protected override void BuildObstacles()
{
SetObstacleCount(1);
Nebukam.ORCA.Obstacle o = SetObstacleLength(0, samples);
Vector2 offset = colliderComponent.offset;
float3 pos = transform.position, pt = float3(0f, colliderComponent.radius, pos.z), zero = float3(0f);
quaternion rot = transform.rotation;
float inc = Maths.TAU / samples;
float3 Project(int sample)
{
float3 proj = Maths.RotateAroundPivot(pt, zero, float3(0f, 0f, inc * sample));
proj.x += offset.x; proj.y += offset.y; proj.z = pos.z;
proj = Maths.RotateAroundPivot(proj, zero, rot);
proj.x += pos.x; proj.y += pos.y; proj.z = pos.z;
return(proj);
}
for (int i = 0; i < samples; i++)
{
o[i].pos = Project(i);
}
}
protected virtual void DrawObstacle(Color col)
{
for (int o = 0, oCount = m_obstacles.Count; o < oCount; o++)
{
Nebukam.ORCA.Obstacle subObstacle = m_obstacles[o];
int count = subObstacle.Count;
for (int i = 1; i < count; i++)
{
DrawSegment(subObstacle[i - 1].pos, subObstacle[i].pos, col);
}
if (!subObstacle.edge)
{
DrawSegment(subObstacle[count - 1].pos, subObstacle[0].pos, col);
}
}
}
protected Nebukam.ORCA.Obstacle SetObstacleLength(int index, int length)
{
Nebukam.ORCA.Obstacle o = m_obstacles[index];
int oLength = o.Count;
if (oLength == length)
{
return(o);
}
while (oLength != length)
{
if (oLength < length)
{
o.Add(float3(0f));
}
else
{
o.Pop(true);
}
oLength = o.Count;
}
return(o);
}
protected override void BuildObstacles()
{
SetObstacleCount(doubleSided ? 2 : 1);
Vector2[] points = colliderComponent.points;
Vector2 offset = colliderComponent.offset;
float3 pos = transform.position;
quaternion rot = transform.rotation;
int count = points.Length;
Nebukam.ORCA.Obstacle o = SetObstacleLength(0, count);
o.edge = true;
float3 Project(Vector2 pt)
{
float3 proj = Maths.RotateAroundPivot(float3(pt.x + offset.x, pt.y + offset.y, pos.z), float3(0f), rot);
proj.x += pos.x; proj.y += pos.y; proj.z = pos.z;
return(proj);
}
for (int i = 0; i < count; i++)
{
o[i].pos = Project(points[i]);
}
if (doubleSided)
{
float3 overlap = float3(float.Epsilon, float.Epsilon, float.Epsilon);
o = SetObstacleLength(1, count);
o.edge = true;
for (int i = 0; i < count; i++)
{
o[i].pos = Project(points[count - (i + 1)]) + overlap;
}
}
}