private bool Overlapped(float3 position, ref FieldOfView setting, ref NativeList <int> hits)
{
var radius = setting.Radius;
var input = new OverlapAabbInput
{
Aabb = new Aabb
{
Max = position + new float3(radius, 0, radius),
Min = position - new float3(radius, 0, radius)
},
Filter = new CollisionFilter
{
BelongsTo = Setting.SelfTag.Value, CollidesWith = Setting.TargetTag.Value,
}
};
return(World.OverlapAabb(input, ref hits));
}
private bool Visible
(
ref CollisionWorld world,
float3 position,
float3 detectedPos,
ref FieldOfView setting)
{
var input = new RaycastInput
{
Start = position,
End = detectedPos,
Filter = new CollisionFilter
{
BelongsTo = setting.SelfTag.Value, CollidesWith = setting.TargetTag.Value
}
};
return(world.CastRay(input, out var hit));
}
private bool InViewCone(ref LocalToWorld localToWorld, float3 detectedPos, ref FieldOfView setting)
{
var dir = detectedPos - localToWorld.Position;
var angle = Vector3.Angle(localToWorld.Forward, dir);
var distance = math.lengthsq(dir);
var inAngle = angle < setting.Angle * 0.5;
var inDistance = distance < math.lengthsq(setting.Radius);
return(inAngle && inDistance);
}