private Vector3 returnSteeringDirection(Vector3 targetPos)
{
// Clear List
rays.Clear();
float angle = 0;
// Get new Path
getPath(targetPos);
// Lets get desired direction
Vector3 nextCornerDirection = (navMeshPath.corners[1] - transform.position).normalized;
// Get all rays
for (int i = 0; i < rayAmount; i++)
{
// Create rayDot
rayDot r = new rayDot();
// Rotate Vector
angle = 360 / rayAmount * i;
Vector3 avoidanceDirection = (Quaternion.AngleAxis(angle, Vector3.up) * transform.forward).normalized;
// Init ray + yAxis Offset
Ray ray = new Ray(transform.position + new Vector3(0, 0.3f, 0), avoidanceDirection);
// Store ray in Array
r.ray = ray;
// FYI: Dot Product Vectors need to be normalized
r.dotValue = Vector3.Dot(nextCornerDirection, avoidanceDirection);
// Raycast
Physics.Raycast(ray, out r.hitInfo, neighbourRadius, -1, QueryTriggerInteraction.UseGlobal);
// Substract normalized distance to dot product
r.dotValue -= r.hitInfo.distance / neighbourRadius;
// Debug ray
Debug.DrawRay(r.ray.origin, r.ray.direction * r.dotValue, Color.green);
// add r to list
rays.Add(r);
}
// Find Ray with the highest Dot value
rayDot mainDirection = returnHighestDotValue(rays.ToArray());
// Debug Ray
Debug.DrawRay(mainDirection.ray.origin, mainDirection.ray.direction * mainDirection.dotValue, Color.red);
return(mainDirection.ray.direction);
}
private rayDot returnHighestDotValue(rayDot[] rays)
{
rayDot rd = new rayDot();
float dot = 0;
foreach (rayDot r in rays)
{
if (r.dotValue >= dot)
{
dot = r.dotValue;
rd = r;
}
}
return(rd);
}
private List <rayDot> GetRayHitObjects()
{
List <rayDot> rd = new List <rayDot>();
float angle = 0;
// Vector3 nextCornerDirection = (navMeshPath.corners[1] - transform.position).normalized;
for (int i = 0; i < rayAmount; i++)
{
// Create rayDot
rayDot r = new rayDot();
// Rotate Vector
angle = 360 / rayAmount * i;
Vector3 avoidanceDirection = (Quaternion.AngleAxis(angle, Vector3.up) * transform.forward).normalized;
// Init ray + yAxis Offset
Ray ray = new Ray(transform.position + new Vector3(0, 0.3f, 0), avoidanceDirection);
// Store ray in Array
r.ray = ray;
// FYI: Dot Product Vectors need to be normalized
// r.dotValue = Vector3.Dot(nextCornerDirection, avoidanceDirection);
// Raycast
Physics.Raycast(ray, out r.hitInfo, neighbourRadius, -1, QueryTriggerInteraction.UseGlobal);
// Substract normalized distance to dot product
r.dotValue -= r.hitInfo.distance / neighbourRadius;
// Debug ray
Debug.DrawRay(r.ray.origin, r.ray.direction * r.dotValue, Color.green);
// add r to list
rd.Add(r);
}
return(rd);
}
