Check if an object can pass

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

#if UNITY_EDITOR
using UnityEditor;
#endif

public class test : MonoBehaviour {

    private Vector3 _directionForward;
    private float _distance_ToTarget_01; private float _distance_ToTarget_02;
    private float _distance_angle_01; private float _distance_angle_02;
    public float _oppositeLength; public float _oppositeAngle;

    public float Check_ObjectIsInPath( Vector3 _position_Start , Vector3 _position_Ahead , Vector3 _position_Target , float _objectRadius){
        _directionForward = _position_Start - _position_Ahead;
        _distance_ToTarget_01 = MyMath.Get_XZ_DistanceAccurate(_position_Start , _position_Target);
        _distance_ToTarget_02 = MyMath.Get_XZ_DistanceAccurate(_position_Ahead , _position_Target);
        if(_distance_ToTarget_01 > _distance_ToTarget_02){
            // facing position ..
            _distance_angle_01 = Vector3.Angle (_position_Start - _position_Target, _directionForward);
            // opposite side length we need == sin of angle01 * length of hyp ..
            _oppositeAngle = Mathf.Sin( _distance_angle_01 * Mathf.Deg2Rad );
            _oppositeLength = _oppositeAngle * _distance_ToTarget_01;
        } else {
            // position behind ..
            _oppositeLength = _objectRadius * 2f; // will clear path regardless ..
        }
        return _oppositeLength; // returns intercept distance from current direction of object. if less than radious will collide ..
    }






    private Vector3 _vect_sp;
    private Vector3 _vect_tp;
    private Vector3 _vect_hit;

    public Transform _car1;
    public Transform _car2;

    private float _distance_start_hit;
    private float _distance_start_tp;
    private float _distance_tp_hit;

    public float _radius = 1f;

    private float _angle;

    #if UNITY_EDITOR
    private Vector3 _tempVect_debug;
    private int _count_debug;

    private Color _debug_Colour01 = Color.cyan;
    private Color _debug_Colour02 = Color.magenta;
    public float _result;
    public float _warningOffset = 0.3f;
    void OnDrawGizmosSelected() {
        if (EditorApplication.isPlaying) {

            if (Global_Vars._Global_GameState._current_gameState == Game_State.GameStates.StartScreen) {

                _vect_sp = _car1.position;
                _vect_tp = _car1.position + (_car1.forward * 0.5f);
                _vect_hit = _car2.position;

                _angle = Check_ObjectIsInPath( _vect_sp , _vect_tp , _vect_hit , _radius );
                _result = (_radius / _angle);

                Gizmos.color = Color.Lerp (Color.white , Color.red , (_result + _warningOffset) );
                Gizmos.DrawWireCube (_car1.position, Vector3.one *  (_result + _warningOffset)  );
                _vect_tp = _vect_hit + (_car1.right * _oppositeLength);
                Gizmos.DrawLine ( _vect_sp , _vect_tp );
                Gizmos.DrawLine ( _vect_tp , _vect_hit );
                Gizmos.DrawLine ( _vect_sp , _vect_hit );
            }
        }
    }
    #endif

}