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This commit is contained in:
CortexCore
2024-05-31 01:23:15 +08:00
parent c798b224be
commit 299082fe27
164 changed files with 3604 additions and 2018 deletions
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67
Src/Unity/Scripts/Sensor/RangeSensor.cs
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@@ -4,6 +4,7 @@ using System.Collections.Generic;
using UnityEngine;
using System.Linq;
using Cysharp.Threading.Tasks;
using Unity.Mathematics;
using UnityEngine.Jobs;
using UnityEngine.Pool;
using UnityEngine.Profiling;
@@ -13,19 +14,23 @@ 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.Debug)] [Header(Constant.Header.InternalVariables)]
private FrameUpdate frameUpdater;
[Header(Constant.Header.Settings)]
[SerializeField] private float radius;
[SerializeField] private float detectedHeightWeight=0.5f;
[Header(Constant.Header.Optional)]
[SerializeField] private Optional<int> fov;
[SerializeField] private Optional<LayerMask> requireSight;
[SerializeField] private Optional<float> perceptionRadius;
public float DetectedHeightWeight
{
get=>detectedHeightWeight;
set=>detectedHeightWeight=value;
}
private readonly Collider[] colliders = new Collider[32];
private RaycastHit[] hits = new RaycastHit[32];
private readonly HashSet<int> tempHashSet = new();
private readonly RaycastHit[] hits = new RaycastHit[32];
private float _delta;
public override IEnumerable<Transform> Get()
{
if (!_detectedDoubleBuffer.TryGetRelease(out var newRelease)) return _detectedBuffer;
@@ -40,7 +45,7 @@ namespace BITKit.Sensors
public override UniTask Execute(float delta)
{
tempHashSet.Clear();
_delta = delta;
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;
@@ -53,10 +58,21 @@ namespace BITKit.Sensors
{
switch (_collider)
{
case var _ when Ignores.Contains(_collider.GetInstanceID()):
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:
}
if (perceptionRadius.Allow)
{
var distance = Vector3.Distance(Transform.position, _collider.bounds.center);
if(distance<=perceptionRadius.Value) return !requireSight.Allow || CheckSight(ref _collider);
}
switch (_collider)
{
case var _ when fov.Allow && CheckFov(ref _collider) is false:
case var _ when requireSight.Allow && CheckSight(ref _collider) is false:
return false;
default:
return true;
@@ -75,23 +91,21 @@ namespace BITKit.Sensors
private bool CheckSight(ref Collider _collider)
{
if (!requireSight) return false;
var position = _collider.bounds.center;
//是检测bounds的顶部
position.y += _collider.bounds.extents.y;
var location = new Location(Transform);
var bounds = _collider.bounds;
var position = bounds.center;
position.y += bounds.size.y * detectedHeightWeight /2;
var selfPosition = Transform.position;
var length = Physics.RaycastNonAlloc(
location.position,
position - location,
selfPosition,
position - selfPosition,
hits,
Vector3.Distance(location, position),
blockLayer
Vector3.Distance(selfPosition, position),
requireSight.Value
);
switch (length)
{
case 0:
Debug.DrawLine(location, position, Color.green, 1);
Debug.DrawLine(selfPosition, position, Color.green,_delta);
return true;
case 1:
return hits[0].collider == _collider;
@@ -107,7 +121,8 @@ namespace BITKit.Sensors
var result = ignoreColliders.Contains(x.collider) is false && x.collider != collider1;
if (result)
{
Debug.DrawLine(location, x.point, Color.red, 1);
Debug.DrawLine(selfPosition, x.point, Color.yellow,_delta);
Debug.DrawLine(selfPosition, position, Color.red,_delta);
}
return result;
}