// Collision check for the lower resolutions model
public bool CheckRootCollisions(GridPlanningState state)
{
Vector3 start = state.currentPosition - new Vector3(0, 10 * analyzer.GetHeight() / 2, 0);
Vector3 end = start + new Vector3(0, 10 * analyzer.GetHeight() / 2, 0);
float radius = analyzer.GetRadius();
if (Physics.CheckCapsule(start, end, radius, layer))
{
//if (Physics.CheckSphere(state.currentPosition,radius,layer))
return(true);
}
if (state.previousState != null)
{
int samples = analyzer.samples;
Vector3 mov = state.actionMov;
for (int i = 1; i < samples - 1; i += 2) // we sample less in this domain the collision check
{
start = (state.previousState as GridPlanningState).currentPosition + i / (samples - 1) * mov;
end = start + new Vector3(0, analyzer.GetHeight() / 2, 0);
if (Physics.CheckCapsule(start, end, radius, layer))
{
//if (Physics.CheckSphere(state.previousState.currentPosition,radius,layer))
return(true);
}
}
}
return(false);
}
// Collision check for the lower resolutions model
public bool CheckRootCollisions(FootstepPlanningState state)
{
Vector3 start = state.currentPosition - new Vector3(0, 10 * analyzer.GetHeight() / 2, 0);
Vector3 end = start + new Vector3(0, 10 * analyzer.GetHeight() / 2, 0);
float radius = analyzer.GetRadius();
if (Physics.CheckCapsule(start, end, radius, layer))
{
//if (Physics.CheckSphere(state.currentPosition,radius,layer))
return(true);
}
if (state.previousState != null)
{
int samples = analyzer.samples;
AnotatedAnimation anim = analyzer.GetAnotatedAnimation(state.actionName);
for (int i = 1; i < samples - 1; i++)
{
start = state.previousState.currentPosition + anim.Root[i].position;
end = start + new Vector3(0, analyzer.GetHeight() / 2, 0);
if (Physics.CheckCapsule(start, end, radius, layer))
{
//if (Physics.CheckSphere(state.previousState.currentPosition,radius,layer))
return(true);
}
}
}
return(false);
}