//Update the circles to see if we can identify the coordinates from geometry
void UpdateCircles(Vector3 carPos, float carHeading)
{
circlePositions = SkeletonCar.GetCirclePositions(carPos, carHeading, circlePositions);
for (int i = 0; i < circleOBj.Length; i++)
{
AddCoordinates(circleOBj[i], circlePositions[i].x, circlePositions[i].z);
}
}
//Approximate the car's area with circles to detect if there's an obstacle within the circle
private static bool ObstacleDetectionCircles(Vector3 carPos, float heading, CarData carData, Rectangle carCornerPos)
{
bool hasInvalidPosition = false;
Vector3[] circlePositions = new Vector3[3];
//Get the position of the 3 circles that approximates the size of the car
circlePositions = SkeletonCar.GetCirclePositions(carPos, heading, circlePositions);
//
//Find all obstacles close to the car
//
//The car's length is 5 m and each obstacle is 1 m, so add a little to be on the safe side
//float searchRadius = carData.GetLength() * 0.5f + 1.5f;
//List<ObstacleData> obstaclesThatAreClose = FindCloseObstaclesWithinRadius(carPos, searchRadius * searchRadius);
List <ObstacleData> obstaclesThatAreClose = FindCloseObstaclesCell(carPos, carCornerPos);
//If there are no obstacle close, then return
if (obstaclesThatAreClose.Count == 0)
{
return(hasInvalidPosition);
}
//
//If there are obstacles around the car, then we have to see if some of them intersect
//
//The radius of one circle that approximates the area of the car
//The width of the car is 2 m but the circle has to be larger to provide a margin of safety
float circleRadius = 1.40f;
//But we also need to add the radius of the box obstacle which has a width of 1 m
float criticalRadius = circleRadius + 0.5f;
//And square it to speed up
float criticalRadiusSqr = criticalRadius * criticalRadius;
//Loop through all circles and detect if there's an obstacle within the circle
for (int i = 0; i < circlePositions.Length; i++)
{
Vector3 currentCirclePos = circlePositions[i];
//Is there an obstacle within the radius of this circle
for (int j = 0; j < obstaclesThatAreClose.Count; j++)
{
float distSqr = (currentCirclePos - obstaclesThatAreClose[j].centerPos).sqrMagnitude;
if (distSqr < criticalRadiusSqr)
{
hasInvalidPosition = true;
return(hasInvalidPosition);
}
}
}
return(hasInvalidPosition);
}