private List <VisibleObjectData> FindVisibleObjects()
{
List <VisibleObjectData> visibleObjects = new List <VisibleObjectData>();
Vector3 currentPosition = this.transform.position;
Collider[] colliders = Physics.OverlapSphere(currentPosition, RADIUS);
foreach (Collider collider in colliders)
{
Transform objectFound = collider.transform;
Vector3 direction = (objectFound.position - currentPosition).normalized;
float distance = Vector3.Distance(currentPosition, objectFound.position);
RaycastHit hit;
if (IsInFieldOfView(direction) && Physics.Raycast(currentPosition, direction, out hit, distance))
{
// TODO - Fix detection. For now, do not consider other helicopters or objects which are under specified height
GameObject hittedObject = hit.transform.gameObject;
if (hittedObject.tag != "helicopter")
{
VisibleObjectData data = createDataFrom(hit);
visibleObjects.Add(data);
}
}
}
return(visibleObjects);
}
public Vector3 Avoid(Rigidbody body, VisibleObjectData data)
{
Vector3 offset = body.position - data.position;
Vector3 direction = Vector3.ProjectOnPlane(offset, body.transform.forward);
return(direction.normalized);
}
private void Avoid(VisibleObjectData closestObject)
{
Vector3 steering = steeringBehaviors.Avoid(body, closestObject) * AVOIDANCE_VELOCITY;
movement.ReduceSpeed(body);
body.AddForce(steering);
}
private bool IsAvoiding()
{
VisibleObjectData visibleObject = sensor.FindClosestObject(body.transform.position);
bool isAvoiding = (visibleObject != null);
if (isAvoiding)
{
Avoid(visibleObject);
}
return(isAvoiding);
}
public VisibleObjectData FindClosestObject(Vector3 currentPosition)
{
VisibleObjectData closestObject = null;
float closestDistance = float.PositiveInfinity;
List <VisibleObjectData> visibleObjects = FindVisibleObjects();
foreach (VisibleObjectData data in visibleObjects)
{
float distance = Vector3.Distance(currentPosition, data.position);
if (closestDistance >= distance)
{
closestObject = data;
}
}
return(closestObject);
}