private static Vector2[] GetCorners(Collider2D c)
{
if (c is BoxCollider2D box)
{
Vector2 size = box.size * 0.5f;
return(new Vector2[4] {
box.transform.TransformPoint(new Vector3(size.x, size.y)),
box.transform.TransformPoint(new Vector3(-size.x, size.y)),
box.transform.TransformPoint(new Vector3(size.x, -size.y)),
box.transform.TransformPoint(new Vector3(-size.x, -size.y))
});
}
if (c is CircleCollider2D circle)
{
float radius = circle.radius;
var results = new List <Vector2>();
for (int i = 0; i < 360; i += 10)
{
results.Add(circle.transform.TransformPoint(Vector2Utils.FromAngle(i) * radius));
//Debug.DrawLine(Vector3.zero, Vector2Utils.FromAngle(i) * radius, Color.white, 20f);
}
return(results.ToArray());
}
return(new Vector2[0]);
}
public static List <Vector2> GetPointsInArc(float fovAngle, float fovDistance, float offsetAngle, Vector2 origin, int resolution)
{
var results = new List <Vector2>();
float startAngle = offsetAngle + fovAngle * 0.5f;
for (int i = 0; i <= resolution; i++)
{
float angle = startAngle - i * (fovAngle / resolution);
results.Add(Vector2Utils.FromAngle(angle) * fovDistance + origin);
}
return(results);
}
public static List <Vector2> GetFilteredPoints(float fovAngle, float fovDistance, float offsetAngle, Vector2 origin)
{
var results = new List <Vector2>();
var forward = Vector2Utils.FromAngle(offsetAngle);
float distanceSqr = fovDistance * fovDistance;
float halfAngle = fovAngle * 0.5f;
foreach (var p in ObstacleManager.Corners)
{
Vector2 direction = (p - origin);
if (Vector2.Angle(direction, forward) < halfAngle && direction.sqrMagnitude < distanceSqr)
{
results.Add(p);
}
}
return(results);
}
/// <summary>
/// Gets global points of FOV
/// </summary>
/// <param name="fovAngle">angle of field of view (degrees)</param>
/// <param name="fovDistance">distance of field of view</param>
/// <param name="resolution">Resolution in rays per degree</param>
/// <param name="offsetAngle">rotation of object in degress (0 means facing right, 90 means up)</param>
/// <param name="origin">origin of field of view</param>
/// <returns>list of global points</returns>
public static List <Vector3> GetPointsFromFOV(float fovAngle, float fovDistance, float resolution, float offsetAngle, Vector2 origin, LayerMask mask)
{
var results = new List <Vector3>();
var arcPoints = GetPointsInArc(fovAngle, fovDistance, offsetAngle, origin, Mathf.RoundToInt(fovAngle * resolution));
var corners = GetFilteredPoints(fovAngle, fovDistance, offsetAngle, origin);
var forward = Vector2Utils.FromAngle(offsetAngle);
bool[] arcHits = new bool[arcPoints.Count];
// Getting all points along the arc
for (int i = 0; i < arcPoints.Count; i++)
{
Vector2 p = arcPoints[i];
results.Add(Raycast(origin, (p - origin).normalized, fovDistance, mask, out bool hitted));
arcHits[i] = hitted;
}
// Getting all points for corners
foreach (var c in corners)
{
Vector2 dir = (c - origin).normalized;
AddByAngle(origin, forward, results, Raycast(origin, Quaternion.Euler(0, 0, 0.05f) * dir, fovDistance, mask, out bool hitted));
AddByAngle(origin, forward, results, Raycast(origin, dir, fovDistance, mask, out hitted));
AddByAngle(origin, forward, results, Raycast(origin, Quaternion.Euler(0, 0, -0.05f) * dir, fovDistance, mask, out hitted));
}
for (int i = 0; i < arcHits.Length - 1; i++)
{
if (arcHits[i] != arcHits[i + 1])
{
Vector2 edgePoint;
bool hit;
if (!arcHits[i] && arcHits[i + 1])
{
// Edge to right of arc Point i
edgePoint = Raycast(arcPoints[i], arcPoints[i + 1] - arcPoints[i], Vector2.Distance(arcPoints[i], arcPoints[i + 1]), mask, out hit);
}
else
{
// Edge to left of arc Point i + 1
edgePoint = Raycast(arcPoints[i + 1], arcPoints[i] - arcPoints[i + 1], Vector2.Distance(arcPoints[i], arcPoints[i + 1]), mask, out hit);
}
if (!hit)
{
continue;
}
Vector2 hitPoint = Raycast(origin, edgePoint - origin, Vector2.Distance(origin, edgePoint), mask, out hit);
if (hit)
{
AddByAngle(origin, forward, results, hitPoint);
}
else
{
AddByAngle(origin, forward, results, edgePoint);
}
}
}
return(results);
}
