// can be used to find the nearest obstacle being tracked
public static bool nearestObstacle(Dictionary <int, VRObstacle> obs, out VRObstacle nearest)
{
nearest = new VRObstacle();
if (obs.Count == 0)
{
return(false);
}
float min = Mathf.Infinity;
foreach (KeyValuePair <int, VRObstacle> o in obs)
{
if (o.Value.Distance < min)
{
min = o.Value.Distance;
nearest = o.Value;
}
}
return(true);
}
public bool Scan(out Dictionary <int, VRObstacle> obstacles)
{
obstacles = new Dictionary <int, VRObstacle> ();
if (m_shortRangeSensorsEnable)
{
RaycastHit shortSensorsHit;
Vector3 shortRangeSensorsStart = transform.position;
shortRangeSensorsStart.y += shortRangeSensorsHeight;
InitShortRangeSensors();
// Scan for nearby obstacles
foreach (VRSensor scan in shortRangeSensorsArray)
{
Debug.DrawRay(shortRangeSensorsStart, scan.Direction * m_shortSensorLength, Color.green);
if (Physics.Raycast(shortRangeSensorsStart, scan.Direction, out shortSensorsHit, m_shortSensorLength, layerMask))
{
if (shortSensorsHit.collider.CompareTag(VRStrings.Obstacle) ||
shortSensorsHit.collider.CompareTag(VRStrings.AI_Car) ||
shortSensorsHit.collider.CompareTag(VRStrings.Crazy_AI_Car))
{
if (!obstacles.ContainsKey(scan.ID))
{
Debug.DrawLine(shortRangeSensorsStart, shortSensorsHit.point, Color.yellow);
VRObstacle vo = new VRObstacle();
vo.obstacle = shortSensorsHit;
vo.obstacleTag = shortSensorsHit.collider.tag;
vo.Distance = shortSensorsHit.distance;
obstacles.Add(scan.ID, vo);
}
}
}
}
}
if (m_longRangeSensorsEnable)
{
RaycastHit longSensorsHit;
Vector3 longRangeSensorsStart = transform.position;
longRangeSensorsStart.y += longRangeSensorsHeight;
// long sensors
InitLongRangeSensors();
for (uint i = 0; i < numLongRangeSensors; ++i)
{
Vector3 sensorStart = longRangeSensorsStart;
if (i == 1)
{
sensorStart += transform.right * m_lateralSensorShift;
}
else if (i == 2)
{
sensorStart -= transform.right * m_lateralSensorShift;
}
Debug.DrawRay(sensorStart, longRangeSensorsArray [i].Direction * m_longSensorLength, Color.red);
if (Physics.Raycast(sensorStart, longRangeSensorsArray [i].Direction, out longSensorsHit, m_longSensorLength, layerMask))
{
if (longSensorsHit.collider.CompareTag(VRStrings.Obstacle) ||
longSensorsHit.collider.CompareTag(VRStrings.AI_Car))
{
if (!obstacles.ContainsKey(longRangeSensorsArray[i].ID))
{
Debug.DrawLine(sensorStart, longSensorsHit.point, Color.yellow);
VRObstacle vo = new VRObstacle();
vo.obstacle = longSensorsHit;
vo.obstacleTag = longSensorsHit.collider.tag;
vo.Distance = (longSensorsHit.point - transform.position).magnitude;
obstacles.Add(longRangeSensorsArray[i].ID, vo);
}
}
}
}
}
return(obstacles.Count == 0 ? false : true);
}