unity3d个人写的检测障碍物并避开的方法

虽然unity3d有自带的navigation避开障碍物，但有一次做项目时发现:当场景大而且人物变多时这个navigation计算不是很灵敏，于是心想能否自己想出另外一个检测障碍物并避开的方法。话不多说，上代码：

using UnityEngine;

using System.Collections;

public class ObstacleDetection : MonoBehaviour {

public float MoveSpeed = 2;//避开时的移动速度

public float ColliderDistance = 2;//检测距离

public string[] ObstacleTags;//障碍物的标签,就是要避开的障碍物

public  bool IsObstacle{get{return _IsObstacle;}}//是否有障碍物，用来给外部的接口

private Vector3 pos;//记录避开障碍物前的的旋转坐标

private bool IsForward = false;//前方是否有障碍物

private bool IsInLeft  = false;//左方是否有障碍物

private bool IsInRight = false;//右方是否有障碍物

private bool _IsObstacle = false;//是否有障碍物

private float timer = 0;//避开障碍物后返回原先状态的缓冲计时

private Transform m_transform;

// Use this for initialization

void Start () {

m_transform = this.transform;

}

// Update is called once per frame

void Update () {

MoveForward ();

Detection();

}

//当侧面有障碍物而前方没有时向前移动

void MoveForward()

{

if(_IsObstacle)

{

if(!IsForward)

{

pos = m_transform.localEulerAngles;

m_transform.Translate(Vector3.forward*Time.deltaTime*MoveSpeed);

}

}

}

//障碍物检测

#region Detection

void Detection()

{

IsForward = DirectionForward ();

IsInLeft = DirectionLeft ();

IsInRight = DirectionRight ();

if (IsForward) {

if (IsInLeft && !IsInRight) 

{

float rotateAnglesY = RotateAngles (pos.y + 90);

m_transform.localEulerAngles = new Vector3 (m_transform.localEulerAngles.x,

                                           rotateAnglesY,

                                           m_transform.localEulerAngles.z);

} 

else if (!IsInLeft && IsInRight) 

{

float rotateAnglesY = RotateAngles (pos.y - 90);

m_transform.localEulerAngles = new Vector3 (m_transform.localEulerAngles.x,

                                           rotateAnglesY,

                                           m_transform.localEulerAngles.z);

} 

else if (IsInLeft && IsInRight) 

{

float rotateAnglesY = RotateAngles (pos.y + 180);

m_transform.localEulerAngles = new Vector3 (m_transform.localEulerAngles.x,

                                           rotateAnglesY,

                                           m_transform.localEulerAngles.z);

}

else 

{

float rotateAnglesY = RotateAngles (pos.y + Random_1_1 () * 90);

m_transform.localEulerAngles = new Vector3 (m_transform.localEulerAngles.x,

                                           rotateAnglesY,

                                           m_transform.localEulerAngles.z);

}

} 

else 

{

if(!IsInLeft && !IsInRight)

{

if(IsObstacle)

{

//避开障碍物到返回原先状态的缓冲时间

timer += Time.deltaTime;

if(timer > 0.8f)

{

timer = 0;

_IsObstacle = false;

}

}

}

}

}

//检测前方

bool DirectionForward()

{

bool check = false;

RaycastHit hitForward;

Vector3 LocalForward = m_transform.TransformPoint(Vector3.forward)-m_transform.position;

if (Physics.Raycast (m_transform.position, 

                     LocalForward, 

                     out hitForward, ColliderDistance/2))

{

if(CompareTags(hitForward.transform.gameObject.tag))

{

_IsObstacle =true;

check = true;

}

}

return check;

}

//检测右方

bool DirectionRight()

{

bool check = false;

RaycastHit hitRight;

Vector3 LocalRight = m_transform.TransformPoint(Vector3.right)-m_transform.position;

if (Physics.Raycast (m_transform.position, 

                     LocalRight, 

                     out hitRight, ColliderDistance)) 

{

if(CompareTags(hitRight.transform.gameObject.tag))

{

_IsObstacle =true;

check = true;

}

}

return check;

}

//检测左方

bool DirectionLeft()

{

bool check = false;

RaycastHit hitLeft;

Vector3 LocalLeft = m_transform.TransformPoint(-Vector3.right)-m_transform.position;

if (Physics.Raycast (m_transform.position, 

                     LocalLeft, 

                     out hitLeft, ColliderDistance)) 

{

if(CompareTags(hitLeft.transform.gameObject.tag))

{

_IsObstacle =true;

check = true;

}

}

return check;

}

#endregion

//自己写的一些小功能

#region MyFunction

//遍历ObstacleTags数组，是否与其中的一个值相符

bool CompareTags(string name)

{

bool isSame = false;

for(int i = 0; i <  ObstacleTags.Length;i++)

{

if(ObstacleTags[i].Equals(name))

{

isSame = true;

break;

}

}

return isSame;

}

//将角度规范，变为0~360之间

float RotateAngles(float Angles)

{

float angles = 0;

if (Angles >= 0) {

angles = Angles - ((int)(Angles / 360)) * 360;

} 

else 

{

angles = (((int)(Angles / 360))+1) * 360 - Angles;

}

return angles;

}

//产生-1~1的随机数，不包括0

float Random_1_1()

{

float index = Random.Range (-1,1);

if(index == 0)

{

index = Random_1_1();

}

return index;

}

#endregion

void OnDrawGizmos()

{

Gizmos.color = Color.red;

Gizmos.DrawLine (transform.position, transform.TransformPoint(Vector3.forward*ColliderDistance/2));

Gizmos.DrawLine (transform.position, transform.TransformPoint(Vector3.right*ColliderDistance));

Gizmos.DrawLine (transform.position, transform.TransformPoint(Vector3.left*ColliderDistance));

}

}