コード例 #1
0
ファイル: Sensor.cs プロジェクト: pellem/PlatzillaVR_laval
    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);
    }
コード例 #2
0
    public Vector3 Avoid(Rigidbody body, VisibleObjectData data)
    {
        Vector3 offset    = body.position - data.position;
        Vector3 direction = Vector3.ProjectOnPlane(offset, body.transform.forward);

        return(direction.normalized);
    }
コード例 #3
0
    private void Avoid(VisibleObjectData closestObject)
    {
        Vector3 steering = steeringBehaviors.Avoid(body, closestObject) * AVOIDANCE_VELOCITY;

        movement.ReduceSpeed(body);

        body.AddForce(steering);
    }
コード例 #4
0
    private bool IsAvoiding()
    {
        VisibleObjectData visibleObject = sensor.FindClosestObject(body.transform.position);

        bool isAvoiding = (visibleObject != null);

        if (isAvoiding)
        {
            Avoid(visibleObject);
        }

        return(isAvoiding);
    }
コード例 #5
0
ファイル: Sensor.cs プロジェクト: pellem/PlatzillaVR_laval
    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);
    }