Agent.ObstacleAvoidance C# (CSharp) Method

    private Vector3 ObstacleAvoidance()
    {
        Vector3 steeringForce = Vector3.zero;

        // Cast a sphere, that bounds the avoidance zone of the agent, to detect obstacles
        RaycastHit[] hits = Physics.SphereCastAll(this.transform.position, this.col.bounds.extents.x + this.avoidanceRadius, this.rb.velocity, this.forwardDetection);

        // Compute and sum the forces across all hits
        for(int i = 0; i < hits.Length; i++)	{

            // Ensure that the collidier is on a different object
            if (hits[i].collider.gameObject.GetInstanceID () != this.gameObject.GetInstanceID ()) {

                if (hits[i].distance > 0) {

                    // Scale the force inversely proportional to the distance to the target
                    float scaledForce = ((this.forwardDetection - hits[i].distance) / this.forwardDetection) * this.maxForce;
                    float desiredForce = Mathf.Min (scaledForce, this.maxForce);

                    // Compute the steering force
                    steeringForce += hits[i].normal * desiredForce;
                }
            }
        }

        return steeringForce;
    }