public float MinDistanceToObstacle(Vector3 point)
{
const float R = 0;
Vector3 c = point;
return(AllObstacles.Aggregate(float.MaxValue, (current, obstacle) => TestOneObstacleOverlap(current, R, obstacle.Radius, c, obstacle.Center)));
}
public static void AddOneObstacle(float radius)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
float r;
Vector3 c;
float minClearance;
float requiredClearance = Globals.Seeker.Radius * 4; // 2 x diameter
do
{
r = RandomHelpers.Random(1.5f, 4);
c = Vector3Helpers.RandomVectorOnUnitRadiusXZDisk() * Globals.MAX_START_RADIUS * 1.1f;
minClearance = AllObstacles.Aggregate(float.MaxValue, (current, t) => TestOneObstacleOverlap(current, r, t.Radius, c, t.Center));
minClearance = TestOneObstacleOverlap(minClearance, r, radius - requiredClearance, c, Globals.HomeBaseCenter);
}while (minClearance < requiredClearance);
// add new non-overlapping obstacle to registry
AllObstacles.Add(new SphericalObstacle(r, c));
ObstacleCount++;
}