/// <summary>
/// Get all objects matching the required criteria within a sphere centered on the agents position.
/// </summary>
/// <param name="centre">The center point of the spehere.</param>
/// <param name="radius">The radius of the sphere.</param>
/// <param name="includeFilter">A filter that identifies results that should be included in the results.</param>
/// <param name="result">All colliders within the sphere that match the filter</param>
public static List <Collider> GetObjectsWithinSphere(Vector3 centre, float radius, ObjectFilter includeFilter)
{
List <Collider> result = new List <Collider>();
Collider[] hitColliders = Physics.OverlapSphere(centre, radius);
for (int i = 0; i < hitColliders.Length; i++)
{
if (includeFilter.gameObject != null && GameObject.ReferenceEquals(includeFilter.gameObject, hitColliders[i].gameObject))
{
result.Add(hitColliders[i]);
}
else if (!string.IsNullOrEmpty(includeFilter.tag))
{
if (hitColliders[i].CompareTag(includeFilter.tag))
{
result.Add(hitColliders[i]);
}
else
{
result.Add(hitColliders[i]);
}
}
}
return(result);
}
/// <summary>
/// Find all objects matching a filter that are within Line of Site.
/// </summary>
public static List <Transform> FindVisibleTargets(Transform viewer, Vector3 eyesPosition, float radius, float fovAngle, LayerMask obstacleMask, ObjectFilter filter)
{
List <Transform> visibleTargets = new List <Transform>();
if (radius == 0)
{
return(visibleTargets);
}
List <Collider> targetsInViewRadius = GetObjectsWithinSphere(eyesPosition, radius, filter);
for (int i = 0; i < targetsInViewRadius.Count; i++)
{
Transform target = targetsInViewRadius[i].transform;
Vector3 dirToTarget = (target.position - eyesPosition).normalized;
if (Vector3.Angle(viewer.forward, dirToTarget) <= fovAngle / 2)
{
float distanceToTarget = Vector3.Distance(eyesPosition, target.position);
if (!Physics.Raycast(eyesPosition, dirToTarget, distanceToTarget, obstacleMask))
{
Debug.Log(viewer + " can see " + target);
visibleTargets.Add(target);
}
else
{
Debug.Log(viewer + " can't see " + target);
}
}
}
return(visibleTargets);
}