Untitled

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class AIControl : MonoBehaviour
{
    private Rigidbody rb;

    public bool showGizmo;
    [Space(10)]
    public int countOfRays = 3;
    public float distaneOfRay = 3;
    private float angle = 90;

    [Header("Abilities")]
    public float turnSpeed = 1;
    public float walkSpeed = 1;

    private void Start()
    {
        rb = GetComponent<Rigidbody>();
    }

    private void Update()
    {
        Sensors();
    }

    private void FixedUpdate()
    {
        Move();
    }

    void Sensors()
    {
        Vector3 deltaPosition = Vector3.zero;

        for (int i = 0; i < countOfRays; i++)
        {
            Quaternion rotation = this.transform.rotation;
            Quaternion rotationMod = Quaternion.AngleAxis(i / ((float)countOfRays - 1) * angle * 2 - angle, this.transform.up);
            Vector3 direction = rotation * rotationMod * Vector3.forward;

            Ray ray = new Ray(this.transform.position + new Vector3(0,1,0), direction);
            RaycastHit hitInfo;

            if(Physics.Raycast(ray, out hitInfo, distaneOfRay))
            {
                deltaPosition -= (1.0f / countOfRays) * turnSpeed * direction;
            }

            else
            {
                deltaPosition += (1.0f / countOfRays) * turnSpeed * direction;
            }
        }

        //this.transform.position += deltaPosition * Time.deltaTime;
        Vector3 turningDirection = Vector3.RotateTowards(transform.forward, deltaPosition, turnSpeed * Time.deltaTime, 0);
        transform.rotation = Quaternion.LookRotation(turningDirection);
    }

    void Move()
    {
        rb.velocity = transform.forward * walkSpeed;
    }

    private void OnDrawGizmos()
    {
        if(showGizmo)
        {
            for (int i = 0; i < countOfRays; i++)
            {
                Quaternion rotation = this.transform.rotation;
                Quaternion rotationMod = Quaternion.AngleAxis(i / ((float)countOfRays - 1) * angle * 2 - angle, this.transform.up);
                Vector3 direction = rotation * rotationMod * Vector3.forward;

                Gizmos.color = Color.yellow;
                Gizmos.DrawRay(this.transform.position + new Vector3(0, 1, 0), direction * distaneOfRay);
            }
        }
    }
}