protected RuntimeWaypoint FindNearestReachableWaypoint(Vector3 position)
{
var orderedWaypoints = waypoints.GetWaypointsOrderedByProximity(position);
for (var i = 0; i < orderedWaypoints.Length; i++)
{
var wp = orderedWaypoints[i];
if (PhysicsExtensions.CheckSightBetweenTwoPositions(position, wp.position, ~layersToIgnoreInSightTest))
{
if (debugReachabilityTest)
{
Debug.DrawLine(position, wp.position, Color.green);
}
return(wp);
}
else if (debugReachabilityTest)
{
Debug.DrawLine(position, wp.position, Color.red);
}
}
return(null);
}