private Vector3 Scape(List <int> angles, float mov)
{
// Look for the nearest object
GameObject nearestObject = this._gameObject;
float distance = 1000f;
// Check trees
foreach (GameObject tree in _trees)
{
float thisDistance = Vector3.Distance(tree.transform.position, _transform.position);
if (thisDistance < distance)
{
distance = thisDistance;
nearestObject = tree;
}
}
// Check dogs
foreach (GameObject dog in _dogs)
{
float thisDistance = Vector3.Distance(dog.transform.position, _transform.position);
if (thisDistance < distance)
{
distance = thisDistance;
nearestObject = dog;
}
}
int selectedAngle = 0;
// Get the safest action
foreach (int angle in angles)
{
Vector2 polar = new Vector2(angle, mov);
Vector3 tempAction = DegreeUtils.PolarToCartesian(polar);
Vector3 nextTempPos = _transform.position + tempAction * Time.deltaTime;
float newDistance = Vector3.Distance(nextTempPos, nearestObject.transform.position);
if (newDistance > distance)
{
selectedAngle = angle;
distance = newDistance;
}
}
Vector2 polarAction = new Vector2(selectedAngle, mov);
return(DegreeUtils.PolarToCartesian(polarAction));
}
public Vector3 SafeActions(Vector3 action)
{
Vector3 nextPosition = getNextPosition(_gameObject, action);
// Check collisions
if (IsColliding(nextPosition))
{
// List<float> angles = RangeInt.RangeInt(0, 360, 10);
List <int> angles = Enumerable.Range(0, 35).Select(x => x * 10).ToList();
float mov = Random.value * 5f;
List <Vector3> safeActions = new List <Vector3>();
foreach (float angle in angles)
{
Vector2 polar = new Vector2(angle, mov);
Vector3 tempAction = DegreeUtils.PolarToCartesian(polar);
Vector3 nextTempPos = this._transform.position + tempAction * Time.deltaTime;
if (!IsColliding(nextTempPos))
{
safeActions.Add(tempAction);
}
}
if (safeActions.Count > 0)
{
float a = Random.value * safeActions.Count;
return(safeActions[Random.Range(0, safeActions.Count - 1)]);
}
else
{
return(Scape(angles, mov));
}
}
else
{
return(action);
}
}