Net.Like.Xue.Tokyo/Assets/BITKit/Unity/Scripts/Physics/GetClosePointFromCollider.cs

using System.Collections;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text;
using DrawXXL;
using UnityEngine;

namespace BITKit.Physics
{
    public class GetClosePointFromCollider : IClosePointProvider
    {
        public string Name="Default";
        public readonly Transform Transform;
        public Vector3 Offset = default;
        public LayerMask LayerMask=LayerMask.NameToLayer("Default");
        public float Distance=1.6f;
        public float MinHeight=0.32f;
        public float MaxHeight = 1f;

        private readonly Collider[] _colliders=new Collider[8];
        private readonly Collider[] _mainCollider=new Collider[8];

        public GetClosePointFromCollider(Transform transform)
        {
            Transform = transform;
        }

        public bool TryGetValue(out Vector3 position, out Collider collider)
        {
            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())
            {
                if (collider1.isTrigger)
                {
                    reportBuilder?.AppendLine("碰撞体是触发器");
                    continue;
                }

                Vector3 closePoint;

                switch (collider1)
                {
	                case TerrainCollider terrainCollider:
	                {
		                closePoint = terrainCollider.ClosestPointOnBounds(samplePoint);
	                }
		                break;
	                case MeshCollider { convex: false } meshCollider:
	                {
		                var getClosestPointFromMesh =
			                new GetClosestPointFromMesh(meshCollider.sharedMesh,meshCollider.transform.InverseTransformPoint(samplePoint));

		                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;
                }

                if (Transform.position.y + MinHeight > closePoint.y)
                {
	                DrawBasics.PointTag(closePoint,"not enough height");
                    continue;
                }
              
      

                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, closePoint, out var raycastHit2, LayerMask))
                {
                    if (raycastHit2.collider != collider1)
                    {
                        reportBuilder?.AppendLine($"检测到了其他碰撞体:{raycastHit2.transform.name}");
                        continue;
                    }
                }
                
                
  
                
                var length = UnityEngine.Physics.OverlapSphereNonAlloc(closePoint+Vector3.up*0.2f, 0.1f, _colliders, LayerMask);
                switch (length)
                {
                    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;
                }
                
       

                reportBuilder.AppendLine("<color=green>成功</color>");
           
                //BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
                
                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;
            return false;
        }
        private float ByTop(Collider arg)
        {
            return arg.bounds.center.y + arg.bounds.extents.y;
        }
    }
}