VRCycling/Assets/Scripts/TrafficSimulation/VehicleAI.cs

// Traffic Simulation
// https://github.com/mchrbn/unity-traffic-simulation

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

namespace TrafficSimulation {

    /*
        [-] Check prefab #6 issue
        [-] Deaccelerate when see stop in front
        [-] Smooth sharp turns when two segments are linked
        
    */

    public struct Target{
        public int segment;
        public int waypoint;
    }

    public enum Status{
        GO,
        STOP,
        SLOW_DOWN
    }

    public class VehicleAI : MonoBehaviour
    {
        [Header("Traffic System")]
        [Tooltip("Current active traffic system")]
        public TrafficSystem trafficSystem;

        [Tooltip("Determine when the vehicle has reached its target. Can be used to \"anticipate\" earlier the next waypoint (the higher this number his, the earlier it will anticipate the next waypoint)")]
        public float waypointThresh = 6;


        [Header("Radar")]

        [Tooltip("Empty gameobject from where the rays will be casted")]
        public Transform raycastAnchor;

        [Tooltip("Length of the casted rays")]
        public float raycastLength = 5;

        [Tooltip("Spacing between each rays")]
        public int raySpacing = 2;

        [Tooltip("Number of rays to be casted")]
        public int raysNumber = 6;

        [Tooltip("If detected vehicle is below this distance, ego vehicle will stop")]
        public float emergencyBrakeThresh = 2f;

        [Tooltip("If detected vehicle is below this distance (and above, above distance), ego vehicle will slow down")]
        public float slowDownThresh = 4f;

        [HideInInspector] public Status vehicleStatus = Status.GO;

        private WheelDrive wheelDrive;
        private float initMaxSpeed = 0;
        private int pastTargetSegment = -1;
        private Target currentTarget;
        private Target futureTarget;

        void Start()
        {
            wheelDrive = this.GetComponent<WheelDrive>();

            if(trafficSystem == null)
                return;

            initMaxSpeed = wheelDrive.maxSpeed;
            SetWaypointVehicleIsOn();
        }

        private void FixedUpdate()
        {
            if (trafficSystem == null)
                return;

            WaypointChecker();
            MoveVehicle();
        }


        void WaypointChecker()
        {
            GameObject waypoint = trafficSystem.segments[currentTarget.segment].waypoints[currentTarget.waypoint].gameObject;

            //Position of next waypoint relative to the car
            Vector3 wpDist = this.transform.InverseTransformPoint(new Vector3(waypoint.transform.position.x, this.transform.position.y, waypoint.transform.position.z));

            //Go to next waypoint if arrived to current
            if(wpDist.magnitude < waypointThresh)
            {
                //Get next target
                currentTarget.waypoint++;
                if(currentTarget.waypoint >= trafficSystem.segments[currentTarget.segment].waypoints.Count)
                {
                    pastTargetSegment = currentTarget.segment;
                    currentTarget.segment = futureTarget.segment;
                    currentTarget.waypoint = 0;
                }

                //Get future target
                futureTarget.waypoint = currentTarget.waypoint + 1;
                if(futureTarget.waypoint >= trafficSystem.segments[currentTarget.segment].waypoints.Count)
                {
                    futureTarget.waypoint = 0;
                    futureTarget.segment = GetNextSegmentId();
                }
            }
        }

        void MoveVehicle()
        {
            //Default, full acceleration, no break and no steering
            float acc = 1;
            float brake = 0;
            float steering = 0;
            wheelDrive.maxSpeed = initMaxSpeed;

            //Calculate if there is a planned turn
            Transform targetTransform = trafficSystem.segments[currentTarget.segment].waypoints[currentTarget.waypoint].transform;
            Transform futureTargetTransform = trafficSystem.segments[futureTarget.segment].waypoints[futureTarget.waypoint].transform;
            Vector3 futureVel = futureTargetTransform.position - targetTransform.position;
            float futureSteering = Mathf.Clamp(this.transform.InverseTransformDirection(futureVel.normalized).x, -1, 1);

            //Check if the car has to stop
            if(vehicleStatus == Status.STOP)
            {
                //Debug.Log(gameObject.name + ":STOP");
                acc = 0;
                brake = 1;

                //wheelDrive.maxSpeed = Mathf.Min(wheelDrive.maxSpeed / 2f, 5f);
                wheelDrive.maxSpeed = 0f;
            }
            else{
                
