Начал ИД вроде

Assets/Code/Example/Race/RaceGame.cs

@@ -54,7 +54,7 @@ namespace Code.Example.Race
         private void RacersLoadCompleted() =>
             _eventBus.RaiseEvent<IRaceGameInitializedHandle>(x => x.RaceGameReady());
 
-        public List<Racer.AI.Racer> PlacedRacers { get; } = new();
+        public List<Racer.Racer> PlacedRacers { get; } = new();
 
         public void PlaceRacers()
         {
@@ -62,7 +62,7 @@ namespace Code.Example.Race
             {
                 PlacedRacers.Add(UnityEngine.Object.Instantiate(
                     _racerPrefabs[_randomizedTypes[i]],
-                    _raceTrackData.trackData.RacerPoints[i].transform).GetComponent<Racer.AI.Racer>());
+                    _raceTrackData.trackData.RacerPoints[i].transform).GetComponent<Racer.Racer>());
                 PlacedRacers[^1].SetData(_racerPrefabs[_randomizedTypes[i]].Data);
                 PlacedRacers[^1].Id = i;
                 _scores.SubscribeRacer(PlacedRacers[^1]);
@@ -74,10 +74,10 @@ namespace Code.Example.Race
             }
         }
 
-        private Dictionary<RacerType, Racer.AI.Racer> _racerPrefabs = new();
+        private Dictionary<RacerType, Racer.Racer> _racerPrefabs = new();
         private Loading _raceGameLoading;
 
-        public void RacerLoaded(RacerType type, Racer.AI.Racer racer)
+        public void RacerLoaded(RacerType type, Racer.Racer racer)
         {
             if (racer)
                 _racerPrefabs.Add(type, racer);
@@ -86,7 +86,7 @@ namespace Code.Example.Race
         }
 
         // private Dictionary<RacerType, Racer.AI.Racer> _spawnedRacers = new();
-        public void RacerCreated(RacerType type, Racer.AI.Racer racer)
+        public void RacerCreated(RacerType type, Racer.Racer racer)
         {
             // _spawnedRacers.Add(type, racer);
             // _raceGameLoading.DoProgress();

Assets/Code/Example/Race/RaceScores.cs

@@ -8,7 +8,7 @@ namespace Code.Example.Race
 {
     public class RaceScores : IRacerPassedCheckpointHandler, IDisposable
     {
-        private Dictionary<Racer.AI.Racer, int> _scores = new();
+        private Dictionary<Racer.Racer, int> _scores = new();
         private EventBus _eventBus;
 
         public RaceScores(EventBus eventBus)
@@ -16,28 +16,28 @@ namespace Code.Example.Race
             _eventBus = eventBus;
             _eventBus.Subscribe(this);
         }
-        public void SubscribeRacer(Racer.AI.Racer racer)
+        public void SubscribeRacer(Racer.Racer racer)
         {
             _scores.Add(racer, 0);
         }
 
-        public void ChangeScore(Racer.AI.Racer racer, int additionalScore)
+        public void ChangeScore(Racer.Racer racer, int additionalScore)
         {
             _scores[racer] += additionalScore;
             _eventBus.RaiseEvent<IScoreChangedHandle>(x=> x.ScoreChanged(racer,additionalScore, GetScores()));
         }
         
-        public void UnsubscribeRacer(Racer.AI.Racer racer)
+        public void UnsubscribeRacer(Racer.Racer racer)
         {
             _scores.Remove(racer);
         }
 
-        public List<KeyValuePair<Racer.AI.Racer, int>> GetScores()
+        public List<KeyValuePair<Racer.Racer, int>> GetScores()
         {
             return _scores.OrderByDescending(x => x.Value).ToList();
         }
 
-        public void OnRacerPassedCheckpoint(Racer.AI.Racer racer) => ChangeScore(racer,1);
+        public void OnRacerPassedCheckpoint(Racer.Racer racer) => ChangeScore(racer,1);
 
         public void Dispose()
         {
@@ -47,6 +47,6 @@ namespace Code.Example.Race
 
     public interface IScoreChangedHandle : IGlobalSubscriber
     {
-        void ScoreChanged(Racer.AI.Racer racer, int additionalScore, List<KeyValuePair<Racer.AI.Racer, int>> scores);
+        void ScoreChanged(Racer.Racer racer, int additionalScore, List<KeyValuePair<Racer.Racer, int>> scores);
     }
 }

