void FindVisibleTargets()
{
//Clear the current visible targets
visibleTargets.Clear();
//Do simple sphere collision check for nearby targets
Collider[] targets = Physics.OverlapSphere(transform.position, ViewRadius, TargetLayer);
//Iterate through each target
foreach (Collider target in targets)
{
//Get direction and magnitude to target
Vector3 ToTarget = (target.transform.position - transform.position);
//Normalize so we have direction without magnitude
Vector3 ToTargetNormalized = ToTarget.normalized;
if (Vector3.Angle(transform.forward, ToTargetNormalized) < ViewAngle / 2 && //Check if the target is within our FoV
!Physics.Raycast(transform.position, ToTargetNormalized, ToTarget.magnitude, ObstacleLayer) && // then do the raycast to determine LoS
target.gameObject.tag == "Player" || target.gameObject.tag == "Enemy_AI" && // and check if the object has the right tag
target.gameObject != thisObject) // and that it is not the object this script is attached to
{
//I see you!
visibleTargets.Add(target.transform);
}
}
//Add memory record to our perception system
Perception percept = GetComponent <Perception>();
percept.ClearFoV();
foreach (Transform target in visibleTargets)
{
percept.AddMemory(target.gameObject);
}
}
