public void Navigate(Vector2 destination)
{
Vector2[] shortestPath = navMesh.GetShortestPathFromTo(transform.position, destination);
Vector2 nextPoint = shortestPath[0];
Vector2 curPos = new Vector2(transform.position.x, transform.position.y);
Vector2 dir = (nextPoint - curPos).normalized;
Vector2 offset = Vector2.Perpendicular(dir) * radius;
RaycastHit2D hit;
Debug.DrawRay(curPos + offset, 3.0f * dir, Color.red, 0.0f, false);
Debug.DrawRay(curPos - offset, 3.0f * dir, Color.red, 0.0f, false);
if (hit = Physics2D.Raycast(curPos + offset, dir, 3.0f, (1 << 12)))
{
nextPoint = nextPoint + 2 * radius * hit.normal;
}
else if (hit = Physics2D.Raycast(curPos - offset, dir, 3.0f, (1 << 12)))
{
nextPoint = nextPoint + 2 * radius * hit.normal;
}
Vector2 vDesired = (nextPoint - curPos).normalized * enemySpeed;
float k = (1 / Time.deltaTime) * 0.4f;
Vector2 f = k * (vDesired - rb.velocity);
//Prevent unrealistic forces by clamping to range
f = Mathf.Clamp(f.magnitude, 0, 250.0f) * f.normalized;
rb.AddForce(f, ForceMode2D.Force);
}
