bool lineIntersecCircle(Vector3 ahead, Vector3 ahead2, CircleObs obstacle)
{
float distance1 = (obstacle._center - ahead).magnitude;
float distance2 = (obstacle._center - ahead2).magnitude;
return((distance1 <= obstacle._radius) || (distance2 <= obstacle._radius));
}
public CircleObs getClosetObstacle()
{
Vector3 ahead = this.transform.position + _currentVelocity.normalized * _maxAhead;
Vector3 ahead2 = this.transform.position + _currentVelocity.normalized * _maxAhead * 0.5f;
CircleObs mostThreatening = null;
foreach (GameObject _obstacle in GameObject.FindGameObjectsWithTag("Obstacle"))
{
CircleObs circleObs = _obstacle.GetComponent <CircleObs>();
bool _isColide = lineIntersecCircle(ahead, ahead2, circleObs);
if (_isColide)
{
if (mostThreatening == null)
{
mostThreatening = circleObs;
}
else
{
float distanceCurrent = (this.transform.position - mostThreatening._center).magnitude;
float distanceCek = (this.transform.position - circleObs._center).magnitude;
mostThreatening = distanceCek < distanceCurrent ? circleObs : mostThreatening;
}
}
}
return(mostThreatening);
}
public KinematicData getCollideAvoid()
{
Vector3 ahead = this.transform.position + _currentVelocity.normalized * _maxAhead * 0.5f;
CircleObs _ClosestObsCirle = getClosetObstacle();
KinematicData _SteeringOut = new KinematicData();
//lengkapi .... yang dibawah ini
if (_ClosestObsCirle != null)
{
_SteeringOut._velocity = ahead - _ClosestObsCirle._center;
if (_SteeringOut._velocity.magnitude > _maxAvoidanceForce)
{
_SteeringOut._velocity = _SteeringOut._velocity.normalized;
_SteeringOut._velocity *= _maxAvoidanceForce;
}
}
else
{
_SteeringOut._velocity = Vector3.zero;
}
return(_SteeringOut);
}