bool GenericCast(Vector3 direction, out GenericCastHit hit, float distance = Mathf.Infinity)
{
bool result = false;
Vector3 origin = rb.ColliderPosition;
bool defaultQueriesStartInColliders = Physics2D.queriesStartInColliders;
Physics2D.queriesStartInColliders = false;
RaycastHit2D h;
if (wallDetection == WallDetection.Raycast)
{
h = Physics2D.Raycast(origin, direction, distance, castMask.value);
}
else
{
h = Physics2D.CircleCast(origin, (rb.Radius * 0.5f), direction, distance, castMask.value);
}
/* RaycastHit2D auto evaluates to true or false evidently */
result = (h.collider != null);
hit = new GenericCastHit(h);
Physics2D.queriesStartInColliders = defaultQueriesStartInColliders;
//Debug.DrawLine(origin, origin + direction * distance, Color.cyan, 0f, false);
return(result);
}
private bool DetectCollider(Vector3 direction, out GenericCastHit hit, float distance = 1)
{
bool result;
RaycastHit h;
Vector3 origin = controller.ColliderPosition;
//result = Physics.Raycast(origin, direction, out h, distance, castMask.value);
result = Physics.SphereCast(origin, (controller.ColliderRadius * 0.5f), direction, out h, distance, castMask.value);
if (drawGizmos)
{
Debug.DrawLine(origin, origin + direction * distance, Color.yellow);
}
hit = new GenericCastHit(h);
//// If the normal is less than our slope limit then we've hit the ground and not a wall */
//float angle = Vector3.Angle(Vector3.up, hit.normal);
//if (angle < controller.SlopeLimit)
//{
// hit.normal = controller.ConvertVector(hit.normal);
// result = false;
//}
return(result);
}
bool GenericCast(Vector3 direction, out GenericCastHit hit, float distance = Mathf.Infinity)
{
bool result = false;
Vector3 origin = rb.ColliderPosition;
if (rb.is3D)
{
RaycastHit h;
if (wallDetection == WallDetection.Raycast)
{
result = Physics.Raycast(origin, direction, out h, distance, castMask.value);
}
else
{
result = Physics.SphereCast(origin, (rb.Radius * 0.5f), direction, out h, distance, castMask.value);
}
hit = new GenericCastHit(h);
/* If the character is grounded and we have a result check that we've hit a wall */
if (!rb.canFly && result)
{
/* If the normal is less than our slope limit then we've hit the ground and not a wall */
float angle = Vector3.Angle(Vector3.up, hit.normal);
if (angle < rb.slopeLimit)
{
hit.normal = rb.ConvertVector(hit.normal);
result = false;
}
}
}
else
{
bool defaultQueriesStartInColliders = Physics2D.queriesStartInColliders;
Physics2D.queriesStartInColliders = false;
RaycastHit2D h;
if (wallDetection == WallDetection.Raycast)
{
h = Physics2D.Raycast(origin, direction, distance, castMask.value);
}
else
{
h = Physics2D.CircleCast(origin, (rb.Radius * 0.5f), direction, distance, castMask.value);
}
/* RaycastHit2D auto evaluates to true or false evidently */
result = (h.collider != null);
hit = new GenericCastHit(h);
Physics2D.queriesStartInColliders = defaultQueriesStartInColliders;
}
//Debug.DrawLine(origin, origin + direction * distance, Color.cyan, 0f, false);
return(result);
}
private bool DetectedObstacle(Vector3 facingDir, out GenericCastHit firstHit)
{
facingDir = controller.ConvertVector(facingDir).normalized;
Vector3[] dirs = new Vector3[3];
dirs[0] = facingDir;
float orientation = SteeringHelper.VectorToOrientation(facingDir);
dirs[1] = SteeringHelper.OrientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad);
dirs[2] = SteeringHelper.OrientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad);
return(CastWhiskers(dirs, out firstHit));
}
private bool findObstacle(Vector3 facingDir, out GenericCastHit firstHit)
{
facingDir = rb.convertVector(facingDir).normalized;
/* Create the direction vectors */
Vector3[] dirs = new Vector3[3];
dirs[0] = facingDir;
float orientation = SteeringBasics.vectorToOrientation(facingDir, rb.is3D);
dirs[1] = SteeringBasics.orientationToVector(orientation + sideWhiskerAngle * Mathf.Deg2Rad, rb.is3D);
dirs[2] = SteeringBasics.orientationToVector(orientation - sideWhiskerAngle * Mathf.Deg2Rad, rb.is3D);
return(castWhiskers(dirs, out firstHit));
}
private bool CastWhiskers(Vector3[] dirs, out GenericCastHit firstHit)
{
firstHit = new GenericCastHit();
bool foundObstacle = false;
for (int i = 0; i < dirs.Length; i++)
{
float dist = (i == 0) ? mainWhiskerLength : sideWhiskerLength;
if (DetectCollider(dirs[i], out GenericCastHit hit, dist))
{
foundObstacle = true;
firstHit = hit;
break;
}
}
return(foundObstacle);
}
private bool castWhiskers(Vector3[] dirs, out GenericCastHit firstHit)
{
firstHit = new GenericCastHit();
bool foundObs = false;
for (int i = 0; i < dirs.Length; i++)
{
float dist = (i == 0) ? mainWhiskerLen : sideWhiskerLen;
GenericCastHit hit;
if (genericCast(dirs[i], out hit, dist))
{
foundObs = true;
firstHit = hit;
break;
}
}
return(foundObs);
}
