static void WallSteering(ref SteeringForce steering, float facingAngle, float3 position,
NativeArray <Translation> obstaclePositions, NativeArray <Radius> obstacleRadii, BucketData bucketData)
{
steering.Value = 0;
var wallCheckDistance = 1f / bucketData.BucketResolution;
for (var i = -1; i <= 1; i += 2)
{
float angle = facingAngle + i * math.PI * .25f;
position += math.mul(quaternion.Euler(0, 0, angle), new float3(wallCheckDistance, 0, 0));
var bucket = bucketData.GetBucket(position);
var bucketAABB = bucketData.GetBucketAABB(bucket);
for (var j = 0; j < obstaclePositions.Length; j++)
{
var obstacleAABB = new AABB
{
Center = obstaclePositions[j].Value,
Extents = new float3(1, 1, 0) * obstacleRadii[j].Value
};
if (bucketAABB.Overlaps(obstacleAABB))
{
steering.Value -= i;
break;
}
}
}
}
static void PheromoneSteering(ref SteeringForce steering, float facingAngle, float3 position,
NativeArray <Strength> pheromoneStrengths, BucketData bucketData)
{
steering.Value = 0;
var checkDistance = 1f / bucketData.BucketResolution;
for (var i = -1; i <= 1; i += 2)
{
float angle = facingAngle + i * math.PI * .25f;
position += math.mul(quaternion.Euler(0, 0, angle), new float3(checkDistance, 0, 0));
var bucket = math.clamp(bucketData.GetBucket(position), int2.zero, new int2(bucketData.BucketResolution - 1));
steering.Value = pheromoneStrengths[bucket.x + bucket.y * bucketData.BucketResolution].Value * i;
}
steering.Value = math.sign(steering.Value);
}