private void CheckSurroundingDirections()
{
if (DebugMode)
{
ClearSurroundingCornerObjects();
}
surroundingCornersPoints = new List <Vector3>();
var startDirection = transform.forward;
var direction = startDirection;
var position = transform.position;
var directionCheckResult = new DirectionCheckResult
{
IsEmpty = true
};
var iterations = Mathf.CeilToInt(360f / sweepAngleStep);
for (int i = 0; i < iterations; i++)
{
directionCheckResult.intermediatePointStepCount++;
directionCheckResult = CheckGivenDirection(direction, position, directionCheckResult);
direction = Quaternion.Euler(0, sweepAngleStep, 0) * direction;
}
}
private DirectionCheckResult CheckGivenDirection(Vector3 direction, Vector3 position, DirectionCheckResult lastResult)
{
var intermediatePointStepCount = lastResult.intermediatePointStepCount;
var lastHittedObject = lastResult.lastHittedObject;
var lastHittedPoint = lastResult.lastHittedPoint;
GameObject hitedObject = null;
Vector3 hitedPoint = Vector3.zero;
var hitList = Physics.RaycastAll(position, direction, detectionDistanceLimit);
Array.Sort(hitList, new RaycastHitSorting(position));
foreach (var hit in hitList)
{
if (IsATargetObject(hit.transform.gameObject))
{
var obj = hit.transform.gameObject;
hitedObject = obj;
hitedPoint = hit.point;
intermediatePointStepCount = 0;
break;
}
}
if (!lastResult.IsEmpty && hitedObject != lastHittedObject)
{
if (lastHittedObject != null)
{
surroundingCornersPoints.Add(lastHittedPoint);
if (DebugMode)
{
surroundingCornerObjects.Add(Instantiate(detectedPointPrefab, lastHittedPoint, new Quaternion()));
}
}
if (hitedObject != null)
{
surroundingCornersPoints.Add(hitedPoint);
if (DebugMode)
{
surroundingCornerObjects.Add(Instantiate(detectedPointPrefab, hitedPoint, new Quaternion()));
}
}
}
else if (intermediatePointStepCount == intermediatePointStep)
{
var intermediatePos = transform.position + direction * detectionDistanceLimit;
surroundingCornersPoints.Add(intermediatePos);
intermediatePointStepCount = 0;
if (DebugMode)
{
surroundingCornerObjects.Add(Instantiate(intermediatePointPrefab, intermediatePos, new Quaternion()));
}
}
lastResult.IsEmpty = false;
lastResult.lastHittedObject = hitedObject;
lastResult.lastHittedPoint = hitedPoint;
lastResult.intermediatePointStepCount = intermediatePointStepCount;
return(lastResult);
}