bool FindNearestObstade(RayAgentData data, Vector3 target, out RayAgentHitInfo hitInfo, float distance, bool onlyCenter)
{
hitInfo = null;
bool hasHit = false;
float minDistance = Vector3.Distance(data.Position, target);
Vector3 direction = target - data.Position;
data.SetDirection(direction);
Vector3[] anchors = data.Anchors;
RaycastHit hit;
for (int i = 0; i < anchors.Length; i++)
{
if (onlyCenter)
{
if (i != (int)RayAgentPos.Center)
{
continue;
}
}
if (Physics.Raycast(anchors[i], direction, out hit, distance, layerMask.value))
{
if (hit.transform == _target)
{
continue;
}
ObstacleBox obstacle = hit.transform.GetComponent <ObstacleBox>();
if (obstacle != null)
{
if (hit.distance < minDistance)
{
minDistance = hit.distance;
if (hitInfo == null)
{
hitInfo = new RayAgentHitInfo();
}
hitInfo.hit = hit;
hitInfo.obstacle = obstacle;
hitInfo.pos = (RayAgentPos)i;
hitInfo.hitpoint = hit.point;
if (hitInfo.pos == RayAgentPos.Right)
{
hitInfo.hitpoint += (data.Position - data.Right).normalized * data.radius;
}
else if (hitInfo.pos == RayAgentPos.Right)
{
hitInfo.hitpoint += (data.Position - data.Left).normalized * data.radius;
}
hasHit = true;
}
}
}
}
return(hasHit);
}
public void RemoveObstacleBox(ObstacleBox obstacleBox)
{
obstacleBox.change -= OnChange;
list.Remove(obstacleBox);
isChange = true;
}
void OnChange(ObstacleBox obstacleBox)
{
isChange = true;
}
public void AddObstacleBox(ObstacleBox obstacleBox)
{
obstacleBox.change += OnChange;
list.Add(obstacleBox);
isChange = true;
}
