Improve AIPlayer script.

Assets/Plugins/Adrenak/Tork/AI/Demo/AIDemo.unity → Assets/Adrenak/Tork/AI/Demo/AIDemo.unity

@@ -2291,7 +2291,7 @@ GameObject:
   - component: {fileID: 1424718898}
   - component: {fileID: 1424718896}
   m_Layer: 0
-  m_Name: Sphere
+  m_Name: Target
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
@@ -2343,7 +2343,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1424718895}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 26.75, y: 0, z: 45.09}
+  m_LocalPosition: {x: 17.84, y: 0, z: 50.68}
   m_LocalScale: {x: 2.254064, y: 2.2540638, z: 2.2540638}
   m_Children: []
   m_Father: {fileID: 0}

Assets/Plugins/Adrenak/Tork/AI/Demo/Scripts/AIDemo.cs → Assets/Adrenak/Tork/AI/Demo/Scripts/AIDemo.cs

@@ -8,10 +8,10 @@ public class AIDemo : MonoBehaviour {
 		public Transform destination;
 
 		void Start() {
-			var player = vehicle.gameObject.AddComponent<AIPlayer>();
-			vehicle.SetPlayer(player);
+			var ai = vehicle.gameObject.AddComponent<AIPlayer>();
+			vehicle.SetPlayer(ai);
 
-			player.destination = destination;
+			ai.destination = destination;
 
 			follow.target = vehicle.transform;
 		}

Assets/Adrenak/Tork/AI/Scripts/AIPlayer.cs

@@ -0,0 +1,73 @@
+using UnityEngine;
+
+namespace Adrenak.Tork {
+	[RequireComponent(typeof(Steering))]
+	public class AIPlayer : Player {
+		enum Direction {
+			Forward,
+			Reverse
+		}
+
+		public Transform destination;
+		Direction m_Direction = Direction.Forward;
+		Vehicle m_Vehicle;
+		Steering m_Steering;
+
+		bool m_IsInTurningCircle;
+
+		void Start() {
+			m_Vehicle = GetComponent<Vehicle>();
+			m_Steering = GetComponent<Steering>();
+		}
+
+		public override VehicleInput GetInput() {
+			var towards = destination.position - transform.position;
+			var locTowards = transform.InverseTransformDirection(towards);
+			var angle = Vector3.Angle(transform.forward, towards) * Mathf.Sign(locTowards.x);
+			bool isTargetOnRight = Mathf.Sign(locTowards.x) > 0;
+			bool isBehind = Vector3.Dot(towards, transform.forward) < 0;
+
+			// Get radii at the maximum steering angle
+			// This gives is the smallest turning radius the car can have
+			var radii = Ackermann.GetRadii(
+				m_Vehicle.GetMaxSteerAtSpeed(m_Vehicle.Velocity.magnitude),
+				m_Steering.Ackermann.AxleSeparation,
+				m_Steering.Ackermann.AxleWidth
+			);
+			var avgRadius = (radii[0, 0] + radii[0, 1] + radii[1, 0] + radii[1, 1]) / 4;
+			avgRadius = Mathf.Abs(avgRadius);
+
+			// Find out if the target is inside the turning circle
+			var pivot = m_Steering.Ackermann.GetPivot();
+			var localPivot = transform.InverseTransformPoint(pivot);
+			var isPivotOnRight = Mathf.Sign(localPivot.x) > 0;
+			// If the target and pivot are on opposite sides of the car
+			// we move the pivot along the local X axis so we can do a valid comparision
+			if (isPivotOnRight != isTargetOnRight)
+				localPivot.x *= -1;
+			pivot = transform.TransformPoint(localPivot);
+			var isInCircle = (destination.position - pivot).magnitude < avgRadius;
+
+			switch (m_Direction) {
+				case Direction.Forward:
+					Debug.DrawLine(transform.position, pivot, Color.green);
+					p_Input.acceleration = 1;
+					p_Input.brake = 0;
+					p_Input.steering = Mathf.Clamp(angle / m_Steering.range, -1, 1);
+					if (isBehind && isInCircle)
+						m_Direction = Direction.Reverse;
+					break;
+				case Direction.Reverse:
+					Debug.DrawLine(transform.position, pivot, Color.red);
+					p_Input.acceleration = -1;
+					p_Input.brake = 0;
+					p_Input.steering = Mathf.Clamp(angle / m_Steering.range, -1, 1) * (isTargetOnRight ? -1 : 1);
+					if (!isBehind && !isInCircle)
+						m_Direction = Direction.Forward;
+					break;
+			}
+
+			return p_Input;
+		}
+	}
+}