Assets/Code/Example/Race/Racer/AI/AIRacerID.cs

@@ -0,0 +1,98 @@
+using System.Collections.Generic;
+using Code.Example.Race.Racer.AI.ID;
+using UnityEngine;
+
+namespace Code.Example.Race.Racer.AI
+{
+    public class AIRacerID : Racer
+    {
+        public override void SetData(RacerData data)
+        {
+            Data = data;
+            
+            _velocity = Vector3.zero;
+            _steering = new Steering();
+        }
+
+        public override void Initialize(List<Transform> waypoints)
+        {
+            Waypoints = waypoints; 
+        }
+
+        public override void NextWaypoint()
+        {
+            if(CurrentWaypointIndex >= Waypoints.Count) CurrentWaypointIndex = 0;
+            
+            CurrentWaypointIndex++;
+        }
+
+        public override void StartRacer()
+        {
+            _running = true;
+        }
+
+        public override void StopRacer()
+        {
+            _running = false;
+        }
+         
+        [SerializeField] private AgentBehaviour agent;
+        
+        private float _orientation;
+        private float _rotation;
+        private Vector3 _velocity;
+        private Steering _steering;
+        private bool _running;
+   
+        private float NormalizeAngle(float angle)
+        {
+            switch (angle)
+            {
+                case > 360.0f:
+                {
+                    while (angle > 360.0f) angle -= 360.0f;
+                    break;
+                }
+                case < 0.0f:
+                {
+                    while (angle < 0.0f) angle += 360.0f;
+                    break;
+                }
+            }
+
+            return angle;
+        }
+        public virtual void Update()
+        {
+            if (!_running) return;
+            
+            var displacement = _velocity * Time.deltaTime;
+            _orientation += _rotation * Time.deltaTime;
+            _orientation = NormalizeAngle(_orientation);
+            
+            transform.Translate(displacement, Space.World);
+            transform.Rotate(Vector3.up, _orientation);
+        }
+        public virtual void LateUpdate()
+        {
+            if (!_running) return;
+
+            _steering = agent.GetSteering(Waypoints[CurrentWaypointIndex]);
+            
+            _velocity += _steering.linear * Time.deltaTime;
+            _rotation += _steering.angular * Time.deltaTime;
+            if (_velocity.magnitude > Data.speed)
+            {
+                _velocity = _velocity.normalized * Data.speed; 
+            }
+            if (_steering.angular == 0.0f)
+            {
+                _rotation = 0.0f;
+            }
+            if (_steering.linear.sqrMagnitude == 0.0f)
+            {
+                _velocity = Vector3.zero;
+            }
+        }
+    }
+}

Assets/Code/Example/Race/Racer/AI/AIRacerID.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: fdcd01ab3c5147e4bfa3619d60fec5fc
+timeCreated: 1770394482

Assets/Code/Example/Race/Racer/AI/ID.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 4f9bd0b568944e1f9b11f60f0fb79590
+timeCreated: 1770394574

