1

Src/Unity/Scripts/Physics/IClosePoint.cs

@@ -3,59 +3,140 @@ using System.Collections;
 using System.Collections.Generic;
 using System.Data;
 using System.Linq;
+using System.Text;
 using UnityEngine;
 namespace BITKit
 {
     public interface IClosePoint
     {
+        Vector3 CurrentPoint { get; }
         Collider Collider { get; }
         bool TryGetClosePoint(out Vector3 vector3);
     }
-    [System.Serializable]
+    [Serializable]
     public class GetClosePointFromCollider : IClosePoint
     {
-        public Transform root;
-        public LayerMask layerMask;
-        public float distance;
+        [SerializeField] private string name;
+        [SerializeField] private Transform transform;
+        [SerializeField] private Vector3 offset = Vector3.one;
+        [SerializeField] private LayerMask layerMask;
+        [SerializeField] private float distance;
+        [SerializeField] private float minHeight=0.32f;
+        [SerializeField] private float maxHeight = 1f;
+        public Vector3 CurrentPoint { get; set; }
         public Collider Collider { get; set; }
-
+        private Collider[] _colliders=new Collider[8];
+        private Collider[] _mainCollider=new Collider[8];
         public bool TryGetClosePoint(out Vector3 vector3)
         {
             vector3 = default;
-            if (UnityEngine.Physics.Raycast(root.position, root.forward, out var raycastHit, distance, layerMask))
+            StringBuilder reportBuilder = new();
+            reportBuilder.AppendLine($"检测任务:{name}");
+            var position = transform.position + transform.rotation * offset;
+            var detectedLength = Physics.OverlapSphereNonAlloc(position, distance, _mainCollider, layerMask);
+            reportBuilder.AppendLine($"检测到了{detectedLength}个碰撞体");
+
+            foreach (var collider in _mainCollider.Take(detectedLength).OrderBy(ByTop).Reverse())
+                //for (var i = 0; i <detectedLength ; i++)
             {
-                var collider = raycastHit.collider;
-                if (collider.isTrigger) return false;
+                //reportBuilder.AppendLine($"----------------------------检测到了碰撞体{_mainCollider[i].name}");
+                //var collider =  _mainCollider[i];
+                if (collider.isTrigger)
+                {
+                    reportBuilder?.AppendLine("碰撞体是触发器");
+                    continue;
+                }
+
                 switch (collider)
                 {
                     case MeshCollider meshCollider:
                         if (meshCollider.convex is false)
-                            return false;
+                        {
+                            reportBuilder?.AppendLine("MeshCollider未勾选Convex");
+                            continue;
+                        }
+
                         break;
                 }
-                vector3 = collider.ClosestPoint(root.position + Vector3.up);
-                var top = collider.bounds.center + collider.bounds.extents;
 
-                if (Mathf.Abs(vector3.y - top.y) > 0.16f) return false;
-
-                if (UnityEngine.Physics.Linecast(root.position, vector3, out var raycastHit2, layerMask))
+                var bounds = collider.bounds;
+                vector3 = collider.ClosestPoint(transform.position + Vector3.up * 64);
+                var top = bounds.center.y + bounds.extents.y;
+                Debug.DrawLine(transform.position, transform.position + Vector3.up * top, Color.blue, 8f);
+                if (transform.position.y + minHeight > top)
                 {
-                    if(raycastHit2.collider != collider)
-                        return false;
-                };
-                foreach(var hit in UnityEngine.Physics.OverlapSphere(vector3, 0.1f, layerMask))
-                {
-                    if(hit!= collider)
-                        return false;
+                    reportBuilder?.AppendLine("高度不足");
+                    continue;
                 }
-                
+
+                var nextPos = position;
+                nextPos.y = collider.bounds.center.y;
+                if (collider.Raycast(new Ray(nextPos, transform.forward), out _, distance) is false)
+                {
+                    reportBuilder?.AppendLine("未检测到前方");
+                    continue;
+                }
+
+                var height = Mathf.Abs(top - transform.position.y);
+                if (height > maxHeight)
+                {
+                    reportBuilder?.AppendLine($"高度差距过大:{height}");
+                    continue;
+                }
+
+                if (Physics.Linecast(transform.position, vector3, out var raycastHit2, layerMask))
+                {
+                    if (raycastHit2.collider != collider)
+                    {
+                        reportBuilder?.AppendLine($"检测到了其他碰撞体:{raycastHit2.transform.name}");
+                        continue;
+                    }
+                }
+
+                ;
+
+                var length = Physics.OverlapSphereNonAlloc(vector3, 0.01f, _colliders, layerMask);
+                switch (length)
+                {
+                    case 1:
+                        if (_colliders[0] != collider)
+                        {
+                            reportBuilder.AppendLine($"检测到了其他碰撞体{_colliders[0].name}");
+                            continue;
+                        }
+
+                        break;
+                    case > 1:
+                        reportBuilder.AppendLine("检测到了更多碰撞体");
+                        for (var ii = 0; ii < length; ii++)
+                        {
+                            //Debug.DrawLine(vector3, _colliders[ii].ClosestPoint(vector3), Color.red, 8);
+                            reportBuilder.AppendLine($"\t{_colliders[ii].name}");
+                        }
+
+                        continue;
+                }
+
                 Collider = collider;
+
+                vector3.y = top;
+                CurrentPoint = vector3;
+
+
+
+                reportBuilder.AppendLine("<color=green>成功</color>");
+                //BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
                 return true;
-                //return vector3.y >= collider.bounds.center.y + collider.bounds.extents.y;
-                //return true;
             }
+
+            //BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
             return false;
         }
+
+        private float ByTop(Collider arg)
+        {
+            return arg.bounds.center.y + arg.bounds.extents.y;
+        }
     }
     /// <summary>
     /// 获取碰撞点可以翻越后的点
@@ -74,6 +155,7 @@ namespace BITKit
         public Vector3 StartPosition;
         public Vector3 EndPosition;
 
