--@ commons avoidancevectors getbearingtopoint

-- Avoidance module (yaw version)

-- Modifies bearing to avoid any friendlies & terrain

function Avoidance(I, Bearing)

local Avoid = AvoidanceVectors(I)

if not Avoid then

return Bearing

else

-- Current target as given by Bearing

local NewTarget = Quaternion.Euler(0, C:Yaw()+Bearing, 0) * Vector3.forward

-- Add avoidance vectors

NewTarget = C:CoM() + NewTarget + Avoid

-- Determine new bearing

return GetBearingToPoint(NewTarget)

end

end