private void DrawAvoidLine()
{
for (int i = 0; i < vectorInPath.Count - 1; ++i)
{
JSHelper.DebugDrawLine(vectorInPath [i], vectorInPath [i + 1], Color.red, 5.0f);
}
}
private Vector3 GetObstacleDirectllyColliderVector(JSObstacleCollider obstacle, Vector3 start, Vector3 end, float radius)
{
crossPoint.Clear();
Vector3[] obstacleVertexs = new Vector3[4];
obstacleVertexs [0] = new Vector3(obstacle.SelfCollider.size.x * 0.5f + radius,
0,
obstacle.SelfCollider.size.z * 0.5f + radius);
obstacleVertexs [1] = new Vector3(obstacle.SelfCollider.size.x * 0.5f + radius,
0,
-obstacle.SelfCollider.size.z * 0.5f - radius);
obstacleVertexs [2] = new Vector3(-obstacle.SelfCollider.size.x * 0.5f - radius,
0,
-obstacle.SelfCollider.size.z * 0.5f - radius);
obstacleVertexs [3] = new Vector3(-obstacle.SelfCollider.size.x * 0.5f - radius,
0,
obstacle.SelfCollider.size.z * 0.5f + radius);
obstacleVertexs [0] = obstacle.ColliderCenterTransform.TransformPoint(obstacleVertexs [0]);
obstacleVertexs [1] = obstacle.ColliderCenterTransform.TransformPoint(obstacleVertexs [1]);
obstacleVertexs [2] = obstacle.ColliderCenterTransform.TransformPoint(obstacleVertexs [2]);
obstacleVertexs [3] = obstacle.ColliderCenterTransform.TransformPoint(obstacleVertexs [3]);
for (int i = 0; i < obstacleVertexs.Length; ++i)
{
JSHelper.DebugDrawLine(obstacleVertexs [i % 4], obstacleVertexs [(i + 1) % 4], Color.yellow, 5.0f);
CrossPoint(start, end, obstacleVertexs [i % 4], obstacleVertexs [(i + 1) % 4], start.y);
}
if (crossPoint.Count > 0)
{
Vector3 closestPoint = crossPoint [0];
if (crossPoint.Count > 1)
{
float closestDistance = Vector3.Distance(start, crossPoint [0]);
for (int i = 1; i < crossPoint.Count; ++i)
{
if (Vector3.Distance(start, crossPoint [i]) < closestDistance)
{
closestDistance = Vector3.Distance(start, crossPoint [i]);
closestPoint = crossPoint [i];
}
}
}
return(closestPoint);
}
return(end);
}
private void DrawDirectllyLine(Vector3 start, Vector3 end)
{
JSHelper.DebugDrawLine(start, end, Color.blue, 5.0f);
}