1

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

@@ -9,14 +9,29 @@ 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 ray = new Ray(_transform.position,_transform.forward);
-            var size = Physics.RaycastNonAlloc(ray, raycasts, distance, detectLayer);
+            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)

Assets/BITKit/Unity/Scripts/Sensor/TriggerSensor.cs

@@ -28,20 +28,21 @@ namespace BITKit.Sensors
         [Header(Constant.Header.InternalVariables)]
         // ReSharper disable once FieldCanBeMadeReadOnly.Local
         private List<Collider> detected = new();
-        
-        private readonly Queue<Collider> triggerEnterQueue=new();
-        private readonly Queue<Collider> triggerExitQueue=new();
+
+        private readonly Queue<Collider> triggerEnterQueue = new();
+        private readonly Queue<Collider> triggerExitQueue = new();
         private bool diagnosisNextFrame;
-        
+
         private void OnTriggerEnter(Collider _collider)
         {
             triggerEnterQueue.Enqueue(_collider);
-            if(immediately)Rebuild();
+            if (immediately) Rebuild();
         }
+
         private void OnTriggerExit(Collider _collider)
         {
             triggerExitQueue.Enqueue(_collider);
-            if(immediately)Rebuild();
+            if (immediately) Rebuild();
         }
 
         private void OnCollisionEnter(Collision collision)
@@ -63,24 +64,17 @@ namespace BITKit.Sensors
 
         public IEnumerable<Transform> Get()
         {
+            if(BITAppForUnity.IsPlaying is false)return ArraySegment<Transform>.Empty;
             try
             {
-               return detected.Select(x => x.transform).ToArray();
+                return detected.Select(x => x.transform).ToArray();
             }
             catch (MissingReferenceException)
             {
-              List<Transform> list = new();
-              foreach (var x in detected)
-              {
-                  try
-                  {
-                      list.Add(x.transform);
-                  }
-                  catch (MissingReferenceException){}
-              }
-              return list.ToArray();
+                detected = detected.Where(x => x).ToList();
             }
-        } 
+            return detected.Select(x => x.transform).ToArray();
+        }
 
         //public bool IsValid(Collider _collider) => ignores.Contains(_collider.gameObject) is false;
         public bool IsValid(Collider _collider)
@@ -177,6 +171,7 @@ namespace BITKit.Sensors
         protected override void OnUpdate()
         {
             if (!agent || detectedContainer is null) return;
+            if (BITAppForUnity.IsPlaying is false) return;
             detectedContainer.Clear();
             foreach (var x in agent.Get())
             {