AI Steer Behavior: Obstacle Avoidance

Used Sphere VS OBB detection to detect collision.

//If collided resolve the collision by applying lateral force

Vector3 Direction = mSphere.c - transform.position;

//Calculate the lateral steering force

Steering = (rigidbody.velocity - Direction).normalized;

rigidbody.AddForce(Steering * MaxForceFactor);

The code also handles multiple collision by finding the nearest collidable sphere and resolving the collision with that sphere first.

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