private bool findObstacle(Vector3 facingDir, out GenericCastHit firstHit)
{
facingDir = rb.convertVector(facingDir).normalized;
/* Create the direction vectors */
Vector3[] dirs = new Vector3[3];
dirs[0] = facingDir;
float orientation = SteeringBasics.vectorToOrientation(facingDir, rb.is3D);
dirs[1] = SteeringBasics.orientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad, rb.is3D);
dirs[2] = SteeringBasics.orientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad, rb.is3D);
return(castWhiskers(dirs, out firstHit));
}