BITKit/Packages/Runtime~/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;
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;
        public override IEnumerable<Transform> Get() => detected;

        private void Update()
        {
            if (autoUpdate)
            {
                Execute().Forget();
            }
        }
        public override UniTask Execute()
        {
            if (frameUpdater.Allow is false) return UniTask.CompletedTask;
            var location = new Location(transform);
            var length = Physics.OverlapSphereNonAlloc(location, radius, colliders, detectLayer);
            var list = new List<Transform>();
            list.AddRange(from x in colliders.Take(length) where IsValid(x) select x.transform);
            detected = list.ToArray();
            list.Clear();
            // detected = colliders
            //     .Take(length)
            //     .Select(x => x.transform)
            //     .ToArray();
            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
            );
            if (length > 0)
            {
                if (hits[0].collider == _collider)
                {
                    return true;
                }
            }
            else return true;
            return false;
        }
    }
}