Object avoidance

autocopylot/Assets/Packages/PathCreator/Core/Runtime/Objects/BezierPath.cs

@@ -361,7 +361,7 @@ public void MovePoint (int i, Vector3 pointPos, bool suppressPathModifiedEvent =
                 points[i] = pointPos;
 
                 if (controlMode == ControlMode.Automatic) {
-                    AutoSetAllAffectedControlPoints (i);
+                    AutoSetAllControlPoints();
                 } else {
                     // Move control points with anchor point
                     if (isAnchorPoint) {

autocopylot/Assets/Scenes/RandomizedTrack.unity

@@ -1316,7 +1316,7 @@ Mesh:
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: pb_Mesh-21298
+  m_Name: pb_Mesh-1368
   serializedVersion: 10
   m_SubMeshes:
   - serializedVersion: 2
@@ -1638,10 +1638,10 @@ Light:
     m_Type: 2
     m_Resolution: -1
     m_CustomResolution: -1
-    m_Strength: 0.5
-    m_Bias: 0.05
-    m_NormalBias: 0.4
-    m_NearPlane: 0.2
+    m_Strength: 1
+    m_Bias: 0.01
+    m_NormalBias: 0
+    m_NearPlane: 0.1
     m_CullingMatrixOverride:
       e00: 1
       e01: 0

autocopylot/Assets/Scripts/Car.cs

@@ -50,8 +50,17 @@ void Update()
         counter += timesteps;
         if (counter > RandomizeEvery)
         {
+            Vector3 pos = transform.position;
             Randomize();
+
+            // get time from position
+            t = carPath.CarSpline.path.GetClosestTimeOnPath(pos);
+            carPath.t = t;
+            carPath.prevDist = carPath.CarSpline.path.GetClosestDistanceAlongPath(pos);
+
+            t += timesteps;
             carPath.UpdateTransform(t);
+
             counter = 0.0f;
         }
         else

autocopylot/Assets/Scripts/CarPath.cs

@@ -50,37 +50,69 @@ public class CarPath : MonoBehaviour
     public float turnTh = 20f;
     public bool doDrawTurns = true;
 
-    private float t = 0.0f;
+    public float t = 0.0f;
     private float dt = 0.0f;
-    private float prevDist = 0.0f;
+    public float prevDist = 0.0f;
     private int laneRes = 10;
     private float laneDist = 2.0f;
 
     private (float, Vector3)[] zones;
     private float[] averagedAngles;
 
+    public int numObstacles = 1;
+    private (int, Vector3)[] previous_offsets;
+
 
     public void Start()
     {
         if (RoadSpline == null || TrajectorySpline == null || CarSpline == null)
             throw new ArgumentNullException("RoadSpline, TrajectorySpline or CarSpline is null");
+
+        if (previous_offsets == null)
+            previous_offsets = new (int, Vector3)[numObstacles];
 
+        CreateObstacles();
         CreateCarSpline();
         CreateZone();
     }
+    public void CreateObstacles()
+    {
+
+        foreach ((int index, Vector3 prevoffset) in previous_offsets)
+        {
+            TrajectorySpline.bezierPath.SetPoint(index, TrajectorySpline.bezierPath.GetPoint(index) - prevoffset);
+        }
+
+        for (int i = 0; i < numObstacles; i++)
+        {
+            // Offset a random point to insert an obstacle on the road
+            int randomPoint = UnityEngine.Random.Range(0, TrajectorySpline.bezierPath.NumSegments) * 3;
+            float offset = UnityEngine.Random.Range(0.3f, 0.5f);
+            bool sign = UnityEngine.Random.Range(0, 2) == 0 ? true : false;
+            if (sign)
+                offset = -offset;
+
+            Vector3 point = TrajectorySpline.bezierPath.GetPoint(randomPoint);
+            Vector3 normal = TrajectorySpline.path.GetNormalAtDistance(TrajectorySpline.path.GetClosestDistanceAlongPath(point));
+            Vector3 offsetPoint = offset * normal;
+            previous_offsets[i] = (randomPoint, offsetPoint);
+            TrajectorySpline.bezierPath.MovePoint(randomPoint, point + offsetPoint);
+        }
+    }
 
     public void CreateCarSpline()
     {
         int step = 6;
-        int numPoints = RoadSpline.path.NumPoints / step;
+        int numPoints = TrajectorySpline.path.NumPoints / step;
         Vector3[] points = new Vector3[numPoints];
         for (int i = 0; i < points.Length; i++)
         {
-            points[i] = RoadSpline.path.GetPoint(i * step) - RoadSpline.transform.position + RoadSpline.path.GetNormal(i) * UnityEngine.Random.Range(-RandomDist, RandomDist);
+            points[i] = TrajectorySpline.path.GetPoint(i * step) - TrajectorySpline.transform.position + TrajectorySpline.path.GetNormal(i) * UnityEngine.Random.Range(-RandomDist, RandomDist);
             points[i] += Vector3.up * UnityEngine.Random.Range(minSpeed, maxSpeed);
         }
         BezierPath bezierPath = new BezierPath(points, true, PathSpace.xyz);
         CarSpline.bezierPath = bezierPath;
+        // TODO do the same with
     }
 
