feat(NPCVehicleDecisionStep.cs): add conditions for prediction-control

Signed-off-by: kazushi67 <[email protected]>
autowarefoundation · Jan 15, 2025 · d6eb76f · d6eb76f
1 parent ca7ca7b
commit d6eb76f
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs b/Assets/AWSIM/Scripts/RandomTraffic/NPCVehicle/Steps/NPCVehicleDecisionStep.cs
@@ -39,6 +39,14 @@ private static void UpdateTargetPoint(NPCVehicleInternalState state)
             if (state.ShouldDespawn || state.CurrentFollowingLane == null)
                 return;
 
+            if(state.Vehicle.outerControl == true){
+                state.TargetPoint = state.Vehicle.outerTargetPoint;
+            }
+            else
+            {
+                state.TargetPoint = state.CurrentFollowingLane.Waypoints[state.WaypointIndex];
+            }
+
             state.TargetPoint = state.CurrentFollowingLane.Waypoints[state.WaypointIndex];
         }