Mover.cs

using UnityEngine;
using System.Collections;
using System;

public class Mover : StateMonoBehaviour
{
    protected int checkLayerMask;
    protected bool moving, turning;
    protected float turnAngle;

    void Awake()
    {
        if (checkLayerMask == 0)
            checkLayerMask = LayerMask.GetMask("Obstruction");
    }

    protected Collider MoveCheck(Vector3 move)
    {
        float distance = move.magnitude;
        Vector3 dir = move.normalized;
        var hits = rigidbody.SweepTestAll(dir, distance);
        Collider collider = null;
        foreach (var hit in hits)
        {
            collider = hit.collider;
            break;
        }
        return collider;
    }

    protected bool Move(Vector3 move, Action<Collider> onHit)
    {
        var collider = MoveCheck(move);

        if (collider == null)
        {
            transform.position += move;
        }
        else
        {
            if (onHit != null)
                onHit(collider);
        }

        return collider != null;
    }

    protected bool MoveXZ(Vector3 move, Action<Collider> onHit)
    {
        var collider = MoveCheck(move);
        if (collider != null)
            onHit(collider);

        if (collider == null)
            transform.position += move;

        return collider != null;
    }

    protected bool SlideMoveXZ(Vector3 move, Action<Collider> onHit)
    {
        var collider = MoveCheck(move);
        if (collider != null)
        {
            onHit(collider);
            var oldMove = move;
            if (Mathf.Abs(move.x) > Mathf.Abs(move.z))
            {
                move.z = 0f;
                collider = MoveCheck(move);
                if (collider != null)
                {
                    move = oldMove;
                    move.x = 0f;
                    collider = MoveCheck(move);
                }
            }
            else
            {
                move.x = 0f;
                collider = MoveCheck(move);
                if (collider != null)
                {
                    move = oldMove;
                    move.z = 0f;
                    collider = MoveCheck(move);
                }
            }
        }

        if (collider == null)
            transform.position += move;

        return collider != null;
    }

    protected bool IsGroundAt(Vector3 point)
    {
        return IsGroundAt(point, Vector3.down);
    }

    protected bool IsGroundAt(Vector3 point, Vector3 down)
    {
        return Physics.CheckSphere(point + down, .25f, checkLayerMask);
    }

    protected bool IsBlockedAt(Vector3 point)
    {
        return Physics.CheckSphere(point, .25f, checkLayerMask);
    }

    protected bool CanMoveToTile(Vector3 point)
    {
        return !IsBlockedAt(point) && IsGroundAt(point);
    }

    protected IEnumerator Crawl(Vector3 dir, float speed, Transform pivot, float turnSpeed)
    {
        Debug.LogWarning("Crawl!");
        if (IsGroundAt(pivot.position + pivot.up * .5f, -pivot.up))
        {
            bool blockedAhead = IsBlockedAt(pivot.position + pivot.up * .5f + pivot.forward * .5f);
            bool groundAhead = IsGroundAt(pivot.position + pivot.up * .5f + pivot.forward * .5f, -pivot.up);
            Debug.LogWarning("blockedAhead: " + blockedAhead + " groundAhead: " + groundAhead);
            if (!blockedAhead && groundAhead)
            {
                yield return StartCoroutine(DoCrawl(pivot.forward/2f, speed));

                if (!IsGroundAt(pivot.position + pivot.forward/2f + pivot.up * .5f))
                {
                    yield return StartCoroutine(DoTurnToOpenCrawlSpace(pivot, turnSpeed, .5f, 1f));
                }
                else
                {
                    yield return StartCoroutine(DoCrawl(pivot.forward/2f, speed));
                }
            }
            else if (blockedAhead)
            {
                if (!IsBlockedAt(pivot.position + pivot.up * .5f))
                {
                    yield return StartCoroutine(DoCrawl(pivot.forward/2f, speed));
                }
                Debug.LogWarning("turn 1");
                yield return StartCoroutine(DoTurnToOpenCrawlSpace(pivot, turnSpeed, .5f, -1f));
            }
            else if (!groundAhead)
            {
                Debug.LogWarning("turn 2");
                yield return StartCoroutine(DoTurnToOpenCrawlSpace(pivot, turnSpeed, .5f, 1f));
            }
        }
        else
        {
            Debug.LogWarning("Stuck");
            yield return null;
        }
    }

    protected IEnumerator DoTurnToOpenCrawlSpace(Transform pivot, float speed, float dist, float turnDir = 1f, Tween.EaseType easeType = Tween.EaseType.Linear)
    {
        turning = true;
        float duration = 1f/speed;


        while (IsBlockedAt(pivot.position + pivot.up * .5f + pivot.forward * dist) || !IsGroundAt(pivot.position + pivot.up * .5f + pivot.forward * dist, -pivot.up))
        {
            bool blockedAhead = IsBlockedAt(pivot.position + pivot.up * .5f + pivot.forward * dist);
            bool groundAhead = IsGroundAt(pivot.position + pivot.up * .5f + pivot.forward * dist, -pivot.up);
            Debug.LogWarning("blockedAhead: " + blockedAhead + " groundAhead: " + groundAhead);

            var targetRotation = Quaternion.EulerAngles(turnAngle + turnDir * 90f, 0f, 0f);
            var startLocalRotation = pivot.localRotation;
            float startAngle = turnAngle;
            float endAngle = startAngle + 90f * turnDir;
            float timer = 0f;
            while (timer < duration)
            {

                /*
                timer += Time.deltaTime;
                if (timer > duration)
                    timer = duration;
                float p = timer/duration;
                pivot.localRotation = Quaternion.Slerp(startLocalRotation, targetRotation, p);

                yield return null;
                */


                timer += Time.deltaTime;
                if (timer > duration)
                    timer = duration;
                float p = timer/duration;
                pivot.localRotation = Quaternion.Euler(startAngle * (1f - p) + endAngle * p, 0f, 0f);
                //Vector3 localEulerAngles = pivot.localEulerAngles;
                // = startAngle * (1f - p) + endAngle * p;
                //pivot.localEulerAngles = localEulerAngles;
                yield return null;
            }
            //yield return new WaitForSeconds(.1f);
            turnAngle += turnDir * 90f;

            //var targetRotation = Quaternion.Slerp(pivot.localRotation, Quaternion.EulerAngles(pivot.localEulerAngles + Vector3.right * 90f * turnDir), 360f);
            //Tween.RotateTo(pivot.gameObject, pivot.localEulerAngles + Vector3.right * 90f * turnDir, time, easeType, true);
            //yield return new WaitForSeconds(time);
        }

        turning = false;

        yield return null;
    }

    protected IEnumerator DoCrawl(Vector3 move, float speed)
    {
        moving = true;
        float time = move.magnitude / speed;
        Tween.MoveTo(gameObject, transform.position + move, time, Tween.EaseType.Linear, true);
        yield return new WaitForSeconds(time);
        moving = false;
    }
}