private void Update_CheckObstacles()
{
Collider[] colliders = Physics.OverlapSphere(transform.position, Mathf.Max(stoppingDistance, dynStopDist_WP, dynStopDist_Obs));
foreach (Collider item in colliders)
{
Semaphore_Wrapper sw = item.gameObject.GetComponent <Semaphore_Wrapper>();
if (sw)
{
Semaphore s = sw.getSemaphore();
Vector3 v1 = transform.rotation.eulerAngles;
Vector3 v2 = s.transform.rotation.eulerAngles;
bool sameDirection = HelperFunctions.AngleCloseEnough(v1.y, v2.y, 15);
bool behindObstacle = (HelperFunctions.OffsetBetweenTransforms(transform, s.transform).z >= 0);
if (sameDirection && behindObstacle && !s.isOpen)
{
if (obstacles.IndexOf(s.gameObject) == -1)
{
obstacles.Add(s.gameObject);
}
else
{
obstacles.Remove(s.gameObject);
}
}
}
Vehicle vehicle = item.gameObject.GetComponent <Vehicle>();
if (vehicle && vehicle != this)
{
Vector3 v1 = transform.rotation.eulerAngles;
Vector3 v2 = vehicle.transform.rotation.eulerAngles;
bool sameDirection = HelperFunctions.AngleCloseEnough(v1.y, v2.y, 15);
bool behindObstacle = (HelperFunctions.OffsetBetweenTransforms(transform, vehicle.transform).z >= 0);
if (sameDirection && behindObstacle)
{
if (obstacles.IndexOf(item.gameObject) == -1)
{
obstacles.Add(item.gameObject);
}
else
{
obstacles.Remove(item.gameObject);
}
}
}
}
}