private List<Vector2D> CreateFeelers(IMovingEntity vehicle)
{
List<Vector2D> feelers = new List<Vector2D>();
var feelerLength = (vehicle.GetVelocity() * wallDetectionFeelerLengthMultiplier).GetLength();
//Feeler pointing straight in front
feelers.Add(vehicle.GetPosition() + vehicle.GetHeading() * feelerLength);
//Feeler to left
Vector2D angle = movingEntity.GetHeading().Rotate((float)(Math.PI / 2) * WallAvoidance.WallDetectionFeelerAngle);
feelers.Add(vehicle.GetPosition() + angle * (feelerLength) / 1.5f);
//Feel to right
angle = movingEntity.GetHeading().Rotate(-(float)(Math.PI / 2) * WallAvoidance.WallDetectionFeelerAngle);
feelers.Add(vehicle.GetPosition() + angle * (feelerLength) / 1.5f);
return feelers;
}
