public Vector3 Scan(Transform _transform, Vector3 _position, LayerMask _mask, float _stopping_distance, float _speed)
{
if ((!UseDynamicScanningRange && ScanningRange == 0) || (UseDynamicScanningRange && _speed == 0))
{
return(_position);
}
if (Time.time - m_StartTime <= m_ExpectedActionTime)
{
return(_position);
}
m_ActionType = ObstacleAvoidanceActionType.None;
m_StoppingDistance = _stopping_distance;
if (Owner != _transform.gameObject)
{
SetOwner(_transform.gameObject);
}
float _vertical_offset = 0;
Vector3 _avoid_position = _position;
Vector3 _transform_pos = _transform.position;
Vector3 _move_pos = _position;
float _distance = (UseDynamicScanningRange ? _speed * DynamicScanningRangeSpeedMultiplier : ScanningRange);
_transform_pos.y = _transform_pos.y + _vertical_offset;
_move_pos.y = _transform_pos.y;
RaycastHit _hit;
RaycastHit _hit_up = new RaycastHit();
RaycastHit _hit_down = new RaycastHit();
Vector3 _desired_dir = _position - _transform.position;
Vector3 _origin = _transform.position + (_transform.up * VerticalRaycastOffset);
Vector3 _origin_up = _transform.position + (_transform.up * (VerticalRaycastOffset + VerticalRaycastOffsetDifference)); // TODO : slide height
Vector3 _origin_down = _transform.position + (_transform.up * (VerticalRaycastOffset - VerticalRaycastOffsetDifference)); // TODO : slide height
Vector3 _forward = _transform.forward;
float _cross_down_distance = (UseCrossBelowSpeed ? _speed * CrossBelowStartDistanceSpeedMultiplier : CrossBelowStartDistance);
float _cross_up_distance = (UseCrossOverSpeed ? _speed * CrossOverStartDistanceSpeedMultiplier : CrossOverStartDistance);
float _hit_down_distance = Mathf.Infinity;
float _hit_up_distance = Mathf.Infinity;
m_CrossBelowPossible = false;
m_CrossOverPossible = false;
if (UseOvercomeObstacles && Physics.Raycast(_origin_down, _forward, out _hit_down, _distance, _mask, WorldManager.TriggerInteraction) && !_hit_down.transform.IsChildOf(_transform))
{
DebugLine(_origin_down, _hit_down.point, Color.red);
DebugRay(_origin_down, _forward * _cross_down_distance, Color.blue);
_hit_down_distance = _hit_down.distance;
m_CrossBelowPossible = true;
}
else if (UseOvercomeObstacles)
{
DebugRay(_origin_down, _forward * _distance, Color.green);
}
if (UseOvercomeObstacles && Physics.Raycast(_origin_up, _forward, out _hit_up, _distance, _mask, WorldManager.TriggerInteraction) && !_hit_up.transform.IsChildOf(_transform))
{
DebugLine(_origin_up, _hit_up.point, Color.red);
DebugRay(_origin_up, _forward * _cross_up_distance, Color.blue);
_hit_up_distance = _hit_up.distance;
m_CrossOverPossible = true;
}
else if (UseOvercomeObstacles)
{
DebugRay(_origin_up, _forward * _distance, Color.green);
}
// CHECK POSIBLE CROSS OVER
if (UseOvercomeObstacles && _hit_down_distance < _hit_up_distance)
{
if (_hit_down.distance < _cross_up_distance)
{
m_DesiredCrossOverPosition = _hit_down.point;
m_DesiredCrossOverPosition.y = _hit_down.collider.bounds.center.y + 0.5f * Owner.GetComponent <Collider>().bounds.extents.y + 0.075f;
m_StartTime = Time.time;
m_ExpectedActionTime = _cross_up_distance * 2 / (_speed > 0 ? _speed : 1);
m_ActionType = ObstacleAvoidanceActionType.CrossOver;
}
}
// CHECK POSIBLE CROSS BELOW
else if (UseOvercomeObstacles && _hit_up_distance < _hit_down_distance)
{
if (_hit_up.distance < _cross_down_distance)
{
m_DesiredCrossBelowPosition = _position + (1.25f * _hit_up.distance * _forward);
m_StartTime = Time.time;
m_ExpectedActionTime = _cross_down_distance * 2 / (_speed > 0 ? _speed : 1);
m_ActionType = ObstacleAvoidanceActionType.CrossBelow;
}
}
// CHECK AVOIDANCE
else if (Physics.Raycast(_origin, _forward, out _hit, _distance, _mask, WorldManager.TriggerInteraction))
