1

Src/Unity/Scripts/Sensor/RangeSensor.cs

@@ -6,6 +6,8 @@ using System.Linq;
 using Cysharp.Threading.Tasks;
 using UnityEngine.Jobs;
 using UnityEngine.Pool;
+using UnityEngine.Profiling;
+
 namespace BITKit.Sensors
 {
     public class RangeSensor : Sensor
@@ -21,11 +23,20 @@ namespace BITKit.Sensors
         private FrameUpdate frameUpdater;
         private readonly Collider[] colliders = new Collider[32];
         private RaycastHit[] hits;
-        public override IEnumerable<Transform> Get() => detected;
 
+        public override IEnumerable<Transform> Get()
+        {
+            if (!_detectedDoubleBuffer.TryGetRelease(out var newRelease)) return _detectedBuffer;
+            Profiler.BeginSample("Release Detected Buffer");
+            _detectedBuffer = newRelease;
+            Profiler.EndSample();
+            return _detectedBuffer;
+        }
+        private readonly DoubleBuffer<IEnumerable<Transform>> _detectedDoubleBuffer=new();
+        private IEnumerable<Transform> _detectedBuffer;
         private void Update()
         {
-            if (autoUpdate)
+            if (autoUpdate && SensorGlobalSettings.Enabled)
             {
                 Execute().Forget();
             }
@@ -35,14 +46,11 @@ namespace BITKit.Sensors
             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();
+            Profiler.BeginSample("Filter Detected Colliders");
+            var _newDetected = from x in colliders.Take(length) where IsValid(x) select x.transform;
+            Profiler.EndSample();
+            //detected = _newDetected.ToArray();
+            _detectedDoubleBuffer.Release(_newDetected);
             return UniTask.CompletedTask;
         }
 
@@ -81,15 +89,24 @@ namespace BITKit.Sensors
                 Vector3.Distance(location, position),
                 blockLayer
             );
-            if (length > 0)
+            switch (length)
             {
-                if (hits[0].collider == _collider)
-                {
+                case 0:
                     return true;
-                }
+                case 1:
+                    if (hits[0].collider == _collider)
+                    {
+                        return true;
+                    }
+                    break;
+                    default:
+                    if (hits.Take(length).Any(x => ignoreColliders.Contains(x.collider) is false))
+                    {
+                        return false;
+                    }
+                    break;
             }
-            else return true;
-            return false;
+            return true;
         }
     }
 }