123 lines
4.1 KiB
C#
123 lines
4.1 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using System.Linq;
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using Cysharp.Threading.Tasks;
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using UnityEngine.Jobs;
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using UnityEngine.Pool;
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namespace BITKit.Sensors
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{
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public class RangeSensor : Sensor
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{
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[Header(Constant.Header.Settings)]
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public float radius;
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public int fov;
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public bool requireSight;
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[Header(Constant.Header.Settings)]
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public LayerMask blockLayer;
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[Header(Constant.Header.InternalVariables)]
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FrameUpdate frameUpdater;
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Collider[] colliders = new Collider[32];
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RaycastHit[] hits;
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Collider currentCollider;
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Location location;
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int length;
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Vector3 dir;
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float maxDistance;
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public override IEnumerable<Transform> Get() => detecteds;
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public override UniTask Excute()
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{
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if (frameUpdater)
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{
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if (maxDistance is 0)
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{
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maxDistance = Mathf.Max(subSensors.Select(x => x.GetDistance()).Append(radius).ToArray());
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}
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location.position = transform.position;
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location.rotation = transform.rotation;
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var list = ListPool<Transform>.Get();
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for (int i = 0; i < Physics.OverlapSphereNonAlloc(location, maxDistance, colliders, detectLayer); i++)
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{
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currentCollider = colliders[i];
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if (IsValid(currentCollider))
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list.Add(currentCollider.transform);
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else
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{
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foreach (var sensor in subSensors)
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{
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if (sensor.IsValid(currentCollider))
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{
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list.Add(currentCollider.transform);
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break;
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}
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}
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}
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}
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detecteds = list.ToArray();
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list.Clear();
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ListPool<Transform>.Release(list);
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}
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return UniTask.CompletedTask;
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}
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public override bool IsValid(Collider collider)
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{
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if (ignoreColliders.Contains(collider)
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|| CheckFov(ref collider) is false
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|| CheckSight(ref collider) is false
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|| CheckDistance(ref collider) is false
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)
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{
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return false;
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}
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else return true;
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}
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public override float GetDistance() => radius;
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bool CheckFov(ref Collider collider)
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{
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if (fov is not 0)
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{
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var _dir = collider.transform.position - transform.position;
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if (_dir.sqrMagnitude > 0)
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{
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var dir = Quaternion.LookRotation(_dir);
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if (Vector3.Dot(transform.forward, _dir) > 0 && fov > Quaternion.Angle(transform.rotation, dir))
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{
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return true;
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}
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else return false;
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}
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else return true;
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}
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else
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{
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return true;
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}
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}
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bool CheckSight(ref Collider collider)
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{
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if (requireSight)
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{
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length = Physics.RaycastNonAlloc(
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location.position,
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collider.transform.position - location,
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hits,
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Vector3.Distance(location, collider.transform.position),
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blockLayer
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);
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if (length > 0)
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{
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if (hits[0].collider == collider)
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{
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return true;
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}
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}
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else return true;
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}
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return false;
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}
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bool CheckDistance(ref Collider collider)
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{
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return Vector3.Distance(collider.transform.position, transform.position) <= radius;
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}
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}
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} |