{
if (!_hit.transform.IsChildOf(_transform))
{
DebugLine(_origin, _hit.point, Color.red);
if (_desired_dir.magnitude < PositionTools.Distance(_hit.point, _transform.position))
{
DebugLine(_origin, _desired_dir, Color.green);
m_ObstacleAvoidancePosition = Vector3.zero;
m_FixDirection = PreferedDirectionType.UNDEFINED;
}
else
{
if (_distance > _hit.collider.bounds.size.magnitude * 0.5f)
{
_distance = _hit.collider.bounds.size.magnitude * 0.5f;
}
else if (_distance > new Vector2(_hit.collider.bounds.size.z, _hit.collider.bounds.size.x).magnitude)
{
_distance = new Vector2(_hit.collider.bounds.size.z, _hit.collider.bounds.size.x).magnitude;
}
DebugLine(_origin, _hit.point, Color.red);
int _cost_right = 0;
Vector3 _avoid_right = Vector3.zero;
for (int i = ScanningAngle; i <= 360; i += ScanningAngle)
{
_cost_right++;
Vector3 _pos = PositionTools.GetDirectionPosition(_transform, i, _distance);
if (!Physics.Linecast(_origin, _pos, _mask))
{
_avoid_right = _pos;
DebugLine(_origin, _pos, SystemTools.ColorA(Color.blue, 0.5f));
break;
}
else
{
//TODO: if there is no free position we could determinate the best posibility
DebugLine(_origin, _pos, SystemTools.ColorA(Color.red, 0.25f));
}
}
int _cost_left = 0;
Vector3 _avoid_left = Vector3.zero;
for (int i = 360 - ScanningAngle; i > 0; i -= ScanningAngle)
{
_cost_left++;
Vector3 _pos = PositionTools.GetDirectionPosition(_transform, i, _distance);
if (!Physics.Linecast(_origin, _pos, _mask))
{
_avoid_left = _pos;
DebugLine(_origin, _pos, SystemTools.ColorA(Color.blue, 0.5f));
break;
}
else
{
//TODO: if there is no free position we could determinate the best posibility
DebugLine(_origin, _pos, SystemTools.ColorA(Color.red, 0.25f));
}
}
// selects the best solution according to the given costs
if (_avoid_right != Vector3.zero && _avoid_left != Vector3.zero)
{
if (_cost_left < _cost_right)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
else if (_cost_right < _cost_left)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else
{
m_ObstacleAvoidancePosition = (Random.Range(0, 1) == 1 ? _avoid_left : _avoid_right);
}
}
else if (_avoid_right != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else if (_avoid_left != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
// makes sure that the creature will not change the direction if not needed
if (UseFixDirection)
{
if (m_FixDirection == PreferedDirectionType.UNDEFINED)
{
if (m_ObstacleAvoidancePosition == _avoid_right)
{
m_FixDirection = PreferedDirectionType.RIGHT;
}
else if (m_ObstacleAvoidancePosition == _avoid_left)
{
m_FixDirection = PreferedDirectionType.LEFT;
}
}
else if (m_FixDirection == PreferedDirectionType.RIGHT && _avoid_right != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_right;
}
else if (m_FixDirection == PreferedDirectionType.LEFT && _avoid_left != Vector3.zero)
{
m_ObstacleAvoidancePosition = _avoid_left;
}
}
}
}
}
else
{
DebugRay(_origin, _forward * _distance, Color.green);
m_FixDirection = PreferedDirectionType.UNDEFINED;
if (Physics.Raycast(_origin, _desired_dir, out _hit, _distance, _mask, WorldManager.TriggerInteraction))
{
DebugLine(_origin, _hit.point, SystemTools.ColorA(Color.red, MathTools.Normalize(_distance - PositionTools.Distance(_hit.point, _origin), 0, _distance)));
if (AvoidanceMovePositionReached)
{
m_ObstacleAvoidancePosition = _transform.position + (_transform.forward * _distance);
}
}
else
{
DebugRay(_origin, _desired_dir.normalized * _distance, Color.gray);
m_ObstacleAvoidancePosition = Vector3.zero;
}
}
if (m_ObstacleAvoidancePosition != Vector3.zero)
{
_avoid_position = m_ObstacleAvoidancePosition;
}
return(_avoid_position);
}
