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Racing AI around Spline

I am trying to create a racing AI which will use Rigidbody physics for movements.

What I am trying to figure out is how to make the Race AI opponents to move around the spline like some AI will be on the left side of the spline and some will be on the right and not on the spline. Like any NFS game.

More details, I am not using any wheel colliders. AI will use one big sphere collider for handling collisions.

That's a pretty complex question. I have never done a racing AI, so I can't help much, but what I can say is:
I guess that in your AI logic you have a way to specify what direction/point to steer towards. If that is the case, then you can use the following methods to get points/directions related to the spline:

Combining these methods, you can define points that are close to the spline but not on it.

I hope this helped
Have a nice day
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