void ABaseVehicleAI::UpdateMovement() {
float steering = CalculateSteering();
float throttle = CalculateThrottle();
GetVehicleMovementComponent()->SetSteeringInput(steering);
GetVehicleMovementComponent()->SetThrottleInput(throttle);
if(GetDistanceFromDestination() < 250) {
GetVehicleMovementComponent()->SetHandbrakeInput(true);
State = EVehicleMovementState::VMS_Stopping;
OnMoveCompleted.Broadcast();
State = EVehicleMovementState::VMS_Idle;
UKismetSystemLibrary::K2_SetTimer(this, "UpdateMovement", 0.0, false);
}
else {
State = EVehicleMovementState::VMS_Moving;
}
}
tResult YawToSteer::OnPinEvent(IPin *pSource, tInt nEventCode, tInt nParam1, tInt nParam2, IMediaSample *pMediaSample)
{
RETURN_IF_POINTER_NULL(pMediaSample);
RETURN_IF_POINTER_NULL(pSource);
RETURN_IF_POINTER_NULL(pMediaSample);
if (nEventCode != IPinEventSink::PE_MediaSampleReceived)
{
RETURN_NOERROR;
}
logger.StartLog();
if (pSource == &senderCarYawInPin)
{
GetSenderYaw(pMediaSample);
// init senderYaw if necessary
if (!isSenderYawInitialized)
{
oldSenderYaw = senderYaw;
isSenderYawInitialized = tTrue;
}
deltaSenderYaw = CalcYawDelta(oldSenderYaw, senderYaw);
if (deltaSenderYaw > abruptVariationThreshold)
{
isLocalYawInitialized = tFalse;
isSenderYawInitialized = tFalse;
targetLocalYaw = 0;
RETURN_NOERROR;
}
// ignore yaw values if deviation compared to last value less than x (0.2)
else if (abs(deltaSenderYaw) > 0.2)
{
targetLocalYaw += deltaSenderYaw;
}
}
else if (pSource == &localCarYawInPin)
{
GetLocalYaw(pMediaSample);
// init localYaw if necessary
if (!isLocalYawInitialized && isSenderYawInitialized)
{
targetLocalYaw = localYaw;
isLocalYawInitialized = tTrue;
}
}
else if (pSource == &senderCarSpeedInPin)
{
senderSpeed = GetFloat(pMediaSample);
directionCorrection = (senderSpeed > SPEED_STATIONARY) ? -1 : 1;
}
if (isSenderYawInitialized && isLocalYawInitialized)
{
CalculateSteering();
TransmitSignalValue(&steerOutPin, steer);
}
else
{
steer = STEERING_STRAIGHT;
}
logger.Log(cString::Format("sendYaw %f |localY %f targetY %f steer %f | %f\n"
"\tSpeed: %f; corr: %f",
senderYaw, localYaw, targetLocalYaw, steer,
CalcYawDelta(targetLocalYaw, localYaw), senderSpeed, directionCorrection).GetPtr());
logger.EndLog();
RETURN_NOERROR;
}
