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CortexCore
2025-02-24 23:02:43 +08:00
parent 41715e4413
commit 8261a458e2
105 changed files with 2934 additions and 696 deletions
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154
Src/Unity/Scripts/Physics/GetClosePointFromCollider.cs
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@@ -1,7 +1,9 @@
using System.Collections;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text;
using DrawXXL;
using UnityEngine;
namespace BITKit.Physics
@@ -9,7 +11,7 @@ namespace BITKit.Physics
public class GetClosePointFromCollider : IClosePointProvider
{
public string Name="Default";
public Transform Transform;
public readonly Transform Transform;
public Vector3 Offset = default;
public LayerMask LayerMask=LayerMask.NameToLayer("Default");
public float Distance=1.6f;
@@ -26,68 +28,97 @@ namespace BITKit.Physics
public bool TryGetValue(out Vector3 position, out Collider collider)
{
Vector3 vector3 = default;
StringBuilder reportBuilder = new();
reportBuilder.AppendLine($"检测任务:{Name}");
position = Transform.position + Transform.rotation * Offset;
var detectedLength = UnityEngine.Physics.OverlapSphereNonAlloc(position, Distance, _mainCollider, LayerMask);
reportBuilder.AppendLine($"检测到了{detectedLength}个碰撞体");
var validMeshColliders = new Queue<(Collider collider,Vector3 targetPosition)>();
var samplePoint = position;
samplePoint.y += Distance / 2;
foreach (var collider1 in _mainCollider.Take(detectedLength).OrderBy(ByTop).Reverse())
//for (var i = 0; i <detectedLength ; i++)
{
//reportBuilder.AppendLine($"----------------------------检测到了碰撞体{_mainCollider[i].name}");
//var collider = _mainCollider[i];
if (collider1.isTrigger)
{
reportBuilder?.AppendLine("碰撞体是触发器");
continue;
}
Vector3 closePoint;
switch (collider1)
{
case MeshCollider meshCollider:
if (meshCollider.convex is false)
{
reportBuilder?.AppendLine("MeshCollider未勾选Convex");
continue;
}
case TerrainCollider terrainCollider:
{
closePoint = terrainCollider.ClosestPointOnBounds(samplePoint);
}
break;
case MeshCollider { convex: false } meshCollider:
{
var getClosestPointFromMesh =
new GetClosestPointFromMesh(meshCollider.sharedMesh,meshCollider.transform.InverseTransformPoint(samplePoint));
break;
if (getClosestPointFromMesh.TryGetValue(out var localPosition, out collider))
{
localPosition = meshCollider.transform.TransformPoint(localPosition);
Debug.DrawLine(Transform.position,localPosition,Color.magenta);
if (Vector3.Distance(localPosition, position) < Distance)
{
closePoint = localPosition;
}
else
{
continue;
}
}
else
{
continue;
}
}
break;
default:
closePoint = collider1.ClosestPoint(samplePoint);
break;
}
if(collider1.Raycast(new Ray(Transform.position,Transform.forward),out var raycastHit,64) is false)
{
continue;
}
if (MathV.IsForward(position, Transform.forward, closePoint) is false)
{
//DrawBasics.PointTag(closePoint,"not forward");
continue;
}
var bounds = collider1.bounds;
vector3 = collider1.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 (Transform.position.y + MinHeight > closePoint.y)
{
reportBuilder?.AppendLine("高度不足");
DrawBasics.PointTag(closePoint,"not enough height");
continue;
}
var nextPos = position;
nextPos.y = collider1.bounds.center.y;
{
var ray = new Ray(nextPos, Transform.forward);
if (collider1.Raycast(new Ray(nextPos, Transform.forward), out _, Distance) is false)
{
reportBuilder?.AppendLine("未检测到前方");
Debug.DrawRay(ray.origin,ray.direction,Color.red,Distance);
continue;
}
}
var height = Mathf.Abs(top - Transform.position.y);
var height = Mathf.Abs(closePoint.y - Transform.position.y);
if (height > MaxHeight)
{
reportBuilder?.AppendLine($"高度差距过大:{height}");
continue;
}
if (UnityEngine.Physics.Linecast(Transform.position, vector3, out var raycastHit2, LayerMask))
if (UnityEngine.Physics.Linecast(Transform.position, closePoint, out var raycastHit2, LayerMask))
{
if (raycastHit2.collider != collider1)
{
@@ -95,40 +126,61 @@ namespace BITKit.Physics
continue;
}
}
var length = UnityEngine.Physics.OverlapSphereNonAlloc(vector3, 0.01f, _colliders, LayerMask);
var length = UnityEngine.Physics.OverlapSphereNonAlloc(closePoint+Vector3.up*0.2f, 0.1f, _colliders, LayerMask);
switch (length)
{
case 1:
if (_colliders[0] != collider1)
{
reportBuilder.AppendLine($"检测到了其他碰撞体{_colliders[0].name}");
continue;
}
break;
case > 1:
case > 0:
reportBuilder.AppendLine("检测到了更多碰撞体");
for (var ii = 0; ii < length; ii++)
{
//Debug.DrawLine(vector3, _colliders[ii].ClosestPoint(vector3), Color.red, 8);
reportBuilder.AppendLine($"\t{_colliders[ii].name}");
}
continue;
}
vector3.y = top;
position = vector3;
collider = collider1;
reportBuilder.AppendLine("<color=green>成功</color>");
//BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
return true;
Debug.DrawLine(Transform.position,closePoint,Color.green);
validMeshColliders.Enqueue(new(collider1,closePoint));
}
var minDot = 64f;
Collider resultCollider = default;
Vector3 resultPosition=default;
while (validMeshColliders.TryDequeue(out var result))
{
var dot =Mathf.Abs(Vector3.Cross(Transform.forward, result.targetPosition-Transform.position).y);
DrawBasics.LineFrom(Transform.position,result.targetPosition-Transform.position,Color.red,text:dot.ToString(CultureInfo.InvariantCulture));
if(dot>minDot)continue;
resultCollider = result.collider;
resultPosition = result.targetPosition;
minDot = dot;
}
if (minDot < 64)
{
collider = resultCollider;
position = resultPosition;
return true;
}
collider = null;
//BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
return false;
}
private float ByTop(Collider arg)