Enemy IA avoid walls and other things

Unity Engine
1

I’ve been using the script of IA autowaypoints, and I see that with this script the enemys when they are patroling or chasing the player they collide with walls or other enemys and they get stuck. So I try to solve this with some raycasting.But this is not working, what I have in mind is 3 raycasting one forward, one in the left and one in the right of the enemy, so if the first one is activate it means that a wall or other enemy is in front, at this point the next movement of the enemy should evaluate if the left is free of obstacles, if is not check the right. And if the three rays are activate the enemy should turn 180 degrees. Here is the script I have right now

private var layerMask = 1 << 11;
private var playerMask = 1 << 9;
  layerMask = ~layerMask;
  playerMask = ~playerMask;
var speed = 3.0;
var rotationSpeed = 5.0;
var shootRange = 15.0;
var attackRange = 30.0;
var shootAngle = 4.0;
var dontComeCloserRange = 5.0;
var delayShootTime = 0.35;
var pickNextWaypointDistance = 2.0;
var target : Transform;
public var health=100.0;
private var imdead=false;
var avoidrange=0.0;
private var lastShot = -10.0;
// Make sure there is always a character controller
@script RequireComponent (CharacterController)





function Start () {
	// Auto setup player as target through tags
	if (target == null  GameObject.FindWithTag("Player"))
		target = GameObject.FindWithTag("Player").transform;
	Patrol();

}
function Update(){

if (imdead==true)
speed=0;
	if(health<=0){
SendMessage("Dead");
imdead=true;
Bye();
}
}
function Patrol ()
{
if (imdead==false){
	var curWayPoint = AutoWayPoint.FindClosest(transform.position);
	while (true)	
	{
		var waypointPosition = curWayPoint.transform.position;
		// Are we close to a waypoint? -> pick the next one!
		if (Vector3.Distance(waypointPosition, transform.position) < pickNextWaypointDistance)
			curWayPoint = PickNextWaypoint (curWayPoint);

		// Attack the player and wait until
		// - player is killed
		// - player is out of sight		
		if (CanSeeTarget ())
			yield StartCoroutine("AttackPlayer");
		
		// Move towards our target
		MoveTowards(waypointPosition);
		
		yield;
	}
	}
}


function CanSeeTarget () : boolean
{
	if (Vector3.Distance(transform.position, target.position) > attackRange)
		return false;
		
	var hit : RaycastHit;
	if (Physics.Linecast (transform.position, target.position, hit,layerMask))
		return hit.transform == target;

	return false;
}

function Shoot ()
{
	// Start shoot animation
	animation.CrossFade("Attack", 0.3);

	// Wait until half the animation has played
	yield WaitForSeconds(delayShootTime);
	
	// Fire gun
//	BroadcastMessage("Fire");
	
	// Wait for the rest of the animation to finish
	yield WaitForSeconds(animation["Attack"].length - delayShootTime);
}

function AttackPlayer ()
{
if (imdead==false){
	var lastVisiblePlayerPosition = target.position;
	while (true)
	{
		if (CanSeeTarget ())
		{
			// Target is dead - stop hunting
			if (target == null)
				return;

			// Target is too far away - give up	
			var distance = Vector3.Distance(transform.position, target.position);
			if (distance > shootRange * 3)
				return;
			
			lastVisiblePlayerPosition = target.position;
			if (distance > dontComeCloserRange)
				MoveTowards (lastVisiblePlayerPosition);
			else
				RotateTowards(lastVisiblePlayerPosition);

			var forward = transform.TransformDirection(Vector3.forward);
			var targetDirection = lastVisiblePlayerPosition - transform.position;
			targetDirection.y = 0;

			var angle = Vector3.Angle(targetDirection, forward);

			// Start shooting if close and play is in sight
			if (distance < shootRange  angle < shootAngle)
				yield StartCoroutine("Shoot");
		}
		else
		{
			yield StartCoroutine("SearchPlayer", lastVisiblePlayerPosition);
			// Player not visible anymore - stop attacking
			if (!CanSeeTarget ())
				return;
		}

		yield;
	}
	}
}

function SearchPlayer (position : Vector3)
{
	// Run towards the player but after 3 seconds timeout and go back to Patroling
	var timeout = 3.0;
	while (timeout > 0.0)
	{
		MoveTowards(position);

