1

Src/Unity/Scripts/Sensor/RangeSensor.cs

@@ -7,24 +7,25 @@ using Cysharp.Threading.Tasks;
 using UnityEngine.Jobs;
 using UnityEngine.Pool;
 using UnityEngine.Profiling;
+using Physics=UnityEngine.Physics;
 
 namespace BITKit.Sensors
 {
     public class RangeSensor : Sensor
     {
-        [Header(Constant.Header.Settings)]
-        public float radius;
+        [Header(Constant.Header.Settings)] public float radius;
         public int fov;
         public bool requireSight;
-        
-        [Header(Constant.Header.Settings)]
-        public LayerMask blockLayer;
-        [Header(Constant.Header.InternalVariables)]
-        private FrameUpdate frameUpdater;
-        private readonly Collider[] colliders = new Collider[32];
-        private RaycastHit[] hits;
 
-        private bool isExecuting;
+        [Header(Constant.Header.Settings)] public LayerMask blockLayer;
+
+        [Header(Constant.Header.Debug)] [Header(Constant.Header.InternalVariables)]
+        private FrameUpdate frameUpdater;
+
+        private readonly Collider[] colliders = new Collider[32];
+        private RaycastHit[] hits = new RaycastHit[32];
+        private readonly HashSet<int> tempHashSet = new();
+
         public override IEnumerable<Transform> Get()
         {
             if (!_detectedDoubleBuffer.TryGetRelease(out var newRelease)) return _detectedBuffer;
@@ -33,12 +34,13 @@ namespace BITKit.Sensors
             Profiler.EndSample();
             return _detectedBuffer;
         }
-        private readonly DoubleBuffer<IEnumerable<Transform>> _detectedDoubleBuffer=new();
-        private IEnumerable<Transform> _detectedBuffer;
 
-     
-        public override UniTask Execute()
+        private readonly DoubleBuffer<IEnumerable<Transform>> _detectedDoubleBuffer = new();
+        private IEnumerable<Transform> _detectedBuffer=Array.Empty<Transform>();
+
+        public override UniTask Execute(float delta)
         {
+            tempHashSet.Clear();
             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;
@@ -54,7 +56,7 @@ namespace BITKit.Sensors
                 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:
+                case var _ when requireSight && CheckSight(ref _collider) is false:
                     return false;
                 default:
                     return true;
@@ -62,18 +64,21 @@ namespace BITKit.Sensors
         }
 
         public override float GetDistance() => radius;
+
         private bool CheckFov(ref Collider _collider)
         {
-                var _dir = _collider.transform.position - transform.position;
-                if (_dir.sqrMagnitude <= 0) return false;
-                var dir = Quaternion.LookRotation(_dir);
-                return Vector3.Dot(transform.forward, _dir) > 0 && fov > Quaternion.Angle(transform.rotation, dir);
+            var _dir = _collider.bounds.center - transform.position;
+            if (_dir.sqrMagnitude <= 0) return false;
+            var dir = Quaternion.LookRotation(_dir);
+            return Vector3.Dot(transform.forward, _dir) > 0 && fov > Quaternion.Angle(transform.rotation, dir);
         }
+
         private bool CheckSight(ref Collider _collider)
         {
             if (!requireSight) return false;
-            var transform1 = _collider.transform;
-            var position = transform1.position;
+            var position = _collider.bounds.center;
+            //是检测bounds的顶部
+            position.y += _collider.bounds.extents.y;
             var location = new Location(Transform);
             var length = Physics.RaycastNonAlloc(
                 location.position,
@@ -82,23 +87,32 @@ namespace BITKit.Sensors
                 Vector3.Distance(location, position),
                 blockLayer
             );
+
             switch (length)
             {
                 case 0:
+                    Debug.DrawLine(location, position, Color.green, 1);
                     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 hits[0].collider == _collider;
+                default:
+                    var collider1 = _collider;
+                    if (hits.Take(length).Any(Predicate))
                     {
                         return false;
                     }
                     break;
+                    bool Predicate(RaycastHit x)
+                    {
+                        var result = ignoreColliders.Contains(x.collider) is false && x.collider != collider1;
+                        if (result)
+                        {
+                            Debug.DrawLine(location, x.point, Color.red, 1);
+                        }
+                        return result;
+                    }
             }
+
             return true;
         }
     }