public void ScanForObjects(CandiceDetectionRequest request)
{
Vector3 center = transform.position;
bool is3D = request.is3D;
float radius = request.radius;
float height = request.height;
float lineOfSight = request.lineOfSight;
SensorType type = request.type;
//Array that will store all collided objects
//Collider[] hitColliders = Physics.OverlapSphere(center, radius);
Vector3 halfExtents = new Vector3(radius, height, radius);
Collider[] hitColliders = null;
if (type == SensorType.Sphere)
{
hitColliders = Physics.OverlapSphere(center, radius);
}
Dictionary <string, List <GameObject> > detectedObjects = new Dictionary <string, List <GameObject> >();
//Loop though each object
foreach (Collider collider in hitColliders)
{
GameObject go = collider.gameObject;
float distance = Vector3.Distance(center, go.transform.position);
float angle = Vector3.Angle(go.transform.position - center, transform.forward);
if (angle <= lineOfSight / 2)
{
CompareTags(go, request.detectionTags, ref detectedObjects);
}
}
objectDetectedCallback(new CandiceDetectionResults(detectedObjects));
}