public void RefreshPath()
{
if (pathCreator != null)
{
path = pathCreator.path;
}
distanceTravelled = path.GetClosestDistanceAlongPath(transform.position);
}
IEnumerator Following(VertexPath path)
{
Vector3 lastPoint = path.GetPointAtTime(1f, EndOfPathInstruction.Stop);
float befDist = 0.5f;
if (stopped == false)
{
while (DistanceXZ(transform.position, lastPoint) > 0.5f)
{
float distance = Vector3.Distance(this.transform.position, lastPoint);
if (distance < stopDistance)
{
stopped = true;
body.velocity = Vector3.zero;
}
body.velocity = Vector3.ClampMagnitude(body.velocity, maxSpeed);
body.AddForce(transform.forward * followSpeed, ForceMode.VelocityChange);
float dist = path.GetClosestDistanceAlongPath(transform.position);
if (dist < befDist)
{
dist = befDist;
}
else
{
befDist = dist;
}
Vector3 nextPoint = path.GetPointAtDistance(dist + followSpeed, EndOfPathInstruction.Stop);
Vector3 diff = nextPoint - transform.position;
diff.y = 0;
diff.Normalize();
Debug.DrawLine(transform.position, nextPoint, Color.red);
Debug.DrawRay(transform.position, diff, Color.gray);
float angle = Mathf.Atan2(diff.x, diff.z) * Mathf.Rad2Deg;
transform.rotation = Quaternion.RotateTowards(transform.rotation, Quaternion.AngleAxis(angle, Vector3.up), rotateSpeed * Time.fixedDeltaTime);
yield
return(new WaitForFixedUpdate());
}
body.velocity = Vector3.zero;
}
}
private void FixedUpdate()
{
for (int i = 0; i < AICars.Length; i++)
{
Vector3 nextPoint = path.GetPointAtDistance(path.GetClosestDistanceAlongPath(AICars[i].transform.position) + AICars[i].AIDistanceFactor);
float signedAngle = Vector2.SignedAngle(AICars[i].transform.up, nextPoint - AICars[i].transform.position);
bool invert = false;
if (Mathf.Abs(signedAngle) < 107)
{
AICars[i].Forward();
}
else
{
AICars[i].Backward();
invert = true;
}
if (signedAngle > 5)
{
if (!invert)
{
AICars[i].Left();
}
else
{
AICars[i].Right();
}
}
else if (signedAngle < -5)
{
if (!invert)
{
AICars[i].Right();
}
else
{
AICars[i].Left();
}
}
}
}
//public override void CollectObservations(VectorSensor sensor)
//{
// // # Basic information
// Rigidbody rBody = GetComponent<Rigidbody>();
// // Agent positions & velocity
// sensor.AddObservation(this.transform.localPosition);
// sensor.AddObservation(rBody.velocity);
// // # Collect Path's observations
// float centerDistance = vertexPath.GetClosestDistanceAlongPath(this.transform.localPosition);
// for (int d = tickerStart; d <= tickerEnd; d++)
// {
// float distance = centerDistance + d * tickerSpace;
// Vector3 point = vertexPath.GetPointAtDistance(distance, EndOfPathInstruction.Loop);
// Vector3 normal = vertexPath.GetNormalAtDistance(distance, EndOfPathInstruction.Loop);
// AddObservationInXYZMode(sensor, point);
// AddObservationInXYZMode(sensor, normal);
// }
// // # Padding observations
// // If custom setting will have too more observations and cause the buffer overflow, We
// // must warn user (in Pyhon interface level).
// // Here we are padding the observation buffer with all zero
// int MaxObservationSize = GetComponent<BehaviorParameters>().BrainParameters.VectorObservationSize;
// for (int i = 0; i < MaxObservationSize - ObservationSize; i++)
// sensor.AddObservation(0);
//}
public override void CollectObservations(VectorSensor sensor)
{
// # Basic information
Rigidbody rBody = GetComponent <Rigidbody>();
// Agent velocity
sensor.AddObservation(this.transform.localPosition);
sensor.AddObservation(rBody.velocity);
// # Collect Path's basic information
float centerDistance = vertexPath.GetClosestDistanceAlongPath(this.transform.localPosition);
Vector3 direction = vertexPath.GetDirectionAtDistance(centerDistance);
// Check clockwise direction & determine ticker's start and end
bool clockwise = (Vector3.Dot(rBody.velocity, direction) >= 0);
int t_s = clockwise ? tickerStart : -tickerEnd;
int t_e = clockwise ? tickerEnd : -tickerStart;
// # Collect Path's observations
for (int d = t_s; d <= t_e; d++)
{
float distance = centerDistance + d * tickerSpace;
Vector3 point = vertexPath.GetPointAtDistance(distance, EndOfPathInstruction.Loop);
Vector3 normal = vertexPath.GetNormalAtDistance(distance, EndOfPathInstruction.Loop);
AddObservationInXYZMode(sensor, point - this.transform.localPosition);
AddObservationInXYZMode(sensor, normal);
}
// # Padding observations
// If custom setting will have too more observations and cause the buffer overflow, We
// must warn user (in Pyhon interface level).
// Here we are padding the observation buffer with all zero
int MaxObservationSize = GetComponent <BehaviorParameters>().BrainParameters.VectorObservationSize;
for (int i = 0; i < MaxObservationSize - ObservationSize; i++)
{
sensor.AddObservation(0);
}
}
