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This commit is contained in:
CortexCore
2024-03-31 23:31:00 +08:00
parent e179d2eb53
commit b7b89ee71a
641 changed files with 31286 additions and 22134 deletions
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19
Src/Unity/Scripts/Sensor/RaySensor.cs
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@@ -9,14 +9,29 @@ namespace BITKit.Sensors
public class RaySensor : Sensor
{
[Header(Constant.Header.Settings)]
[SerializeField] private float radius = 0.16f;
public float distance;
public override IEnumerable<Transform> Get() => detected;
private readonly RaycastHit[] raycasts = new RaycastHit[16];
public override UniTask Execute()
{
var _transform = transform;
var ray = new Ray(_transform.position,_transform.forward);
var size = Physics.RaycastNonAlloc(ray, raycasts, distance, detectLayer);
var forward = _transform.forward;
var position = _transform.position;
var size = 0;
if (radius is not 0)
{
size = Physics.CapsuleCastNonAlloc(position, position + forward * distance, radius, forward,
raycasts
, distance, detectLayer);
}
else
{
var ray = new Ray(_transform.position,_transform.forward);
size = Physics.RaycastNonAlloc(ray, raycasts, distance, detectLayer);
}
detected = raycasts
.Take(size)
.Select(x => x.collider)