public void AddHeight(int x, int y, float height)
{
if (grid.InBounds(x, y))
{
heightObstacleMap[x, y] = heightObstacleMap[x, y] + height < 0 ?
heightObstacleMap[x, y] = 0 :
heightObstacleMap[x, y] + height;
}
}
protected Vector2Int RandomWalk()
{
Vector2Int randomPos = new Vector2Int(0, 0);
// Loop until a traversable straight line is found
// It must not pass an obstacle and it must not be out of bounds.
// This might cause problems if an agent is surrounded by obstacles, for instance
// In that case: do something more intelligent.
while (true)
{
Vector2 randomWalk = Random.insideUnitCircle * Random.Range(0, maxRandomWalkDistance);
randomPos = grid.WorldToGrid(transform.position + new Vector3(randomWalk.x, 0, randomWalk.y));
// Ignore out of bound positions
if (!grid.InBounds(randomPos))
{
continue;
}
// Ignore obstacles
RaycastHit hit;
if (Physics.Raycast(transform.position, new Vector3(randomWalk.x, 0, randomWalk.y), out hit, randomWalk.magnitude, LayerMask.GetMask("Obstacles")))
{
continue;
}
else if (obstacleHeightMap.GetHeight(randomPos.x, randomPos.y) > 0)
{
continue;
}
break;
}
return(randomPos);
}
public bool InBounds(Vector2Int pos)
{
return(grid.InBounds(pos));
}