Vector3 obstacles()
{
Vector3 force = Vector3.zero;
int count = 0;
for (int i = 0; i < fc.obstSize(); i++) //Formula in part thanks to: http://stackoverflow.com/a/1084899
{
GameObject obst = fc.getObst(i);
if (obst)
{
Vector3 delta = obst.transform.position - transform.position;
Vector3 feeler = velocity * 2f;
float radius = obst.transform.localScale.x / 2;
float a = Vector3.Dot(feeler, feeler);
float b = 2 * Vector3.Dot(delta, feeler);
float c = Vector3.Dot(delta, delta) - radius * radius;
float dist = Mathf.Clamp((delta.magnitude - radius), .001f, delta.magnitude);
float discriminant = b * b - 4 * a * c;
if (discriminant >= 0)
{
// ray didn't totally miss sphere,
// so there is a solution to
// the equation.
discriminant = Mathf.Sqrt(discriminant);
float t1 = (-b - discriminant) / (2 * a);
float t2 = (-b + discriminant) / (2 * a);
// 3x HIT cases:
// -o-> --|--> | | --|->
// Impale(t1 hit,t2 hit), Poke(t1 hit,t2>1), ExitWound(t1<0, t2 hit),
if ((t1 >= 0 && t1 <= 1) || (t2 >= 0 && t2 <= 1))
{
count++;
force -= delta.normalized / Mathf.Pow(dist, 2f);
}
}
}
}
if (count != 0)
{
force /= count;
}
return(force);
}
private Vector3 obstacles() //Avoid obstacles
{
Vector3 force = Vector3.zero;
for (int i = 0; i < fc.obstSize(); i++)
{
GameObject obst = fc.getObst(i);
Vector3 delta = obst.transform.position - transform.position;
float size = obst.transform.localScale.x / 2; //Find the radius, not diameter.
float dist = Vector3.Distance(obst.transform.position, transform.position);
float A = 1.5f; //Starting power
float n = 2f; //How much it increases exponentially
bool print = false;
if (dist - size < 0)
{
print = true;
}
dist = Mathf.Clamp((dist - size), .001f, dist); //Make sure it is never zero, safe subtracton
float magnitude = -(A / Mathf.Pow(dist, n));
force += delta.normalized * magnitude;
}
return(force);
}