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

using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using Cysharp.Threading.Tasks;
using UnityEngine;
namespace BITKit.Sensors
{
    public class RaySensor : Sensor
    {
        [Header(Constant.Header.Settings)]
        [SerializeField] private float radius = 0.16f;
        public float distance;
        public override IEnumerable<Transform> Get() => detected;
        private readonly RaycastHit[] raycasts = new RaycastHit[16];
        public override UniTask Execute()
        {
            var _transform = transform;
            var forward = _transform.forward;
            var position = _transform.position;

            var size = 0;
            if (radius is not 0)
            {
                size = Physics.CapsuleCastNonAlloc(position, position + forward * distance, radius, forward,
                    raycasts
                    , distance, detectLayer);
            }
            else
            {
                var ray = new Ray(_transform.position,_transform.forward);
                size = Physics.RaycastNonAlloc(ray, raycasts, distance, detectLayer);
            }
      
            detected = raycasts
                .Take(size)
                .Select(x => x.collider)
                .Where(IsValid)
                .Select(x=>x.transform)
                .ToArray();
            return UniTask.CompletedTask;
        }
        public override bool IsValid(Collider _collider) => ignoreColliders.Contains(_collider) is false;
        public override float GetDistance() => distance;
        private void Update()
        {
            if (autoUpdate)
            {
                Execute().Forget();
            }
        }
    }
}