Unity3d. Реализация зон видимости и слышимости

protected virtual bool TestVisibility(RAINAspect aAspect, float aSqrRange, Matrix4x4 aSensorSpace)
{
    Vector3 position = aAspect.Position;
    Vector3 vector4 = position - this.Position;
    if (vector4.sqrMagnitude > aSqrRange)
    {
        return false;
    }
    Transform transform = aAspect.Entity.Form.transform;
    if (aAspect.MountPoint != null)
    {
        transform = aAspect.MountPoint.transform;
    }
    if ((!this.CanDetectSelf && (transform != null)) && ((transform == this.AI.Body.transform) || transform.IsChildOf(this.AI.Body.transform)))
    {
        return false;
    }
    bool flag = true;
    if ((this.HorizontalAngle == 360f) && (this.VerticalAngle == 360f))
    {
        flag = true;
    }
    else
    {
        position = aSensorSpace.MultiplyPoint(position);
        Vector3 vector5 = new Vector3(position.x, 0f, position.z);
        Vector3 normalized = vector5.normalized;
        float num = Mathf.Acos(Mathf.Clamp(normalized.z, -1f, 1f)) * 57.29578f;
        if (num > 180f)
        {
            num = 360f - num;
        }
        if (!Mathf.Approximately(normalized.sqrMagnitude, 0f) && (num > (this.HorizontalAngle / 2f)))
        {
            flag = false;
        }
        else
        {
            Vector3 vector6 = new Vector3(0f, position.y, position.z);
            normalized = vector6.normalized;
            float num2 = Mathf.Acos(Mathf.Clamp(normalized.z, -1f, 1f)) * 57.29578f;
            if (num2 > 180f)
            {
                num2 = 360f - num2;
            }
            if (num2 > 90f)
            {
                num2 = 180f - num2;
            }
            if (!Mathf.Approximately(normalized.sqrMagnitude, 0f) && (num2 > (this.VerticalAngle / 2f)))
            {
                flag = false;
            }
        }
    }
    if (!flag)
    {
        return false;
    }
    if (this._lineOfSight)
    {
        Vector3 direction = aAspect.Position - this.Position;
        RaycastHit[] hitArray = Physics.RaycastAll(this.Position, direction, direction.magnitude, (int) this._lineOfSightMask);
        for (int i = 0; i < hitArray.Length; i++)
        {
            if ((hitArray[i].collider.isTrigger || (hitArray[i].transform == this.AI.Body.transform)) || hitArray[i].transform.IsChildOf(this.AI.Body.transform))
            {
                continue;
            }
            if (aAspect.MountPoint != null)
            {
                if ((hitArray[i].transform != aAspect.MountPoint.transform) && !hitArray[i].transform.IsChildOf(aAspect.MountPoint.transform))
                {
                    goto Label_0331;
                }
                continue;
            }
            if ((aAspect.Entity.Form != null) && ((hitArray[i].transform == aAspect.Entity.Form.transform) || hitArray[i].transform.IsChildOf(aAspect.Entity.Form.transform)))
            {
                continue;
            }
        Label_0331:
            return false;
        }
    }
    return true;
}