float radius = 2.0f; //radius of capsulecast
//This function will generate a 2D array of either NULL or MAXINT depending on whether there are
//obstacles in the way or not.
public int[,] Generate_grid(float cellSize, int row_size, int col_size, int xOff, int zOff)
{
xOffset = xOff;
zOffset = zOff;
grid = new custom_grid();
grid.cellSize = cellSize;
int[,] obstacle_grid = new int[row_size, col_size]; //create an empty grid to load obstacle values into
//col is col index, row is row index
for (int col = 0; col < col_size; col++)
{
for (int row = 0; row < row_size; row++)
{
Vector3 half_offset = (Vector3.right * 0.5f * cellSize) + (Vector3.forward * 0.5f * cellSize);
//create a new ray from 100 units up pointing down towards the map
Ray ray = new Ray(grid.cellToWorld(row + xOffset, col + zOffset) + half_offset + (1000.0f * Vector3.up), Vector3.down);
Vector3 origin = grid.cellToWorld(row + xOffset, col + zOffset) + half_offset + (1000.0f * Vector3.up);
//if (Physics.Raycast(ray, out hit, 50000.0f,1<<10)) //check a raycast out to infinity
if (Physics.SphereCast(origin, radius, Vector3.down, out hit, 50000.0f, (1 << 10) | (1 << 14)))
{
//return the GameObject we hit
go = hit.transform.gameObject;
obstacle_grid[row, col] = Int32.MaxValue; //Max value represents impassable object
}
else if (Physics.Raycast(origin, -Vector3.up, out hit, 50000.0f, (1 << 8))) //check if it is not an impassable slope
{
if (Vector3.Angle(Vector3.up, hit.normal) > 5.0f)
{
obstacle_grid[row, col] = Int32.MaxValue; //Max value represents impassable object
}
else if (hit.point.y < 3.8f)
{
obstacle_grid[row, col] = Int32.MaxValue; //Max value represents impassable object
}
}
}
}
return(obstacle_grid);
}
