void Avoid()
{
if (avoidanceStage == AvoidStage.rotateUntilCanMove)
{
motor.Rotate(-1 * data.rotateSpeed);
if (CanMove(data.moveSpeed))
{
avoidanceStage = AvoidStage.moveForSeconds;
exitTime = avoidanceTime;
}
}
else if (avoidanceStage == AvoidStage.moveForSeconds)
{
if (CanMove(data.moveSpeed))
{
exitTime -= Time.deltaTime;
motor.Move(data.moveSpeed);
if (exitTime <= 0)
{
avoidanceStage = AvoidStage.notAvoiding;
}
}
else
{
avoidanceStage = AvoidStage.rotateUntilCanMove;
}
}
}
void Chase()
{
if (CanMove(data.moveSpeed))
{
//move if can move
if (motor.RotateTowards(target.position, data.rotateSpeed))
{
// Do nothing
}
else
{
motor.Move(data.moveSpeed);
}
}
else
{
avoidanceStage = AvoidStage.rotateUntilCanMove;
}
}
void Update()
{
switch (avoidStage)
{
case AvoidStage.None:
//Do Nothing.
break;
case AvoidStage.Rotate:
if (target != null)
{
move.RotateTowards(Vector3.right, data.rotateSpeed);
}
if (CanMove(data.forwardSpeed))
{
avoidStage = AvoidStage.Forward;
}
break;
case AvoidStage.Forward:
move.Move(data.forwardSpeed);
if (CanMove(data.forwardSpeed))
{
avoidStage = AvoidStage.None;
}
else
{
avoidStage = AvoidStage.Rotate;
}
break;
case AvoidStage.Error:
Debug.Log("Obstacle Avoidance failed or is terminated");
break;
}
}
