public override float ReturnOutput()
{
//Raycasting begins, draw a ray from emitter to the receiver
Ray ray = new Ray(Emitter.transform.position, Emitter.transform.forward);
BulletSharp.Math.Vector3 fromUltra = ray.origin.ToBullet();
BulletSharp.Math.Vector3 toCollider = ray.GetPoint(10).ToBullet();
Vector3 toColliderUnity = toCollider.ToUnity();
//Callback returns all hit point results in order to avoid non colliders interfere with the ray test
AllHitsRayResultCallback raysCallback = new AllHitsRayResultCallback(fromUltra, toCollider);
//Retrieves bullet physics world and does a ray test with the given coordinates and updates the callback object
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(fromUltra, toCollider, raysCallback);
List <BulletSharp.Math.Vector3> colliderPositions = raysCallback.HitPointWorld;
BulletSharp.Math.Vector3 colliderPosition = BulletSharp.Math.Vector3.Zero;
float distanceToCollider = 0;
//Set the initial distance as the distance between emitter and receiver
if (main != null && main.IsMetric)
{
distanceToCollider = sensorOffset;
}
else
{
distanceToCollider = AuxFunctions.ToFeet(sensorOffset);
}
//Loop through all hitpoints (exclude the origin), if there is at least one hitpoint less than the distance between two sensors,
//something should block the beam between emitter and receiver
foreach (BulletSharp.Math.Vector3 pos in colliderPositions)
{
if ((pos - fromUltra).Length < distanceToCollider && !pos.Equals(BulletSharp.Math.Vector3.Zero))
{
distanceToCollider = (pos - fromUltra).Length;
colliderPosition = pos;
}
}
//Again if the line connects to the middle of the field nothing is blocking the beam
Debug.DrawLine(fromUltra.ToUnity(), colliderPosition.ToUnity(), Color.blue);
if (distanceToCollider < sensorOffset)
{
//Something is there
state = "Broken";
return(1);
}
else
{
//Nothing in between
state = "Unbroken";
return(0);
}
}
//Step #2
public override float ReturnOutput()
{
//Raycasting begins
Ray ray = new Ray(gameObject.transform.position, transform.forward);
BulletSharp.Math.Vector3 fromUltra = ray.origin.ToBullet();
BulletSharp.Math.Vector3 toCollider = ray.GetPoint(MaxRange).ToBullet();
Vector3 toColliderUnity = toCollider.ToUnity();
//Callback returns all hit point results in order to avoid non colliders interfere with the ray test
AllHitsRayResultCallback raysCallback = new AllHitsRayResultCallback(fromUltra, toCollider);
//Retrieves bullet physics world and does a ray test with the given coordinates and updates the callback object
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(fromUltra, toCollider, raysCallback);
//Gets the position of all hit points of the ray test
List <BulletSharp.Math.Vector3> colliderPositions = raysCallback.HitPointWorld;
BulletSharp.Math.Vector3 colliderPosition = BulletSharp.Math.Vector3.Zero;
float distanceToCollider = MaxRange;
//Loop through all hit points and get the shortest distance, exclude the origin since it is also counted as a hit point
foreach (BulletSharp.Math.Vector3 pos in colliderPositions)
{
if ((pos - fromUltra).Length <= MaxRange && (pos - fromUltra).Length < distanceToCollider && !pos.Equals(BulletSharp.Math.Vector3.Zero))
{
distanceToCollider = (pos - fromUltra).Length;
colliderPosition = pos;
}
}
//Draw a line to view the ray action
//When the ray links to the middle of the field, it means the sensor is out of range
Debug.DrawLine(fromUltra.ToUnity(), colliderPosition.ToUnity(), Color.green, 5f);
//setting shortest distance of a collider to the maxRange, then if any colliders are closer to the sensor,
//their distanceToCollider value becomes the new shortest distance
float shortestDistance = MaxRange;
if (!isMetric)
{
distanceToCollider = AuxFunctions.ToFeet(distanceToCollider);
}
//A check that might be useful in the future if use a bundle of rays instead of a single ray
if (distanceToCollider < shortestDistance)
{
shortestDistance = distanceToCollider;
}
return(shortestDistance);
}
//Step #2
public override float ReturnOutput()
{
//Raycasting begins
Ray ray = new Ray(gameObject.transform.position, transform.forward);
BulletSharp.Math.Vector3 fromUltra = ray.origin.ToBullet();
BulletSharp.Math.Vector3 toCollider = ray.GetPoint(MaxRange).ToBullet();
Vector3 toColliderUnity = toCollider.ToUnity();
//Callback returns all hit point results in order to avoid non colliders interfere with the ray test
AllHitsRayResultCallback raysCallback = new AllHitsRayResultCallback(fromUltra, toCollider);
//Retrieves bullet physics world and does a ray test with the given coordinates and updates the callback object
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(fromUltra, toCollider, raysCallback);
//Gets the position of all hit points of the ray test
List <BulletSharp.Math.Vector3> colliderPositions = raysCallback.HitPointWorld;
BulletSharp.Math.Vector3 colliderPosition = BulletSharp.Math.Vector3.Zero;
float distanceToCollider = MaxRange;
if (main != null && main.IsMetric)
{
distanceToCollider = MaxRange;
foreach (BulletSharp.Math.Vector3 pos in colliderPositions)
{
if ((pos - fromUltra).Length < MaxRange && !pos.Equals(BulletSharp.Math.Vector3.Zero))
{
distanceToCollider = (pos - fromUltra).Length;
colliderPosition = pos;
}
}
}
else
{
distanceToCollider = AuxFunctions.ToFeet(MaxRange);
foreach (BulletSharp.Math.Vector3 pos in colliderPositions)
{
if (AuxFunctions.ToFeet((pos - fromUltra).Length) < distanceToCollider && !pos.Equals(BulletSharp.Math.Vector3.Zero))
{
distanceToCollider = AuxFunctions.ToFeet((pos - fromUltra).Length);
colliderPosition = pos;
}
}
}
//Draw a line to view the ray action
//When the ray links to the middle of the field, it means the sensor is out of range
Debug.DrawLine(fromUltra.ToUnity(), colliderPosition.ToUnity(), Color.green, 5f);
return(distanceToCollider);
}
public override float GetSensorRange()
{
if (main.IsMetric)
{
return(MaxRange);
}
else
{
return(AuxFunctions.ToFeet(MaxRange));
}
}
