public override SurfaceDelimitation[] DetectSurface(Vector3 pos, Vector3 maxRayLength, float gridResolution, out Vector3 boundingBoxMin, out Vector3 boundingBoxMax)
{
// The surface is a rectangle defined by maxRayLengthX & maxRayLengthZ
boundingBoxMin = pos - maxRayLength;
boundingBoxMax = pos + maxRayLength;
boundingBoxMax.y = pos.y;
int LimitListLength = 1 + Mathf.CeilToInt((boundingBoxMax.x - boundingBoxMin.x) / gridResolution);
SurfaceDelimitation[] surfaceLimits = new SurfaceDelimitation[LimitListLength];
for (int i = 0; i < LimitListLength; i++)
{
surfaceLimits[i].back = boundingBoxMin.z;
surfaceLimits[i].front = boundingBoxMax.z;
}
return(surfaceLimits);
}
/// <summary>
/// Create 2 arrays for minZ/maxZ, which cover the XoZ surface, starting from StartX point, to StartX.x + lengthX.
/// Rays are projected at every [resolution] interval along the X axis.
/// </summary>
/// <param name="StartX"></param>The starting point of the surface in X
/// <param name="lengthX"></param>The X length of the surface
/// <param name="maxZDistance"></param>The maximum distance to project rays in the Z axis
/// <param name="resolution"></param>The resolution inbetween 2 rays along the X axis
/// <param name="minZArray"></param>Output value; list of detected collisions toward Z-
/// <param name="maxZArray"></param>Output value; list of detected collisions toward Z+
/// <returns></returns>
SurfaceDelimitation[] ComputeZSurface(Vector3 StartX, float lengthX, float maxZDistance, float resolution)
{
int LimitListLength = 1 + Mathf.CeilToInt(lengthX / resolution);
SurfaceDelimitation[] surface = new SurfaceDelimitation[LimitListLength];
Vector3 indexPos = StartX;
for (int i = 1; i < LimitListLength - 1; i++)
{
indexPos.x = StartX.x + Mathf.Min((float)i * resolution, lengthX);
RaycastHit hit;
surface[i].back = CastRay(new Ray(indexPos, Vector3.back), maxZDistance, out hit) ? hit.point.z : indexPos.z - maxZDistance;
surface[i].front = CastRay(new Ray(indexPos, Vector3.forward), maxZDistance, out hit) ? hit.point.z : indexPos.z + maxZDistance;
}
surface[0] = surface[1];
surface[LimitListLength - 1] = surface[LimitListLength - 2];
return(surface);
}