Assets/Plugins/Adrenak/Tork/Common/Prefabs/Tocus.prefab → Assets/Adrenak/Tork/Common/Prefabs/Tocus.prefab

@@ -2663,7 +2663,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 1da1bb9a22dc0004c803629affe1f6df, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_Rigidbody: {fileID: 54767532765438496}
   m_MotorTorqueVsSpeed:
     serializedVersion: 2
     m_Curve:

Assets/Plugins/Adrenak/Tork/Physics/Scripts/Vehicle.cs → Assets/Adrenak/Tork/Physics/Scripts/Vehicle.cs

@@ -9,7 +9,7 @@ namespace Adrenak.Tork {
 	[RequireComponent(typeof(Steering))]
 	[RequireComponent(typeof(Brakes))]
 	public class Vehicle : MonoBehaviour {
-		[SerializeField] Rigidbody m_Rigidbody;
+		public Vector3 Velocity { get { return m_Rigidbody.velocity; } }
 
 		[Tooltip("The maximum motor torque available based on the speed (KMPH)")]
 		[SerializeField] AnimationCurve m_MotorTorqueVsSpeed = AnimationCurve.Linear(0, 10000, 250, 0);
@@ -20,13 +20,15 @@ public class Vehicle : MonoBehaviour {
 		[Tooltip("The down force based on the speed (KMPH)")]
 		[SerializeField] AnimationCurve m_DownForceVsSpeed = AnimationCurve.Linear(0, 0, 250, 2500);
 
+		Rigidbody m_Rigidbody;
 		Steering m_Steering;
 		Motor m_Motor;
 		Brakes m_Brake;
 		Aerodynamics m_Aerodynamics;
 		Player m_Player;
 
 		void Start() {
+			m_Rigidbody = GetComponent<Rigidbody>();
 			m_Steering = GetComponent<Steering>();
 			m_Motor = GetComponent<Motor>();
 			m_Aerodynamics = GetComponent<Aerodynamics>();
@@ -40,11 +42,11 @@ public void SetPlayer(Player player) {
 		void Update() {
 			if (m_Player == null) return;
 
-			var speed = Vector3.Dot(m_Rigidbody.velocity, transform.forward) * 3.6F;
+			var speed = m_Rigidbody.velocity.magnitude * 3.6F;
 
-			m_Steering.range = m_MaxSteeringAngleVsSpeed.Evaluate(speed);
-			m_Motor.maxTorque = m_MotorTorqueVsSpeed.Evaluate(speed);
-			m_Aerodynamics.downForce = m_DownForceVsSpeed.Evaluate(speed);
+			m_Steering.range = GetMaxSteerAtSpeed(speed);
+			m_Motor.maxTorque = GetMotorTorqueAtSpeed(speed);
+			m_Aerodynamics.downForce = GetDownForceAtSpeed(speed);
 
 			var input = m_Player.GetInput();
 
@@ -53,5 +55,17 @@ void Update() {
 			m_Aerodynamics.midAirSteerInput = input.steering;
 			m_Brake.value = input.brake;
 		}
+
+		public float GetMotorTorqueAtSpeed(float speed) {
+			return m_MotorTorqueVsSpeed.Evaluate(speed);
+		}
+
+		public float GetMaxSteerAtSpeed(float speed) {
+			return m_MaxSteeringAngleVsSpeed.Evaluate(speed);
+		}
+
+		public float GetDownForceAtSpeed(float speed) {
+			return m_DownForceVsSpeed.Evaluate(speed);
+		}
 	}
 }