private void updateLkp(PerceptionEntry entry)
{
// Can see target
float angleToTarget = Vector3.Angle(entry.boxCollider.bounds.center - self.getHeadPosition(), self.transform.forward);
if (angleToTarget <= self.getFov() / 2 &&
(entry.boxCollider.bounds.center - self.getHeadPosition()).magnitude <= self.getSighDistance() &&
hasLineOfSight(entry.boxCollider))
{
entry.lkp = entry.animal.transform.position;
entry.isLkpValid = true;
entry.lkpTimeStamp = Time.time;
return;
}
// Can see lkp (but not on target)
float angleToLkp = Vector3.Angle(entry.lkp - self.getHeadPosition(), self.transform.forward);
if (angleToLkp <= self.getFov() / 2 &&
(entry.lkp - self.getHeadPosition()).magnitude <= self.getLkpSightDistance() &&
hasLineOfSight(entry.lkp))
{
entry.isLkpValid = false;
entry.lkpTimeStamp = float.MinValue;
return;
}
if (entry.lkpTimeStamp + entry.animal.getLkpExpire() <= Time.time)
{
entry.isLkpValid = false;
entry.lkpTimeStamp = float.MinValue;
return;
}
}