Lights, Collisions, Cars..

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+  m_TagString: Untagged
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Assets/Prefabs/TrafficLights.prefab.meta

@@ -0,0 +1,7 @@
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+guid: ddcc2360f2a25435286f75ef787bbb91
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/LayerCollisionHandler.cs

@@ -0,0 +1,24 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class LayerCollisionHandler : MonoBehaviour
+{
+    public int[] ignoreLayers;
+
+    private bool recursiveIgnore;
+    // Start is called before the first frame update
+    void Start()
+    {
+        foreach (int layer in ignoreLayers)
+        {
+            Physics.IgnoreLayerCollision(this.gameObject.layer,layer);            
+        }
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}

Assets/Scripts/LayerCollisionHandler.cs.meta

@@ -0,0 +1,11 @@
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+MonoImporter:
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Assets/Scripts/TrafficSimulation/CarPool.cs

@@ -1,6 +1,8 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
+using UnityEngine.Assertions.Must;
+using UnityEngine.Serialization;
 
 namespace TrafficSimulation{
     public class CarPool : MonoBehaviour
@@ -10,7 +12,8 @@ namespace TrafficSimulation{
         public List<GameObject> carModels;
         public List<GameObject> pooledCars;
         public int poolSize;
-
+        public bool randomizeRayLength = false;
+        public int rayRandomizeRange = 4;
         void Awake() {
             SharedInstance = this;    
             pooledCars = new List<GameObject>();
@@ -54,19 +57,36 @@ namespace TrafficSimulation{
                 Debug.Log("No car was available. Spawn aborted");
                 return null;
             }
-            car.transform.position = spawnPos;
+            PrepareCarToSpawn(car, spawnPos, spawnRot, lookAt);
-            car.transform.rotation = spawnRot;
+            return car;
+        }
+        public void DespawnCar(GameObject car){
+            car.SetActive(false);
+        }
+
+        private void PrepareCarToSpawn(GameObject car,Vector3 position, Quaternion rotation,Transform lookAt)
+        {
+            //Position + Rotation + Lookat
+            car.transform.position = position;
+            car.transform.rotation = rotation;
             if(lookAt != null)
             {
                 car.transform.LookAt(lookAt);
             }
+            
+            //Status correction. Necessary when the car was despawned while in intersection
             VehicleAI ai = car.GetComponent<VehicleAI>();
             ai.vehicleStatus = Status.GO;
+
+            //If given, randomize RaycastLength
+            if (this.randomizeRayLength)
+            {
+                float defaultLength = ai.raycastLength;
+                ai.raycastLength = Random.Range(defaultLength - this.rayRandomizeRange,
+                    defaultLength + rayRandomizeRange);
+            }
+            
             car.SetActive(true);
-            return car;
-        }
-        public void DespawnCar(GameObject car){
-            car.SetActive(false);
         }
     }
 }

ProjectSettings/DynamicsManager.asset

@@ -18,7 +18,7 @@ PhysicsManager:
   m_ClothInterCollisionDistance: 0.1
   m_ClothInterCollisionStiffness: 0.2
   m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: dbefffffdbefffffc8e0ffffffffffffdbefffffe8e0ffffffffffffffffffffdbedffffdbe4ffffdbefffffdbfdffffc8e8ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: dbefffffdbefffffc8e0ffffffffffffdbefffffe860ffffffffffffffffffffdb6dffffdb64ffffdbefffffdbfdffffc868ffffffffffffffffffffdfecffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 0
   m_ReuseCollisionCallbacks: 1