quaternion.Euler(c.transform.localEulerAngles) * new Vector3(sphereCol.center.x * c.transform.localScale.x, sphereCol.center.y * c.transform.localScale.y, sphereCol.center.z * c.transform.localScale.z);
bounds.size = new Vector3(sphereCol.radius * 2.0f * c.transform.localScale.x, sphereCol.radius * 2.0f * c.transform.localScale.y, sphereCol.radius * 2.0f * c.transform.localScale.z);
Vector3 traslL = Quaternion.Euler(c.transform.localEulerAngles) * bounds.size; //infoTag offset
traslL = new Vector3(traslL.x * 0.5f + 2.0f, traslL.y * 0.5f, 0);
Vector3 traslR = new Vector3(-traslL.x, traslL.y, traslL.z);
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
if (dist <= 10.0f)
{
infos[0] = "0"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString();
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), CreateInfoTag(c.transform.position + bounds.center, traslL, traslR, sprites[28], infos));
}
}
}
break;
case 17:
{ //Signage
Bounds bounds = new Bounds();
BoxCollider boxCol = c as BoxCollider;
bounds.center = boxCol.center;
bounds.size = boxCol.size * 1.25f;
float dist = CalculateDistance(rayCastPos.position, c.transform.position + bounds.center);
infos[0] = "0"; //speed of EnvironmentProp is null
infos[1] = Mathf.RoundToInt(dist).ToString();
infos[2] = "";
cubesAndTags.Add(CreateBoundingCube(c.transform, c.transform.position + bounds.center, bounds.size), new GameObject());
}
break;
case 12:
{ //obstacle
Bounds bounds = ComputeBounds(c.transform);
infos[0] = Mathf.RoundToInt(CalculateObstacleSpeed(c.transform)).ToString();
infos[1] = Mathf.RoundToInt(CalculateDistance(rayCastPos.position, bounds.center)).ToString();
infos[2] = "";
//cubesAndTags.Add(CreateBoundingCube(c.transform, bounds.center, bounds.size), CreateInfoTag(bounds.center, bounds.size, sprites[28], infos));
}
break;
case 8:
{ //Traffic
if (!curColls.Contains(c.transform.root))
{ //this is in order to check if an object has more colliders than one; if so, one is sufficient so simply discard other otherwise the cube instantiated would be equal to the number of colliders
Bounds bounds = ComputeBounds(c.transform.root);
TrafPCH trafPCH = c.transform.root.GetComponent <TrafPCH>();
if (trafPCH != null)
{
float speed = trafPCH.currentSpeed;
infos[0] = Mathf.RoundToInt(speed * 3.6f).ToString();
infos[1] = Mathf.RoundToInt(CalculateDistance(rayCastPos.position, bounds.center)).ToString();
infos[2] = "";
//cubesAndTags.Add(CreateBoundingCube(c.transform.root, bounds.center, bounds.size), CreateInfoTag(bounds.center, bounds.size, sprites[0], infos));
curColls.Add(c.transform.root);
}
}
}
break;
}
}
Timer = 0.1f;
}
//i++;
}
void EnvironmentDetect()
{
List <CubesAndTags> objectsList = new List <CubesAndTags>(IDsAndGos.Values);
for (int i = 0; i < objectsList.Count; i++)
{
if (objectsList[i].other != null)
{
float dist = CalculateDistance(rayCastPos.position, objectsList[i].other.transform.position); //this distance does not include bounds since it cannot always be precomputed, for example, this is the case of moving objects
switch (objectsList[i].other.gameObject.layer)
{
case 16:
{
Bounds bounds = objectsList[i].bounds[0];
Sprite sprite = objectsList[i].other.GetComponent <Image>().sprite;
if (BOUNDINGCUBE)
{
