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CortexCore
2024-04-16 04:15:06 +08:00
parent b673a9438d
commit 0362b2c606
183 changed files with 5695 additions and 1453 deletions
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70
Assets/BITKit/Unity/Scripts/Sensor/RangeSensor.cs
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@@ -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;
}
}