public void Cast(Vector3 dir, float angle, float dist)
{
Reset();
if (VSL.refT == null)
{
return;
}
//cast the rays
var side = Vector3.Cross(VSL.Physics.Up, dir) * VSL.Geometry.R * 1.5f;
var cast_dir = Quaternion.AngleAxis(angle, side) * dir;
Valid |= L.Cast(VSL.Physics.wCoM - side, cast_dir, dist, VSL.Geometry.R);
Valid |= C.Cast(VSL.Physics.wCoM, cast_dir, dist, VSL.Geometry.R);
Valid |= R.Cast(VSL.Physics.wCoM + side, cast_dir, dist, VSL.Geometry.R);
if (Valid)
{
L.ClaculateAltitude(dir, angle);
C.ClaculateAltitude(dir, angle);
R.ClaculateAltitude(dir, angle);
Altitude = VSL.Altitude.Absolute - Mathf.Min(L.Altitude, C.Altitude, R.Altitude);
Ray ray;
if (L.Valid && !R.Valid)
{
ray = L; Maneuver = ManeuverType.Horizontal;
}
else if (!L.Valid && R.Valid)
{
ray = R; Maneuver = ManeuverType.Horizontal;
}
else if (C.Valid)
{
ray = C; Maneuver = ManeuverType.Vertical;
}
else if (L.Valid && R.Valid)
{
ray = R.Distance < L.Distance? R : L; Maneuver = ManeuverType.Vertical;
}
else
{
VSL.Log("Unknown ManevuerType of a Valid Sweep. This should never happen."); return;
}
Obstacle = new TerrainPoint(Altitude, ray.CollisionPoint);
}
}
