BITFALL/Assets/BITKit/Unity/Scripts/Sensor/RangeSensor.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System.Linq;
using Cysharp.Threading.Tasks;
using UnityEngine.Jobs;
using UnityEngine.Pool;
using UnityEngine.Profiling;

namespace BITKit.Sensors
{
    public class RangeSensor : Sensor
    {
        [Header(Constant.Header.Settings)]
        public float radius;
        public int fov;
        public bool requireSight;
        
        [Header(Constant.Header.Settings)]
        public LayerMask blockLayer;
        [Header(Constant.Header.InternalVariables)]
        private FrameUpdate frameUpdater;
        private readonly Collider[] colliders = new Collider[32];
        private RaycastHit[] hits;

        private bool isExecuting;
        public override IEnumerable<Transform> Get()
        {
            if (!_detectedDoubleBuffer.TryGetRelease(out var newRelease)) return _detectedBuffer;
            Profiler.BeginSample("Release Detected Buffer");
            _detectedBuffer = newRelease;
            Profiler.EndSample();
            return _detectedBuffer;
        }
        private readonly DoubleBuffer<IEnumerable<Transform>> _detectedDoubleBuffer=new();
        private IEnumerable<Transform> _detectedBuffer;

     
        public override UniTask Execute()
        {
            var length = Physics.OverlapSphereNonAlloc(Transform.position, radius, colliders, detectLayer);
            Profiler.BeginSample("Filter Detected Colliders");
            var _newDetected = from x in colliders.Take(length) where IsValid(x) select x.transform;
            Profiler.EndSample();
            _detectedDoubleBuffer.Release(_newDetected);
            return UniTask.CompletedTask;
        }

        public override bool IsValid(Collider _collider)
        {
            switch (_collider)
            {
                case var _ when ignoreColliders.Contains(_collider):
                    return false;
                case var _ when fov > 0 && CheckFov(ref _collider) is false:
                    case var _ when requireSight && CheckSight(ref _collider) is false:
                    return false;
                default:
                    return true;
            }
        }

        public override float GetDistance() => radius;
        private bool CheckFov(ref Collider _collider)
        {
                var _dir = _collider.transform.position - transform.position;
                if (_dir.sqrMagnitude <= 0) return false;
                var dir = Quaternion.LookRotation(_dir);
                return Vector3.Dot(transform.forward, _dir) > 0 && fov > Quaternion.Angle(transform.rotation, dir);
        }
        private bool CheckSight(ref Collider _collider)
        {
            if (!requireSight) return false;
            var transform1 = _collider.transform;
            var position = transform1.position;
            var location = new Location(Transform);
            var length = Physics.RaycastNonAlloc(
                location.position,
                position - location,
                hits,
                Vector3.Distance(location, position),
                blockLayer
            );
            switch (length)
            {
                case 0:
                    return true;
                case 1:
                    if (hits[0].collider == _collider)
                    {
                        return true;
                    }
                    break;
                    default:
                    if (hits.Take(length).Any(x => ignoreColliders.Contains(x.collider) is false))
                    {
                        return false;
                    }
                    break;
            }
            return true;
        }
    }
}