public void InitializeDebrisArray(RobotEnvironment env)
{
environment = env;
// Get list of debris Transforms
List <Debris> debrisList = environment.GetDebris();
// Initialize list of DebrisInfos
debrisInfos = new List <DebrisInfo>();
// Add each debris transform and starting values to info list
foreach (Debris d in debrisList)
{
DebrisInfo info = new DebrisInfo();
info.transform = d.transform;
info.lastKnownPosition = Vector3.zero;
info.isVisible = false;
info.distanceFromRobot = Vector3.Distance(d.transform.position, transform.position);
info.lastDistanceFromRobot = info.distanceFromRobot;
debrisInfos.Add(info);
}
UpdateVision();
}
public List <DebrisInfo> UpdateVision()
{
if (debrisInfos == null)
{
return(new List <DebrisInfo>());
}
if (debrisInfos.Count > 0 && debrisInfos[0].transform == null)
{
return(new List <DebrisInfo>());
}
Vector3 currentSensorPosition = transform.InverseTransformPoint(sensorPosition.position);
// For every debris -> check if it is visible
for (int i = 0; i < debrisInfos.Count; i++)
{
// Assign struct to variable to allow modification
DebrisInfo currentDebrisInfo = debrisInfos[i];
// Current debris-position
Vector3 currentDebrisPosition = transform.InverseTransformPoint(currentDebrisInfo.transform.position);
// Vector from Sensor-position to current Debris-position
Vector3 directionToDebris = currentDebrisPosition - currentSensorPosition;
// Last Debris distance
currentDebrisInfo.lastDistanceFromRobot = currentDebrisInfo.distanceFromRobot;
// Debris distance from robot
currentDebrisInfo.distanceFromRobot = currentDebrisPosition.magnitude;
// If debris is within vision cone
if (DirectionIsWithinVision(directionToDebris))
{
Ray ray = new Ray(currentSensorPosition, directionToDebris);
float distanceToDebris = Vector3.Distance(currentSensorPosition, currentDebrisPosition);
// Cast a ray from the Sensor-position to Debris-position
// If raycast from Robot to Debris gets blocked -> not visible, else -> visible
if (Physics.Raycast(ray, out RaycastHit hitInfo, distanceToDebris, layerMask))
{
currentDebrisInfo.isVisible = false;
}
else
{
currentDebrisInfo.isVisible = true;
currentDebrisInfo.lastKnownPosition = currentDebrisPosition;
}
}
void Start()
{
instance = this;
DontDestroyOnLoad(this);
}