                //Not full acceleration if have to slow down
                if(vehicleStatus == Status.SLOW_DOWN){
                    //Debug.Log(gameObject.name + ": SLOW DOWN");
                    acc = .3f;
                    brake = 0f;
                }

                //If planned to steer, decrease the speed
                if(futureSteering > .3f || futureSteering < -.3f)
                {
                    //Debug.Log( gameObject.name + " :Future Steering. Decrease Speed");
                    wheelDrive.maxSpeed = Mathf.Min(wheelDrive.maxSpeed, wheelDrive.steeringSpeedMax);
                }

                //2. Check if there are obstacles which are detected by the radar
                float hitDist;
                GameObject obstacle = GetDetectedObstacles(out hitDist);
                //Check if we hit something
                if(obstacle != null){
                    //Debug.Log(gameObject.name + ": Obstacle detected  " + obstacle.name + "!");
                    WheelDrive otherVehicle = null;
                    otherVehicle = obstacle.GetComponent<WheelDrive>();

                    ///////////////////////////////////////////////////////////////
                    //Differenciate between other vehicles AI and generic obstacles (including controlled vehicle, if any)
                    if(otherVehicle != null){
                        //Check if it's front vehicle
                        float dotFront = Vector3.Dot(this.transform.forward, otherVehicle.transform.forward);

                        //If detected front vehicle max speed is lower than ego vehicle, then decrease ego vehicle max speed
                        //if(otherVehicle.maxSpeed < wheelDrive.maxSpeed  && otherVehicle.maxSpeed > 0 && dotFront > .8f)
                        if (otherVehicle.maxSpeed < wheelDrive.maxSpeed && otherVehicle.maxSpeed > 0 && dotFront > .8f)
                        {
                            float ms = Mathf.Max(wheelDrive.GetSpeedMS(otherVehicle.maxSpeed) - .5f, .1f);
                            //Debug.Log(obstacle.name + " slower. lower speed of " +gameObject.name + " to " + wheelDrive.GetSpeedUnit(ms) + "!");
                            wheelDrive.maxSpeed = wheelDrive.GetSpeedUnit(ms);
                        }
                        else if(otherVehicle.maxSpeed == 0f)
                        {
                            //Debug.Log(gameObject.name + ": Stopping because of " + obstacle.name  +"!");
                            acc = 0;
                            brake = 1;
                            wheelDrive.maxSpeed = 0f;
                        }

                        
                        //If the two vehicles are too close, and facing the same direction, brake the ego vehicle
                        if(hitDist < emergencyBrakeThresh && dotFront > .8f)
                        {
                            //Debug.Log(gameObject.name + "Two close, same direction. Breaking");
                            acc = 0;
                            brake = 1;
                            wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);
                        }

                        //If the two vehicles are too close, and not facing same direction, slight make the ego vehicle go backward
                        else if(hitDist < emergencyBrakeThresh && dotFront <= .8f)
                        {
                            //Debug.Log(gameObject.name + "Too Close, not same direction. Go Backward");
                            acc = -.3f;
                            brake = 0f;
                            wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);

                            //Check if the vehicle we are close to is located on the right or left then apply according steering to try to make it move
                            float dotRight = Vector3.Dot(this.transform.forward, otherVehicle.transform.right);                            
                            if(dotRight > 0.1f)//Right
                            {
                                //Debug.Log("Steer left");
                                steering = -.2f;
                            }else if(dotRight < -0.1f) //Left
                            {
                                //Debug.Log("Steer right");
                                steering = .2f;
                            }else //Middle
                            {
                                //Debug.Log("Steer Middle");
                                 steering = -.7f;
                            } 
                        }
                        //If the two vehicles are getting close, slow down their speed
                        else if(hitDist < slowDownThresh && acc > 0)
                        {

                            //Debug.Log(gameObject.name + ": Too Close, Slow Down!");
                            acc = .5f;
                            brake = 0f;
                            //wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 1.5f, wheelDrive.minSpeed);
                        }
                    }
                    ///////////////////////////////////////////////////////////////////
                    // Generic obstacles
                    else
                    {
                        //Emergency brake if getting too close
                        if(hitDist < emergencyBrakeThresh)
                        {
                            acc = 0;
                            brake = 1;
                            wheelDrive.maxSpeed = Mathf.Max(wheelDrive.maxSpeed / 2f, wheelDrive.minSpeed);
                        }

                        //Otherwise if getting relatively close decrease speed
                         else if(hitDist < slowDownThresh)
                         {
                            acc = .5f;
                            brake = 0f;
                        }
                    }
                }

