private SteeringOut ObstacleAvoidance(LayerMask obstDef)
{
SteeringOut steeringOut = new SteeringOut();
RaycastHit2D rcHit = Physics2D.Raycast(_owner.Position, _owner.VectorHeading(),
_owner.obsFeelerLen, obstDef);
/* Draw feeler
* Debug.DrawRay (_owner.Position, new Vector3 (_owner.VectorHeading().x,
* _owner.VectorHeading ().y, 0) * _owner.obsFeelerLen, Color.green);
*/
if (rcHit.collider == null)
{
return(steeringOut);
}
Vector2 toObst = (Vector2)rcHit.transform.position - _owner.Position;
float toObstDeltaAngle = Utils.DeltaAngle(_owner.DegreeHeading(), Utils.Vector2Angle(toObst));
float newTargetAngle = _owner.DegreeHeading();
if (toObstDeltaAngle < 0)
{
newTargetAngle = newTargetAngle + 90 + toObstDeltaAngle;
}
else
{
newTargetAngle = newTargetAngle - 90 + toObstDeltaAngle;
}
float deltaAngle = Utils.AbsDeltaAngle(newTargetAngle, _owner.DegreeHeading());
steeringOut.LimitSpeed = DeltaAngle2LimitSpeed(deltaAngle);
steeringOut.TargetAngle = newTargetAngle;
return(steeringOut);
}