/// <summary>Checks if the target midpoint is a valid midpoint.</summary>
/// <param name="testColRef">Reference to the TestCollider script.</param>
/// <param name="startPos">Start position to move from.</param>
/// <param name="targetMidPoint">Midpoint to check for validity.</param>
/// <param name="targetPos">Target position to move to.</param>
/// <returns></returns>
private bool CheckMidpointClear(TestCollider testColRef, Vector3 startPos, Vector3 targetMidPoint, Vector3 targetPos)
{
bool isClear = !testColRef.CheckIfLineWillHitWall(startPos, targetMidPoint);
if (isClear)
{
isClear = !testColRef.CheckIfLineWillHitWall(targetMidPoint, targetPos);
}
return(isClear);
}
/// <summary>Constructs a WallInWayDecision.
/// Checks right away if there is a wall in the way and if there is, generates a midpoint
/// such that traversing start -> mid -> target is clear.</summary>
/// <param name="testColRef">Reference to the TestCollider script.</param>
/// <param name="startPos">Start position to move from.</param>
/// <param name="targetPos">Target position to move to.</param>
public WallInWayDecision(TestCollider testColRef, Vector3 startPos, Vector3 targetPos)
{
// Do a physics cast to see if we can go directly to the target point
wasWallInWay = testColRef.CheckIfLineWillHitWall(startPos, targetPos);
if (wasWallInWay)
{
// If a wall was in the way, get the midpoin that would make movement valid
midpoint = CreateMidpoint(testColRef, startPos, targetPos);
}
}