public Vector3 AimAwayFromNeighbourhood(Vector3 randPt)
{
Vector3 newAngle = randPt;
float largestDistFromTree = 0;
PathNode freshestNode = root;
Vector3 freshestAngle = randPt;
// Check 18 different angles around the clock for boundaries/free space
for (int i = 0; i < 18; i++)
{
// Find closest node in tree to the random pt we have chosen
PathNode closestNode = root.ClosestNode(newAngle);
// Agent is closer to unexplored space than the tree is
float distFromTree = Vector3.Distance(closestNode.position, newAngle);
if (Vector3.Distance(this.agentLoc.position, newAngle) < distFromTree)
{
return(newAngle);
}
if (largestDistFromTree < distFromTree)
{
// if(freshestNode.Depth() > closestNode.Depth()) {
freshestAngle = newAngle;
freshestNode = closestNode;
}
// rotate clockwise by 40degrees
newAngle = Quaternion.Euler(20, 0, 0) * (newAngle - this.agentLoc.position) +
this.agentLoc.position;
}
return(freshestAngle);
}