korchoon

[ExecuteAlways]
public class Avoidance : MonoBehaviour
{
    public float avoidanceFactor = 1f;
    public float sensorLength = 20;
    public float sensorThickness = 2;
    public float sensorOffset = 5;
    public float horizontalAngle = 23;
    public float upAngle = 23;
    public float downAngle = 23;

korchoon

public class Sensor : MonoBehaviour
{
    public CapsuleCollider Collider;
    public LayerMask Mask ;

    void OnValidate()
    {
        Asr.IsTrue(Mask.value != 0);
        Asr.IsTrue(Collider);
    }

korchoon

[System.Serializable]
public struct AffineTransform
{
    public Vector3 translation;
    public Quaternion rotation;

    public AffineTransform(Vector3 t, Quaternion r)
    {
        translation = t;
        rotation = r;

korchoon

public static class QuaternionExt {
    const float Tolerance = 1e-10f;
    public static readonly Quaternion zero = new Quaternion(0f, 0f, 0f, 0f);

    public static Quaternion FromToRotation(Vector3 from, Vector3 to) {
        float theta = Vector3.Dot(from.normalized, to.normalized);
        if (theta >= 1f)
            return Quaternion.identity;

        if (theta <= -1f) {