		// We found the player
		if (CanSeeTarget ())
			return;

		timeout -= Time.deltaTime;
		yield;
	}
}

function RotateTowards (position : Vector3)
{
if (imdead==false){
	SendMessage("SetSpeed", 0.0);
	
	var direction = position - transform.position;
	direction.y = 0;
	if (direction.magnitude < 0.1)
		return;
	
	var right = transform.TransformDirection(Vector3.right); 
	var left = transform.TransformDirection(Vector3.left); 
	var fwd = transform.TransformDirection(Vector3.forward); 
	// Rotate towards the target
	if (!Physics.Raycast(transform.position, fwd, avoidrange)){
	transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(direction), rotationSpeed * Time.deltaTime);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);
	}
	else
	{
	if (!Physics.Raycast(transform.position,left,avoidrange)){
	transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(left), rotationSpeed * Time.deltaTime);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);
	}
	else{
	if (!Physics.Raycast(transform.position,right,avoidrange)){
		transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(right), rotationSpeed * Time.deltaTime);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);
	}
	else{
		transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(-fwd), rotationSpeed * Time.deltaTime);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);
	}
	}
	}
}
}
function MoveTowards (position : Vector3)
{
if (imdead==false){
	var direction = position - transform.position;
	direction.y = 0;
	if (direction.magnitude < 0.5)
	{
		SendMessage("SetSpeed", 0.0);
		return;
	}
	
	// Rotate towards the target
	transform.rotation = Quaternion.Slerp (transform.rotation, Quaternion.LookRotation(direction), rotationSpeed * Time.deltaTime);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);

	// Modify speed so we slow down when we are not facing the target
	var forward = transform.TransformDirection(Vector3.forward);
	var speedModifier = Vector3.Dot(forward, direction.normalized);
	speedModifier = Mathf.Clamp01(speedModifier);

	// Move the character
	direction = forward * speed * speedModifier;
	GetComponent (CharacterController).SimpleMove(direction);
	
	SendMessage("SetSpeed", speed * speedModifier, SendMessageOptions.DontRequireReceiver);
}
}
function Damage(damage:float){
health-=damage;
}

function Bye(){
yield WaitForSeconds(0.1);
gameObject.tag = "Dead";
Destroy (gameObject, 5);
}
function PickNextWaypoint (currentWaypoint : AutoWayPoint)
{
	// We want to find the waypoint where the character has to turn the least

	// The direction in which we are walking
	var forward = transform.TransformDirection(Vector3.forward);

	// The closer two vectors, the larger the dot product will be.
	var best = currentWaypoint;
	var bestDot = -10.0;
	for (var cur : AutoWayPoint in currentWaypoint.connected)
	{
		var direction = Vector3.Normalize(cur.transform.position - transform.position);
		var dot = Vector3.Dot(direction, forward);
		if (dot > bestDot  cur != currentWaypoint)
		{
			bestDot = dot;
			best = cur;
		}
	}
	
	return best;
}
2

What is going wrong when you use this script?

3

The enemy don’t avoid the walls and other enemies as it’s meant to be, the lines of raycast don’t work as wish.
EDIT:
Got this new script, however I cannot avoid the collision with other enemies, it seems that it cant raycast the other enemies. Is there another way to do this?

private var Player: Transform;
var View=0.0;
var ViewOffset=0.0;
var attackRange=0.0;
var Speed=0.0;
var ForceOfAvoid=0.0;
var SpeedofRotation=0.0;
function Start () {
	// Auto setup player as target through tags
	if (Player == null  GameObject.FindWithTag("Player"))
		Player = GameObject.FindWithTag("Player").transform;
Patrol ();
}
function OnControllerColliderHit (hit : ControllerColliderHit) {
    contactPoint = hit.point;
}
function Patrol (){
while (true)	
	{
if (CanSeeTarget ())
			yield StartCoroutine("AttackPlayer");
					yield;

}
}
function CanSeeTarget () : boolean{
	if (Vector3.Distance(transform.position, Player.position) < attackRange)
		return true;
}
function AttackPlayer(){
	var lastVisiblePlayerPosition = Player.position;
	while (true)
	{
		if (CanSeeTarget ())
		{
			// Target is dead - stop hunting
			if (Player == null)
				return;

var dir=(Player.position-transform.position).normalized;
dir.y = 0;
var LeftRay=transform.position;
var RightRay=transform.position;
LeftRay.x-=ViewOffset;
RightRay.x+=ViewOffset;
var hit: RaycastHit;
if(Physics.Raycast(LeftRay,transform.forward,hit,View))
if (hit.transform!=Player)
	dir+=hit.normal*ForceOfAvoid;
if(Physics.Raycast(RightRay,transform.forward,hit,View))
if (hit.transform!=Player)
	dir+=hit.normal*ForceOfAvoid;

if(Physics.Raycast(transform.position,-transform.right,hit,View))
if (hit.transform!=Player)
		dir+=hit.normal*ForceOfAvoid;
if(Physics.Raycast(transform.position,transform.right,hit,View))
if (hit.transform!=Player)
		dir+=hit.normal*ForceOfAvoid;
		
var rot=Quaternion.LookRotation(dir);
transform.rotation=Quaternion.Slerp(transform.rotation,rot,Time.deltaTime*SpeedofRotation);
	transform.eulerAngles = Vector3(0, transform.eulerAngles.y, 0);
transform.position+=transform.forward*Speed*Time.deltaTime;
}
		yield;
}
}
function OnDrawGizmos() { 
	Gizmos.DrawWireSphere (transform.position, attackRange);

}