public static SteeringOutput GetSteering(KinematicState ownKS, SObstacleAvoidance info)
{
Ray l_ray = new Ray(ownKS.m_position, ownKS.m_linearVelocity.normalized);
RaycastHit l_hitInfo;
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_avoidDistance))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) + info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
l_ray = new Ray(ownKS.m_position, MathExtent.AngleToVector(MathExtent.VectorToAngle(ownKS.m_linearVelocity.normalized) - info.m_AngleSecondWhisk));
if (Physics.Raycast(l_ray, out l_hitInfo, info.m_primaryWhiskerLenght * info.m_RatioSecondWhisk))
{
SURROGATE_TARGET.position = l_hitInfo.point + l_hitInfo.normal * info.m_avoidDistance;
return(Seek.GetSteering(ownKS, SURROGATE_TARGET));
}
return(NULL_STEERING);
}
public void SetInfo(float seekWeight, SWander wander, SObstacleAvoidance obstacleAvoidance, SSeek seekInfo)
{
m_seekWeight = seekWeight;
m_seekInfo = seekInfo;
m_wanderInfo = wander;
m_obstacleAvoidanceInfo = obstacleAvoidance;
obstacleAvoided = false;
}
public void SetInfo(SObstacleAvoidance info)
{
m_info = info;
}
public static SteeringOutput GetSteering(KinematicState ownKS, ref SWander wanderInfo, SObstacleAvoidance obstacleInfo, ref bool obstacleAvoided)
{
SteeringOutput obstacleAvoidSteering = ObstacleAvoidance.GetSteering(ownKS, obstacleInfo);
if (obstacleAvoidSteering != NULL_STEERING)
{
obstacleAvoided = true;
return(obstacleAvoidSteering);
}
obstacleAvoided = false;
return(Wander.GetSteering(ownKS, ref wanderInfo));
}
public void SetInfo(SWander wander, SObstacleAvoidance obstacleAvoidance)
{
m_wanderInfo = wander;
m_obstacleAvoidanceInfo = obstacleAvoidance;
obstacleAvoided = false;
}
