1

Src/Unity/Scripts/Sensor/RaySensor.cs

@@ -2,7 +2,9 @@ using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
+using System.Text;
 using Cysharp.Threading.Tasks;
+using Unity.Mathematics;
 using UnityEngine;
 namespace BITKit.Sensors
 {
@@ -11,8 +13,11 @@ namespace BITKit.Sensors
         [Header(Constant.Header.Settings)]
         [SerializeField] private float radius = 0.16f;
         public float distance;
-        public override IEnumerable<Transform> Get() => detected;
+        public override IEnumerable<Transform> Get() => detected.ValueArray;
         private readonly RaycastHit[] raycasts = new RaycastHit[16];
+        private readonly Queue<(Vector3,Vector3)> _drawGizmosQueue = new();
+        private readonly CacheList<Transform> detected = new();
+
         public override UniTask Execute(float delta)
         {
             var _transform = transform;
@@ -28,25 +33,43 @@ namespace BITKit.Sensors
             }
             else
             {
-                var ray = new Ray(_transform.position,_transform.forward);
+                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();
+            //var reportBuilder = new StringBuilder();
+
+            detected.Clear();
+            foreach (var hit in raycasts
+                         .Take(size)
+                         .Where(IsValid)
+                         .OrderBy(ByDistance))
+            {
+                detected.Add(hit.transform);
+            }
+
+            //Debug.Log(reportBuilder);
             return UniTask.CompletedTask;
+
+            float ByDistance(RaycastHit arg)
+            {
+                var x = Vector3.Distance(arg.point, position);
+                //_drawGizmosQueue.Enqueue(new(arg.collider.bounds.center, arg.point));
+                //reportBuilder.AppendLine($"Name:{arg.collider.name},Distance:{x}");
+                return x;
+            }
         }
+
+        public bool IsValid(RaycastHit hit) => IsValid(hit.collider);
         public override bool IsValid(Collider _collider) => ignoreColliders.Contains(_collider) is false;
         public override float GetDistance() => distance;
-        private void Update()
+
+        private void OnDrawGizmosSelected()
         {
-            if (autoUpdate)
+            while (_drawGizmosQueue.TryDequeue(out var p))
             {
-                Execute(Time.deltaTime).Forget();
+                var (closePoint, point) = p;
+                Gizmos.DrawWireCube(point,Vector3.one*0.01f);
+                Gizmos.DrawLine(closePoint,point);
             }
         }
     }