Assets/Code/Example/Race/Racer/AI/ID/Agent.cs

@@ -0,0 +1,58 @@
+using UnityEngine;
+
+namespace Code.Example.Race.Racer.AI.ID
+{
+    public class Agent : MonoBehaviour
+    {
+        public float maxSpeed;
+        public float maxAccel;
+        public float orientation;
+        public float rotation;
+        public Vector3 velocity;
+        protected Steering steering;
+
+        private void Start()
+        {
+            velocity = Vector3.zero;
+            steering = new Steering();
+        }
+
+        public void SetSteering(Steering steering)
+        {
+            this.steering = steering;
+        }
+        public virtual void Update ()
+        {
+            Vector3 displacement = velocity * Time.deltaTime;
+            orientation += rotation * Time.deltaTime;
+            // необходимо ограничить значение переменной orientation
+            // диапазоном (0-360)
+            if (orientation < 0.0f)
+                orientation += 360.0f;
+            else if (orientation > 360.0f)
+                orientation -= 360.0f;
+            transform.Translate(displacement, Space.World);
+            transform.rotation = new Quaternion();
+            transform.Rotate(Vector3.up, orientation);
+        }
+        public virtual void LateUpdate()
+        {
+            velocity += steering.linear * Time.deltaTime;
+            rotation += steering.angular * Time.deltaTime;
+            if (velocity.magnitude > maxSpeed)
+            {
+                velocity = velocity.normalized * maxSpeed; // Исправлено: корректное нормирование вектора
+            }
+            if (steering.angular == 0.0f)
+            {
+                rotation = 0.0f;
+            }
+            if (steering.linear.sqrMagnitude == 0.0f)
+            {
+                velocity = Vector3.zero;
+            }
+            // Удалена строка: steering = new Steering(); 
+            // (создание нового объекта каждый кадр приведет к утечке памяти и сбросу данных)
+        }
+    }
+}

Assets/Code/Example/Race/Racer/AI/ID/Agent.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 6d51ddde70f34264954a75923b43dcee
+timeCreated: 1770394764

Assets/Code/Example/Race/Racer/AI/ID/AgentBehaviour.cs

@@ -0,0 +1,11 @@
+using UnityEngine;
+
+namespace Code.Example.Race.Racer.AI.ID
+{
+    public abstract class AgentBehaviour : MonoBehaviour
+    { 
+        [SerializeField] protected AIRacerID agent;
+
+        public abstract Steering GetSteering(Transform target);
+    }
+}

Assets/Code/Example/Race/Racer/AI/ID/AgentBehaviour.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 5af0fc1b61bd44d9a53fd01f93fe6029
+timeCreated: 1770394682

Assets/Code/Example/Race/Racer/AI/ID/Behaviours.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 70ca406222fb4e8e848ccf43db320cc9
+timeCreated: 1770395746

Assets/Code/Example/Race/Racer/AI/ID/Behaviours/Flee.cs

@@ -0,0 +1,17 @@
+using UnityEngine;
+
+namespace Code.Example.Race.Racer.AI.ID.Behaviours
+{
+    public class Flee : AgentBehaviour
+    {
+        public override Steering GetSteering(Transform target)
+        {
+            Steering steering = new Steering();
+            
+            steering.linear = transform.position - target.position;
+            steering.linear.Normalize();
+            steering.linear *= agent.Data.maxAcceleration;
+            return steering;
+        }
+    }
+}

Assets/Code/Example/Race/Racer/AI/ID/Behaviours/Flee.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 437d2ae2cd65457a82abc34df278228d
+timeCreated: 1770395798

Assets/Code/Example/Race/Racer/AI/ID/Behaviours/Seek.cs

@@ -0,0 +1,17 @@
+using UnityEngine;
+
+namespace Code.Example.Race.Racer.AI.ID.Behaviours
+{
+    public class Seek : AgentBehaviour
+    {
+        public override Steering GetSteering(Transform target)
+        {
+            Steering steering = new Steering();
+            
+            steering.linear = target.position - transform.position;
+            steering.linear.Normalize();
+            steering.linear *= agent.Data.maxAcceleration;
+            return steering;
+        }
+    }
+}

Assets/Code/Example/Race/Racer/AI/ID/Behaviours/Seek.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: aa69eb79c9ec48b682606dac0c0d4f2d
+timeCreated: 1770395751

Assets/Code/Example/Race/Racer/AI/ID/Steering.cs

@@ -0,0 +1,16 @@
+using UnityEngine;
+namespace Code.Example.Race.Racer.AI.ID
+{
+
+    public struct Steering
+    {
+        public float angular;
+        public Vector3 linear;
+
+        public Steering(float angular, Vector3 linear)
+        {
+            this.angular = angular;
+            this.linear = linear;
+        }
+    }
+}

Assets/Code/Example/Race/Racer/AI/ID/Steering.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 0395b595869e49b5b177fe54db531823
+timeCreated: 1770394582

