unity 圆形障碍，避障算法，动态避障，静态避障，屎壳郎推屎回娘家

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Unity3d圆形障碍避障算法，动态避障，静态避障

屎壳郎推屎回娘家
废话不多上图
在这里插入图片描述

1：根据，屎和娘家的位置做计算，不管屎在哪里，获取朝向娘家，屎后面一定距离的位置

//获取位置Vector3 GetTraget(Vector3 start, Vector3 end) //end 家{Vector3 normal = (end - start).normalized;float percent = -4; //距离屎保留一点距离return normal * (percent) + start;}

2：屎壳郎需要跑到屎后面，推屎回娘家，需要进行避障算法

//避障算法private List<Vector3> pathPoints = new List<Vector3>();private void FindPath(Vector3 palyerPos, Vector3 targetPos, Vector3 obstaclePos, float aroundRadius){pathPoints.Add(palyerPos);Vector3 pathDir = targetPos - palyerPos;Vector3 pointDir = obstaclePos - palyerPos;float crossValue = Vector3.Cross(pathDir, pointDir).y;float angleDelta = 45;if (crossValue < 0){angleDelta = -45;}Vector3 obstacleToPlayer = (palyerPos - obstaclePos).normalized;Vector3 obstacleToTarget = (targetPos - obstaclePos).normalized;float threshold = Vector3.Dot(obstacleToPlayer, obstacleToTarget);bool caculateFinished = false;int i = 1;do{   Quaternion randRotate = Quaternion.Euler(0, angleDelta * i, 0);Vector3 extendDir = (randRotate * obstacleToPlayer).normalized;Vector3 tempPos;if (Vector3.Dot(extendDir, obstacleToPlayer) <= threshold){caculateFinished = true;tempPos = targetPos;}else{tempPos = obstaclePos + extendDir * aroundRadius;}pathPoints.Add(tempPos);++i;} while (!caculateFinished);pathPoints.Add(targetPos);}