public void MoveTowards(Vector2 point)
{
// detect and avoid obstacles
Vector2 detectionOffset = Vector2.Normalize(point - Tank.GetPosition()) * obstacleDetectionDistance;
var obstacleDistance = Match.map.GetObstacleDistance(Tank.GetPosition(), Tank.GetPosition() + detectionOffset);
// obstacle detected
if (obstacleDistance != null)
{
// try change direction
float rotationDegrees = 1;
var newDetectionOffset = Tools.RotateVector2(detectionOffset, rotationDegrees);
var newObstacleDistance = Match.map.GetObstacleDistance(Tank.GetPosition(), Tank.GetPosition() + newDetectionOffset);
// obstacle no longer detected
if (newObstacleDistance == null)
{
Tank.SetPosition(Tank.GetPosition() + Vector2.Normalize(newDetectionOffset) * Speed);
return;
}
// obstacle even closer, reverse direction
else if (newObstacleDistance < obstacleDistance)
{
rotationDegrees = -rotationDegrees;
}
newDetectionOffset = detectionOffset;
float totalRotation = 0;
// change direction until no obstacle is detected
while (totalRotation < 360)
{
newDetectionOffset = Tools.RotateVector2(newDetectionOffset, rotationDegrees);
newObstacleDistance = Match.map.GetObstacleDistance(Tank.GetPosition(), Tank.GetPosition() + newDetectionOffset);
if (newObstacleDistance == null)
{
Tank.SetPosition(Tank.GetPosition() + Vector2.Normalize(newDetectionOffset) * Speed);
return;
}
totalRotation += rotationDegrees;
}
}
// obstacle not detected
else
{
Tank.SetPosition(Tank.GetPosition() + Vector2.Normalize(detectionOffset) * Speed);
}
}