Assets/Code/Example/Race/Racer/Player/PlayerCarControllerRB.cs

@@ -31,19 +31,10 @@ namespace Code.Example.Race.Racer.Player
 
         public ControlMode control;
 
-        // public float maxAcceleration = 30.0f;
-        // public float brakeAcceleration = 50.0f;
-        //
-        // public float turnSensitivity = 1.0f;
-        // public float maxSteerAngle = 30.0f;
-
         public Vector3 _centerOfMass;
 
         public List<Wheel> wheels;
 
-        // float moveInput;
-        // float steerInput;
-
         private Rigidbody carRb;
         
         [SerializeField] private PlayerCarInput _playerCarInput;

Assets/Code/Example/Race/Racer/Player/PlayerRacer.cs

@@ -1,7 +1,7 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-namespace Code.Example.Race.Racer.AI
+namespace Code.Example.Race.Racer.Player
 {
     public class PlayerRacer : Racer
     {

Assets/Code/Example/Race/Racer/Racer.cs

@@ -1,7 +1,7 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-namespace Code.Example.Race.Racer.AI
+namespace Code.Example.Race.Racer
 {
     public abstract class Racer : MonoBehaviour
     {

Assets/Code/Example/Race/Racer/RacerFactory.cs

@@ -62,7 +62,7 @@ namespace Code.Example.Race.Racer
                 Addressables.LoadAssetAsync<GameObject>(_racerConfigs[racerType].prefabReference));
             
             await _racerPrefabsHandle[racerType].ToUniTask();
-            var racer = _racerPrefabsHandle[racerType].Result.GetComponent<AI.Racer>();
+            var racer = _racerPrefabsHandle[racerType].Result.GetComponent<Racer>();
             racer.SetData(_racerConfigs[racerType].racerData);
             
             _eventBus.RaiseEvent<IRacerLoadedHandle>(x => x.RacerLoaded(racerType, racer));
@@ -90,7 +90,7 @@ namespace Code.Example.Race.Racer
 
     public interface IRacerLoadedHandle : IGlobalSubscriber
     {
-        public void RacerLoaded(RacerType type, AI.Racer racer);
-        public void RacerCreated(RacerType type, AI.Racer racer);
+        public void RacerLoaded(RacerType type, Racer racer);
+        public void RacerCreated(RacerType type, Racer racer);
     }
 }

Assets/Code/Example/Race/Track/CheckPoint.cs

@@ -10,7 +10,7 @@ namespace Code.Example.Race.Track
         [Inject] private EventBus _eventBus;
         private void OnTriggerEnter(Collider other)
         {
-            var racer = other.GetComponent<Racer.AI.Racer>();
+            var racer = other.GetComponent<Racer.Racer>();
             racer.NextWaypoint();
             
             _eventBus.RaiseEvent<IRacerPassedCheckpointHandler>(h => h.OnRacerPassedCheckpoint(racer));
@@ -19,6 +19,6 @@ namespace Code.Example.Race.Track
 
     public interface IRacerPassedCheckpointHandler : IGlobalSubscriber
     {
-        void OnRacerPassedCheckpoint(Racer.AI.Racer racer);
+        void OnRacerPassedCheckpoint(Racer.Racer racer);
     }
 }

Assets/Code/Example/Race/UI/PlayerScoreCounter.cs

@@ -34,11 +34,11 @@ namespace Code.Example.Race.UI
             // image.DOColor(hiddenColor, 1f).onComplete += () => callback?.Invoke(); 
         }
 
-        public void OnRacerPassedCheckpoint(Racer.AI.Racer racer)
+        public void OnRacerPassedCheckpoint(Racer.Racer racer)
         {
         }
 
-        public void ScoreChanged(Racer.AI.Racer racer, int additionalScore, List<KeyValuePair<Racer.AI.Racer,int>> scores)
+        public void ScoreChanged(Racer.Racer racer, int additionalScore, List<KeyValuePair<Racer.Racer,int>> scores)
         {
             // if (racer.Data.type == RacerType.Player)
             string output = "";