iFactory.Cutting.Unity/Assets/BITKit/Unity/Scripts/Physics/IClosePoint.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using UnityEngine;
namespace BITKit
{
    public interface IClosePoint
    {
        Collider Collider { get; }
        bool TryGetClosePoint(out Vector3 vector3);
    }
    [System.Serializable]
    public class GetClosePointFromCollider : IClosePoint
    {
        public Transform root;
        public LayerMask layerMask;
        public float distance;
        public Collider Collider { get; set; }

        public bool TryGetClosePoint(out Vector3 vector3)
        {
            vector3 = default;
            if (UnityEngine.Physics.Raycast(root.position, root.forward, out var raycastHit, distance, layerMask))
            {
                var collider = raycastHit.collider;
                if (collider.isTrigger) return false;
                switch (collider)
                {
                    case MeshCollider meshCollider:
                        if (meshCollider.convex is false)
                            return false;
                        break;
                }
                vector3 = collider.ClosestPoint(root.position + Vector3.up);
                var top = collider.bounds.center + collider.bounds.extents;

                if (Mathf.Abs(vector3.y - top.y) > 0.16f) return false;

                if (UnityEngine.Physics.Linecast(root.position, vector3, out var raycastHit2, layerMask))
                {
                    if(raycastHit2.collider != collider)
                        return false;
                };
                foreach(var hit in UnityEngine.Physics.OverlapSphere(vector3, 0.1f, layerMask))
                {
                    if(hit!= collider)
                        return false;
                }
                
                Collider = collider;
                return true;
                //return vector3.y >= collider.bounds.center.y + collider.bounds.extents.y;
                //return true;
            }
            return false;
        }
    }
    /// <summary>
    /// 获取碰撞点可以翻越后的点
    /// </summary>
    [Serializable]
    public class GetVaultPointFromCollider : IClosePoint
    {
        public Transform root;
        public Transform groundReference;
        public LayerMask layerMask;
        public float maxHeight = 1.2f;
        public float maxVaultDistance=1;
        public float radius;
        public float distance;

        public Vector3 StartPosition;
        public Vector3 EndPosition;

        public Collider Collider { get; set; }
        private Rigidbody rigidbody;
        
        private bool isInitialized;

        public bool TryGetClosePoint(out Vector3 vector3)
        {
            if (isInitialized is false)
            {
                rigidbody = groundReference.GetComponent<Rigidbody>();
                isInitialized = true;
            }
            if (rigidbody)
            {
                vector3 = default;
                if (rigidbody.velocity.GetLength() < 0.1f) return false;
            }
     
            var reportBuilder = new System.Text.StringBuilder();
            
            var forward = root.forward;
            var sourceStartPosition = groundReference.position;
            sourceStartPosition.y = root.position.y;
            var startPosition = sourceStartPosition;
            
            var collider = UnityEngine.Physics.OverlapSphere(startPosition, radius, layerMask);
            
            reportBuilder.AppendLine($"检测到了{collider.Length}个碰撞体");
            
            foreach (var hit in collider)
            {
                var top = hit.bounds.center + hit.bounds.extents;
                
                if(top.y<sourceStartPosition.y)
                {
                    continue;
                }
                
                reportBuilder.AppendLine();
                reportBuilder.AppendLine($">{hit.name}");
                
                if(top.y>groundReference.transform.position.y+maxHeight)
                {
                    reportBuilder.AppendLine("高度超出可翻越高度");
                    continue;
                }
                
                var start = sourceStartPosition+forward*8;
                //start.y = hit.bounds.center.y;
                
                var ray = new Ray(start, -forward);

                if (hit.Raycast(ray, out var colliderHit, 8) is false)
                {
                    reportBuilder.AppendLine("未检测到背面,算法错误");
                    
                    Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
                    continue;
                }
                
                EndPosition = colliderHit.point + colliderHit.normal*0.4f;
                EndPosition.y = top.y;


                try
                {
                    foreach (var x in  UnityEngine
                                 .Physics
                                 .OverlapSphere(EndPosition, 0.1f, layerMask))
                    {
                        if(Equals(x, hit))
                            continue;
                        throw new OperationCanceledException($"终点有其他碰撞体{x.name}");
                    }
                }
                catch (OperationCanceledException e)
                {
                    reportBuilder.AppendLine(e.Message);
                    continue;
                }
          
                
                if(UnityEngine.Physics.Raycast(EndPosition,Vector3.down,out _,1.6f,layerMask) is false)
                {
                    Debug.DrawRay(EndPosition, Vector3.down*1.6f, Color.red, 8);
                    reportBuilder.AppendLine("未检测到地面,跳过");
                    continue;
                    //Debug.DrawRay(EndPosition, Vector3.down, Color.red, 8);
                }
                
                
                
                var fixdPosition = colliderHit.point;
                fixdPosition.y=hit.bounds.center.y;
                var start2 = fixdPosition;
                start2.y += 0.1f;
                var end2 = fixdPosition;
                end2.y -= 0.1f;
                if(UnityEngine.Physics.Linecast(start2,end2,out var downHit,layerMask))
                {
                    reportBuilder.AppendLine($"检测到了障碍物{downHit.collider.name}");
                    
                    //BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                    continue;
                }

                start = startPosition;
                
                start.y = hit.bounds.center.y;
                ray = new Ray(start, forward);
                if(hit.Raycast(ray,out colliderHit,8) is false)
                {
                    reportBuilder.AppendLine("未检测到正面,算法错误");
                    Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
                    continue;
                }
                
                StartPosition = colliderHit.point;
                StartPosition.y = top.y;
                StartPosition += colliderHit.normal * 0.4f;

                var closeStart = hit.ClosestPoint(StartPosition);
                var closeEnd = hit.ClosestPoint(EndPosition);
                var lineDistance = Vector3.Distance(closeStart, closeEnd);
                if(lineDistance > maxVaultDistance)
                {
                    reportBuilder.AppendLine($"长度{lineDistance}超出可翻越距离{maxVaultDistance}");
                    
                    Debug.DrawLine(closeStart,closeEnd, Color.yellow, 4);
                    
                    //BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                    continue;
                }
                
                vector3 = colliderHit.point;
                
                
                vector3.y = top.y;

                vector3 += colliderHit.normal * 0.4f;
                
                reportBuilder.AppendLine();

                BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                return true;
            }

            reportBuilder.AppendLine($"failed");
            
            BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());

            vector3 = default;
            return false;
        }
    }
}