riskAssessment.BoundingCubeLerperPCH(objectsList[i], bounds, sprite, ReturnTrasl(bounds, objectsList[i].other), 0);
}
//else
// riskAssessment.InfoTagWarn(objectsList[i], bounds, sprite, ReturnTrasl(bounds, objectsList[i].other), 0);
}
break;
case 17: //Signage
{
float dotProduct = Vector3.Dot(gameObject.transform.TransformDirection(Vector3.forward), objectsList[i].other.transform.TransformDirection(Vector3.up));
Animator anim = objectsList[i].infoTag[0].GetComponent <Animator>();
if (dotProduct >= -1 && dotProduct <= -0.707f)
{
Bounds bounds = objectsList[i].bounds[0];
int spriteIndex = CSVSignDictionary[objectsList[i].other.name];
objectsList[i].boundingCube[0].GetComponent <Renderer>().enabled = true;
objectsList[i].infoTag[0].GetComponent <Canvas>().enabled = true;
UpdateInfoTag(objectsList[i], bounds, "", ResourceHandler.instance.sprites[spriteIndex], dist, Vector3.zero, 0);
if (objectsList[i].other.transform.name.Equals("StopSign") || objectsList[i].other.transform.parent.name.Equals("SpeedLimit") || objectsList[i].other.transform.parent.name.Equals("FallenRocksSign"))
{
if (dist <= 40)
{
anim.SetBool("Blink", true);
}
else
{
anim.SetBool("Blink", false);
}
}
}
else
{
objectsList[i].boundingCube[0].GetComponent <Renderer>().enabled = false;
objectsList[i].infoTag[0].GetComponent <Canvas>().enabled = false;
if (objectsList[i].other.transform.name.Equals("StopSign") || objectsList[i].other.transform.parent.name.Equals("SpeedLimit") || objectsList[i].other.transform.parent.name.Equals("FallenRocksSign"))
{
anim.SetBool("Blink", false);
}
}
}
break;
case 12:
{
Bounds bounds = objectsList[i].bounds[0];
Sprite sprite = objectsList[i].other.GetComponent <Image>().sprite;
if (/*BOUNDINGCUBE*/ !objectsList[i].other.CompareTag("Rock"))
{
riskAssessment.BoundingCubeLerperObstaclePCH(objectsList[i], bounds, CalculateObstacleSpeed(objectsList[i].other.transform), 0, sprite, Vector3.zero, 0);
}
else
{
riskAssessment.BoundingCubeLerperDangerousCarPCH(objectsList[i], bounds, 0, ResourceHandler.instance.visualisationVars.obstacleDistToWarn, 25f, sprite, Vector3.zero, 0); //Rock uses pure distance evaluation for danger
}
}
break;
case 8:
{
Debug.DrawLine(objectsList[i].other.transform.position, rayCastPos.position, Color.green);
Bounds bounds = objectsList[i].bounds[0];
TrafPCH trafPCH = objectsList[i].other.transform.root.GetComponent <TrafPCH>();
if (trafPCH != null)
{
float speed = trafPCH.currentSpeed;
float acceleration = trafPCH.accelerazione;
Sprite sprite = objectsList[i].other.GetComponent <Image>().sprite;
if (/*BOUNDINGCUBE*/ objectsList[i].other.transform.root.CompareTag("DangerousCar"))
{
if (trafPCH.currentWaypointIndex < 1970) //overtaking Car
{
riskAssessment.BoundingCubeLerperDangerousCarPCH(objectsList[i], bounds, speed, ResourceHandler.instance.visualisationVars.obstacleDistToWarn, 25f, sprite, Vector3.zero, 0);
}
else
{
riskAssessment.BoundingCubeLerperDangerousCarPCH(objectsList[i], bounds, speed, ResourceHandler.instance.visualisationVars.DangerousCarDistToWarn, 25f, sprite, Vector3.zero, 0);
}
}
//riskAssessment.BoundingCubeLerperPCH(objectsList[i], bounds, speed, acceleration, sprite, Vector3.zero, 0);
else
{
riskAssessment.BoundingCubeLerperPCH(objectsList[i], bounds, speed, acceleration, sprite, Vector3.zero, 0);
}
}
}
break;
}
}
}
}