                //Check if we need to steer to follow path
                if(acc > 0f)
                {
                    Vector3 desiredVel = trafficSystem.segments[currentTarget.segment].waypoints[currentTarget.waypoint].transform.position - this.transform.position;
                    steering = Mathf.Clamp(this.transform.InverseTransformDirection(desiredVel.normalized).x, -1f, 1f);
                }

            }

            //Move the car
            wheelDrive.Move(acc, steering, brake);
        }


        GameObject GetDetectedObstacles(out float _hitDist)
        {
            GameObject detectedObstacle = null;
            float minDist = 1000f;

            float initRay = (raysNumber / 2f) * raySpacing;
            float hitDist =  -1f;
            for(float a=-initRay; a<=initRay; a+=raySpacing)
            {
                CastRay(raycastAnchor.transform.position, a, this.transform.forward, raycastLength, out detectedObstacle, out hitDist);

                if(detectedObstacle == null){
                    continue;
                } 
                float dist = Vector3.Distance(this.transform.position, detectedObstacle.transform.position);
                if(dist < minDist) 
                {
                    minDist = dist;
                    break;
                }
            }

            _hitDist = hitDist;
            return detectedObstacle;
        }

        
        void CastRay(Vector3 _anchor, float _angle, Vector3 _dir, float _length, out GameObject _outObstacle, out float _outHitDistance){
            _outObstacle = null;
            _outHitDistance = -1f;

            //Draw raycast
            Debug.DrawRay(_anchor, Quaternion.Euler(0, _angle, 0) * _dir * _length, new Color(1, 0, 0, 0.5f));

            //Detect hit only on the autonomous vehicle layer
            int layer = 1 << LayerMask.NameToLayer("AutonomousVehicle");
            int finalMask = layer;

            foreach(string layerName in trafficSystem.collisionLayers)
            {
                int id = 1 << LayerMask.NameToLayer(layerName);
                finalMask = finalMask | id;
            }

            RaycastHit hit;
            if(Physics.Raycast(_anchor, Quaternion.Euler(0, _angle, 0) * _dir, out hit, _length, finalMask))
            {
                _outObstacle = hit.collider.gameObject;
                _outHitDistance = hit.distance;
            }
        }

        int GetNextSegmentId()
        {
            if(trafficSystem.segments[currentTarget.segment].nextSegments.Count == 0)
            {
                return 0;
            }
            int c = Random.Range(0, trafficSystem.segments[currentTarget.segment].nextSegments.Count);
            return trafficSystem.segments[currentTarget.segment].nextSegments[c].id;
        }

        void SetWaypointVehicleIsOn()
        {
            //Find current target
            foreach(Segment segment in trafficSystem.segments)
            {
                if(segment.IsOnSegment(this.transform.position))
                {
                    currentTarget.segment = segment.id;

                    //Find nearest waypoint to start within the segment
                    float minDist = float.MaxValue;
                    for(int j=0; j<trafficSystem.segments[currentTarget.segment].waypoints.Count; j++)
                    {
                        float d = Vector3.Distance(this.transform.position, trafficSystem.segments[currentTarget.segment].waypoints[j].transform.position);

                        //Only take in front points
                        Vector3 lSpace = this.transform.InverseTransformPoint(trafficSystem.segments[currentTarget.segment].waypoints[j].transform.position);
                        if(d < minDist && lSpace.z > 0)
                        {
                            minDist = d;
                            currentTarget.waypoint = j;
                        }
                    }
                    break;
                }
            }

            //Get future target
            futureTarget.waypoint = currentTarget.waypoint + 1;
            futureTarget.segment = currentTarget.segment;

            if(futureTarget.waypoint >= trafficSystem.segments[currentTarget.segment].waypoints.Count)
            {
                futureTarget.waypoint = 0;
                futureTarget.segment = GetNextSegmentId();
            }
        }

        public int GetSegmentVehicleIsIn()
        {
            int vehicleSegment = currentTarget.segment;
            bool isOnSegment = trafficSystem.segments[vehicleSegment].IsOnSegment(this.transform.position);
            if(!isOnSegment)
            {
                bool isOnPSegement = trafficSystem.segments[pastTargetSegment].IsOnSegment(this.transform.position);
                if(isOnPSegement)
                    vehicleSegment = pastTargetSegment;
            }
            return vehicleSegment;
        }
    }
}