Vector3 CollisionAvoidance()
{
//Vector3 offsetPosition;
//for (int i = 0; i < collisionTesters.Count; i++)
//{
// offsetPosition = collisionTesters[i].GetSteeringOffset();
// if (offsetPosition != Vector3.zero)
// {
// Vector3 desiredVelocity = (offsetPosition - transform.position).normalized * maxSpeed;
// return desiredVelocity - velocity;
// }
//}
TurningStatus turningStatus = collisionTester.DetectCollision();
if (turningStatus == TurningStatus.CW)
{
return(transform.right * maxSpeed);
}
else if (turningStatus == TurningStatus.CCW)
{
return(-transform.right * maxSpeed);
}
else
{
return(transform.forward * maxSpeed);
}
}
public TurningStatus DetectCollision()
{
TurningStatus turningStatus = TurningStatus.None;
RaycastHit centerHit;
if (Physics.Raycast(centerLineTransform.position, centerLineTransform.forward, out centerHit, lineLength, collisionLayer))
{
centerLineRenderer.material = collisionMaterial;
}
else
{
centerLineRenderer.material = noCollisionMaterial;
}
RaycastHit leftHit;
if (Physics.Raycast(leftLineTransform.position, leftLineTransform.forward, out leftHit, lineLength, collisionLayer))
{
leftLineRenderer.material = collisionMaterial;
}
else
{
leftLineRenderer.material = noCollisionMaterial;
}
RaycastHit rightHit;
if (Physics.Raycast(rightLineTransform.position, rightLineTransform.forward, out rightHit, lineLength, collisionLayer))
{
rightLineRenderer.material = collisionMaterial;
}
else
{
rightLineRenderer.material = noCollisionMaterial;
}
if (leftHit.collider)
{
turningStatus = TurningStatus.CW;
}
else if (rightHit.collider)
{
turningStatus = TurningStatus.CCW;
}
else
{
turningStatus = TurningStatus.None;
}
return(turningStatus);
}
//turn right
public void TurnRight()
{
currentTS = TurningStatus.TurnRight;
}
//turn maintain
public void TurnMaitain()
{
currentTS = TurningStatus.Maintain;
}
//turn left
public void TurnLeft()
{
currentTS = TurningStatus.TurnLeft;
}
//turn left
public void TurnLeft()
{
currentTS = TurningStatus.TurnLeft;
}
//turn maintain
public void TurnMaitain()
{
currentTS = TurningStatus.Maintain;
}
//turn right
public void TurnRight()
{
currentTS = TurningStatus.TurnRight;
}
