public void AvoidWithLeastRotation(Animator animator, ObstacleDetector.ObstacleDetection detection)
{
float angleToObstacle = Vector2.SignedAngle(animator.transform.right, detection.relativePosition);
obstacleDetector.rb.AddTorque(strength * -Mathf.Sign(angleToObstacle));
float incomingDistance = detection.relativePosition.magnitude;
float requiredDeceleration = detection.incomingSpeed * Mathf.Max(detection.incomingSpeed, 0) / 2 / incomingDistance;
Vector2 force = obstacleDetector.rb.mass * requiredDeceleration * -detection.relativePosition.normalized;
obstacleDetector.rb.AddForce(force);
if (showForces)
{
Debug.DrawLine(obstacleDetector.forcePoint.position, (Vector2)obstacleDetector.forcePoint.position + force, Color.magenta);
}
}
public virtual void OnDetection(Animator animator, AnimatorStateInfo stateInfo, int layerIndex, ObstacleDetector.ObstacleDetection detection)
{
animator.SetFloat(incomingObstacleAngleParameter, detection != null ? Vector2.SignedAngle(animator.transform.right, detection.relativePosition) : 180);
}
override public void OnDetection(Animator animator, AnimatorStateInfo stateInfo, int layerIndex, ObstacleDetector.ObstacleDetection detection)
{
base.OnDetection(animator, stateInfo, layerIndex, detection);
switch (avoidanceMode)
{
case AvoidanceStrategy.LEAST_ROTATION:
if (detection != null)
{
AvoidWithLeastRotation(animator, detection);
}
else
{
avoidanceMode = AvoidanceStrategy.CONTINUE_CURRENT_ROTATION;
AvoidWithCurrentRotation();
}
break;
case AvoidanceStrategy.CONTINUE_CURRENT_ROTATION:
AvoidWithCurrentRotation();
break;
}
}