     public void CreateZone()
@@ -159,7 +191,7 @@ public void UpdateTransform(float t)
         transform.rotation = Quaternion.LookRotation(diff);
 
         speed = (v1.y + v2.y) / 2.0f;
-        prevDist = dist; ;
+        prevDist = dist;
         this.t = t;
     }
 
@@ -275,13 +307,12 @@ public void OnDrawGizmos()
                 if (averagedAngles[i] > turnTh)
                     Gizmos.DrawSphere(RoadSpline.path.GetPointAtDistance(i * pointsEvery), averagedAngles[i] / 180.0f);
             }
-        }
 
-        Vector3[] trajectory = GetTrajectory();
-        foreach (Vector3 trajectoryPoint in trajectory)
-        {
-            Gizmos.DrawSphere(trajectoryPoint + pos, 0.1f);
-            // Debug.Log(trajectoryPoint);
+            Vector3[] trajectory = GetTrajectory();
+            foreach (Vector3 trajectoryPoint in trajectory)
+            {
+                Gizmos.DrawSphere(trajectoryPoint + pos, 0.1f);
+            }
         }
     }
 }

autocopylot/Assets/Scripts/GenerateRoad.cs

@@ -134,7 +134,7 @@ public void GenerateSplines()
 
     private void PathUpdated()
     {
-        if (DoBuildRoad && RoadSpline != null)
+        if (DoBuildRoad)
         {
             AssignMeshComponents();
             AssignMaterials();

autocopylot/ProjectSettings/QualitySettings.asset

@@ -18,7 +18,7 @@ QualitySettings:
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 0
-    blendWeights: 1
+    skinWeights: 1
     textureQuality: 1
     anisotropicTextures: 0
     antiAliasing: 0
@@ -40,6 +40,7 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   - serializedVersion: 2
     name: Low
@@ -53,7 +54,7 @@ QualitySettings:
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 0
-    blendWeights: 2
+    skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 0
     antiAliasing: 0
@@ -75,6 +76,7 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   - serializedVersion: 2
     name: Medium
@@ -88,7 +90,7 @@ QualitySettings:
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 0
-    blendWeights: 2
+    skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
     antiAliasing: 0
@@ -110,6 +112,7 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   - serializedVersion: 2
     name: High
@@ -123,7 +126,7 @@ QualitySettings:
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 1
-    blendWeights: 2
+    skinWeights: 2
     textureQuality: 0
     anisotropicTextures: 1
     antiAliasing: 0
@@ -145,6 +148,7 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   - serializedVersion: 2
     name: Very High
@@ -158,7 +162,7 @@ QualitySettings:
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 1
-    blendWeights: 4
+    skinWeights: 4
     textureQuality: 0
     anisotropicTextures: 2
     antiAliasing: 2
@@ -180,24 +184,25 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   - serializedVersion: 2
     name: Ultra
     pixelLightCount: 4
     shadows: 2
-    shadowResolution: 2
+    shadowResolution: 3
     shadowProjection: 1
     shadowCascades: 4
     shadowDistance: 150
     shadowNearPlaneOffset: 3
     shadowCascade2Split: 0.33333334
     shadowCascade4Split: {x: 0.06666667, y: 0.2, z: 0.46666667}
     shadowmaskMode: 1
-    blendWeights: 4
+    skinWeights: 4
     textureQuality: 0
     anisotropicTextures: 2
-    antiAliasing: 2
-    softParticles: 1
+    antiAliasing: 4
+    softParticles: 0
     softVegetation: 1
     realtimeReflectionProbes: 1
     billboardsFaceCameraPosition: 1
@@ -215,6 +220,7 @@ QualitySettings:
     asyncUploadBufferSize: 16
     asyncUploadPersistentBuffer: 1
     resolutionScalingFixedDPIFactor: 1
+    customRenderPipeline: {fileID: 0}
     excludedTargetPlatforms: []
   m_PerPlatformDefaultQuality:
     Android: 2

autocopylot/ProjectSettings/TimelineSettings.asset

@@ -0,0 +1,15 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &1
+MonoBehaviour:
+  m_ObjectHideFlags: 61
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: a287be6c49135cd4f9b2b8666c39d999, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  assetDefaultFramerate: 60