public void Explore()
{
this.anim.speed = 0.8f;
this.anim.Play("Explore");
this._noise.Frequency = _noiseFrequency;
this._noise.Step();
Quaternion current_rot = this.transform.rotation;
ObstacleAvoidInfo obs_info = this.GetObstacleAvoidInfo();
//Vector3 ex_pos = this.transform.position;
float delta = this._stepFrequency * Time.deltaTime;
Quaternion target_rot;
if (obs_info.is_hit)
{
target_rot = Quaternion.LookRotation(obs_info.dir);
this.transform.rotation = Quaternion.Slerp(current_rot, target_rot, obs_info.turning_rate);
}
else
{
target_rot = this._noise.Rotation(0, 90f, 360f, 90f);
this.transform.rotation = Quaternion.Slerp(current_rot, target_rot, delta);
}
this.transform.position += this.transform.forward * delta;
//Debug.DrawLine(ex_pos, this.transform.position, Color.blue);
//Debug.Log("rot: " + this.transform.rotation.eulerAngles);
}
private ObstacleAvoidInfo GetObstacleAvoidInfo()
{
ObstacleAvoidInfo obs_info = new ObstacleAvoidInfo();
obs_info.dir = Vector3.zero;
RaycastHit hit;
float hit_distance = float.MaxValue;
if (Physics.Raycast(this.transform.position, this.transform.forward,
out hit, this._obstacle_detecting_distance))
{
if (hit.transform != transform)
{
Debug.DrawLine(this.transform.position, hit.point, Color.red);
obs_info.is_hit = true;
obs_info.dir = hit.normal;
hit_distance = Mathf.Min(hit_distance, Vector3.Distance(this.transform.position, hit.point));
}
}
//Debug.Log("extends: " + this.bodyObj.GetComponent<Renderer>().bounds.extents);
Vector3 leftR = this.transform.localPosition;
Vector3 rightR = this.transform.localPosition;
float wingDistance = this.bodyObj.GetComponent <Renderer>().bounds.extents.x;
leftR.x -= wingDistance;
rightR.x += wingDistance;
//Left
if (Physics.Raycast(leftR, this.transform.forward, out hit,
this._obstacle_detecting_distance))
{
if (hit.transform != transform)
{
Debug.DrawLine(leftR, hit.point, Color.red);
obs_info.is_hit = true;
obs_info.dir = hit.normal;
hit_distance = Mathf.Min(hit_distance, Vector3.Distance(this.transform.position, hit.point));
}
}
//Right
if (Physics.Raycast(rightR, this.transform.forward, out hit,
this._obstacle_detecting_distance))
{
if (hit.transform != transform)
{
Debug.DrawLine(rightR, hit.point, Color.red);
obs_info.is_hit = true;
obs_info.dir = hit.normal;
hit_distance = Mathf.Min(hit_distance, Vector3.Distance(this.transform.position, hit.point));
}
}
if (0 < hit_distance && hit_distance < this._obstacle_detecting_distance)
{
//Has obstacle objects in the distance
obs_info.turning_rate = Util.Remap(hit_distance,
0, this._obstacle_detecting_distance, 1, 0); //0~obs -> 1~0
//Debug.Log("d: " + hit_distance + ", obstacle_dist: " + this._obstacle_detecting_distance + ", turning_rate: " + turning_rate);
}
else
{
//No obstacle objects
obs_info.turning_rate = Time.deltaTime;
}
return(obs_info);
}