+        public Vector3 CurrentPoint { get; set; }
         public Collider Collider { get; set; }
         private Rigidbody rigidbody;
         
@@ -92,7 +174,8 @@ namespace BITKit
                 if (rigidbody.velocity.GetLength() < 0.1f) return false;
             }
      
-            var reportBuilder = new System.Text.StringBuilder();
+            //var reportBuilder = new System.Text.StringBuilder();
+            StringBuilder reportBuilder=null;
             
             var forward = root.forward;
             var sourceStartPosition = groundReference.position;
@@ -101,7 +184,7 @@ namespace BITKit
             
             var collider = UnityEngine.Physics.OverlapSphere(startPosition, radius, layerMask);
             
-            reportBuilder.AppendLine($"检测到了{collider.Length}个碰撞体");
+            reportBuilder?.AppendLine($"检测到了{collider.Length}个碰撞体");
             
             foreach (var hit in collider)
             {
@@ -112,12 +195,12 @@ namespace BITKit
                     continue;
                 }
                 
-                reportBuilder.AppendLine();
-                reportBuilder.AppendLine($">{hit.name}");
+                reportBuilder?.AppendLine();
+                reportBuilder?.AppendLine($">{hit.name}");
                 
                 if(top.y>groundReference.transform.position.y+maxHeight)
                 {
-                    reportBuilder.AppendLine("高度超出可翻越高度");
+                    reportBuilder?.AppendLine("高度超出可翻越高度");
                     continue;
                 }
                 
@@ -128,9 +211,9 @@ namespace BITKit
 
                 if (hit.Raycast(ray, out var colliderHit, 8) is false)
                 {
-                    reportBuilder.AppendLine("未检测到背面,算法错误");
+                    reportBuilder?.AppendLine("未检测到背面,算法错误");
                     
-                    Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
+                    //Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
                     continue;
                 }
                 
@@ -151,15 +234,15 @@ namespace BITKit
                 }
                 catch (OperationCanceledException e)
                 {
-                    reportBuilder.AppendLine(e.Message);
+                    reportBuilder?.AppendLine(e.Message);
                     continue;
                 }
           
                 
                 if(UnityEngine.Physics.Raycast(EndPosition,Vector3.down,out _,1.6f,layerMask) is false)
                 {
-                    Debug.DrawRay(EndPosition, Vector3.down*1.6f, Color.red, 8);
-                    reportBuilder.AppendLine("未检测到地面,跳过");
+                    //Debug.DrawRay(EndPosition, Vector3.down*1.6f, Color.red, 8);
+                    reportBuilder?.AppendLine("未检测到地面,跳过");
                     continue;
                     //Debug.DrawRay(EndPosition, Vector3.down, Color.red, 8);
                 }
@@ -174,7 +257,7 @@ namespace BITKit
                 end2.y -= 0.1f;
                 if(UnityEngine.Physics.Linecast(start2,end2,out var downHit,layerMask))
                 {
-                    reportBuilder.AppendLine($"检测到了障碍物{downHit.collider.name}");
+                    reportBuilder?.AppendLine($"检测到了障碍物{downHit.collider.name}");
                     
                     //BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                     continue;
@@ -186,8 +269,8 @@ namespace BITKit
                 ray = new Ray(start, forward);
                 if(hit.Raycast(ray,out colliderHit,8) is false)
                 {
-                    reportBuilder.AppendLine("未检测到正面,算法错误");
-                    Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
+                    reportBuilder?.AppendLine("未检测到正面,算法错误");
+                    //Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
                     continue;
                 }
                 
@@ -200,14 +283,26 @@ namespace BITKit
                 var lineDistance = Vector3.Distance(closeStart, closeEnd);
                 if(lineDistance > maxVaultDistance)
                 {
-                    reportBuilder.AppendLine($"长度{lineDistance}超出可翻越距离{maxVaultDistance}");
+                    reportBuilder?.AppendLine($"长度{lineDistance}超出可翻越距离{maxVaultDistance}");
                     
-                    Debug.DrawLine(closeStart,closeEnd, Color.yellow, 4);
+                    //Debug.DrawLine(closeStart,closeEnd, Color.yellow, 4);
                     
                     //BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                     continue;
                 }
                 
+                if(Physics.Linecast(closeStart+Vector3.up*0.1f,closeEnd+Vector3.up*0.1f,out var _hit,layerMask))
+                {
+                    
+                    //Debug.DrawLine(closeStart+Vector3.up*0.1f,_hit.point, Color.red, 4);
+                    reportBuilder?.AppendLine("检测到了障碍物");
+                    continue;
+                }
+                else
+                {
+                    //Debug.DrawLine(closeStart+Vector3.up*0.1f,closeEnd+Vector3.up*0.1f, Color.green, 4);
+                }
+                
                 vector3 = colliderHit.point;
                 
                 
@@ -215,14 +310,19 @@ namespace BITKit
 
                 vector3 += colliderHit.normal * 0.4f;
                 
-                reportBuilder.AppendLine();
+                reportBuilder?.AppendLine();
 
+                if(reportBuilder is not null)
                 BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
+                
+                CurrentPoint = vector3;
+                Collider = hit;
                 return true;
             }
 
-            reportBuilder.AppendLine($"failed");
+            reportBuilder?.AppendLine($"failed");
             
+            if(reportBuilder is not null)
             BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
 
             vector3 = default;