private void DetectPoint(Vector3 center, Collider cld)
{
var pos = m_DetectClosest
? cld.ClosestPoint(center)
: cld.transform.position;
if (IsVisiblePoint(center, pos, out NormalizedPoint point))
{
var item = Result.NewDetectionDataItem();
item.AdditionalDetectionData = new DetectedCollider
{
Position = pos,
Collider = cld
};
item.Tag = cld.tag;
item.AddPoint(point);
Result.AddDetectionDataItem(item);
m_VisiblePointCount++;
}
m_TotalPointCount++;
}
private void DetectShape(Vector3 center, Collider cld)
{
var pos = cld.ClosestPoint(center);
if (IsVisiblePoint(center, pos, out NormalizedPoint point))
{
// Should always be true. We want at least the
// closest point's coords, even if all scanned
// points happen to be outside the field of view.
var item = Result.NewDetectionDataItem();
item.AdditionalDetectionData = new DetectedCollider
{
Position = pos,
Collider = cld
};
item.Tag = cld.tag;
item.AddPoint(point);
m_VisiblePointCount++;
m_TotalPointCount++;
if (!s_SharedColliderShapeCache.TryGetValue(cld, out ColliderShape shape))
{
shape = new ColliderShape(cld);
shape.Scan(m_ScanResolution, m_ScanExtent);
s_SharedColliderShapeCache.Add(cld, shape);
}
var shapePoints = shape.GetWorldPoints();
foreach (Vector3 p in shapePoints)
{
if (IsVisiblePoint(center, p, out point))
{
item.AddPoint(point);
m_VisiblePointCount++;
}
}
Result.AddDetectionDataItem(item);
m_TotalPointCount += shape.NumPoints;
}
}
