public void Execute()
{
var collector = new IgnoreTransparentClosestHitCollector(World);
World.CastRay(RaycastInput, ref collector);
Hit[0] = collector.ClosestHit;
}
protected override void OnUpdate()
{
CollisionWorld collisionWorld = m_BuildPhysicsWorld.PhysicsWorld.CollisionWorld;
EntityCommandBuffer commandBuffer = m_EntityCommandBufferSystem.CreateCommandBuffer();
Dependency = JobHandle.CombineDependencies(Dependency, m_EndFramePhysicsSystem.FinalJobHandle);
Entities
.WithName("RaycastWithCustomCollector")
.WithBurst()
.ForEach((Entity entity, ref Translation position, ref Rotation rotation, ref VisualizedRaycast visualizedRaycast) =>
{
var raycastLength = visualizedRaycast.RayLength;
// Perform the Raycast
var raycastInput = new RaycastInput
{
Start = position.Value,
End = position.Value + (math.forward(rotation.Value) * visualizedRaycast.RayLength),
Filter = CollisionFilter.Default
};
var collector = new IgnoreTransparentClosestHitCollector(collisionWorld);
collisionWorld.CastRay(raycastInput, ref collector);
var hit = collector.ClosestHit;
var hitDistance = raycastLength * hit.Fraction;
// position the entities and scale based on the ray length and hit distance
// visualization elements are scaled along the z-axis aka math.forward
var newFullRayPosition = new float3(0, 0, raycastLength * 0.5f);
var newFullRayScale = new float3(1f, 1f, raycastLength);
var newHitPosition = new float3(0, 0, hitDistance);
var newHitRayPosition = new float3(0, 0, hitDistance * 0.5f);
var newHitRayScale = new float3(1f, 1f, raycastLength * hit.Fraction);
commandBuffer.SetComponent(visualizedRaycast.HitPositionEntity, new Translation {
Value = newHitPosition
});
commandBuffer.SetComponent(visualizedRaycast.HitRayEntity, new Translation {
Value = newHitRayPosition
});
commandBuffer.SetComponent(visualizedRaycast.HitRayEntity, new NonUniformScale {
Value = newHitRayScale
});
commandBuffer.SetComponent(visualizedRaycast.FullRayEntity, new Translation {
Value = newFullRayPosition
});
commandBuffer.SetComponent(visualizedRaycast.FullRayEntity, new NonUniformScale {
Value = newFullRayScale
});
}).Schedule();
m_EntityCommandBufferSystem.AddJobHandleForProducer(Dependency);
}
protected override void OnUpdate( )
{
int i_pathPlannerCount = group_pathPlanners.CalculateEntityCount();
if (i_pathPlannerCount == 0)
{
return;
}
CollisionWorld collisionWorld = buildPhysicsWorld.PhysicsWorld.CollisionWorld;
float3 f_pointerPosition = Input.mousePosition;
UnityEngine.Ray pointerRay = Camera.main.ScreenPointToRay(f_pointerPosition);
Debug.DrawLine(pointerRay.origin, pointerRay.origin + pointerRay.direction * 200, Color.blue);
CollisionFilter collisionFilter = default;
collisionFilter.CollidesWith = 1 << (int)CollisionFilters.ElevationNodes; // Elevation Nodes.
// collisionFilter.CollidesWith += 1 << (int) CollisionFilters.Floor ; // Floor.
// collisionFilter.CollidesWith += 1 << (int) CollisionFilters.Walls ; // Walls.
// collisionFilter.CollidesWith += 1 << (int) CollisionFilters.Ramps ; // Ramps.
// collisionFilter.CollidesWith += 1 << (int) CollisionFilters.Other ; // Other. // Optional
var raycastInput = new RaycastInput
{
Start = pointerRay.origin,
End = pointerRay.origin + pointerRay.direction * 200,
Filter = CollisionFilter.Default
};
// raycastInput.Filter.CollidesWith = 2 ; // Scores layer.
raycastInput.Filter.CollidesWith = collisionFilter.CollidesWith; // Barriers layer.
var collector = new IgnoreTransparentClosestHitCollector(collisionWorld);
if (collisionWorld.CastRay(raycastInput, ref collector))
{
if (Input.GetMouseButtonUp(0) || Input.GetMouseButtonUp(1))
{
Debug.Log("Hits: " + collector.ClosestHit.Entity + " @ pos: " + collector.ClosestHit.Position);
ComponentDataFromEntity <PathPlannerComponent> a_pathPlanners = GetComponentDataFromEntity <PathPlannerComponent> (false);
NativeArray <Entity> na_pathPlanners = group_pathPlanners.ToEntityArray(Allocator.TempJob);
Entity pathPlannersEntity;
PathPlannerComponent pathPlanner;;
// Test.
for (int i = 0; i < na_pathPlanners.Length; i++)
{
pathPlannersEntity = na_pathPlanners [i];
pathPlanner = a_pathPlanners [pathPlannersEntity];
if (Input.GetMouseButtonUp(0))
{
// A
pathPlanner.entityA = collector.ClosestHit.Entity;
}
else if (Input.GetMouseButtonUp(1))
{
// B
pathPlanner.entityB = collector.ClosestHit.Entity;
}
a_pathPlanners [pathPlannersEntity] = pathPlanner; // Set back
} // for
pathPlannersEntity = na_pathPlanners [0];
pathPlanner = a_pathPlanners [pathPlannersEntity];
na_pathPlanners.Dispose();
if (pathPlanner.entityA.Version > 0 && pathPlanner.entityB.Version > 0)
{
EntityCommandBuffer.ParallelWriter ecbp = becb.CreateCommandBuffer().AsParallelWriter();
Debug.Log("Start entity: " + pathPlanner.entityA + " target entity: " + pathPlanner.entityB);
Entities
.WithName("OrderPathSearchJob")
.WithAll <IsAliveTag, PathPlannerComponent> ()
.ForEach((Entity entity, int entityInQueryIndex) =>
{
ecbp.AddComponent <CanFindPathTag> (entityInQueryIndex, entity);
}).Schedule();
becb.AddJobHandleForProducer(Dependency);
}
}
}
}
protected override void OnUpdate( )
{
CollisionWorld collisionWorld = buildPhysicsWorld.PhysicsWorld.CollisionWorld;
// Dependency = JobHandle.CombineDependencies ( Dependency, endFramePhysicsSystem.GetOutputDependency ()) ;
var na_rays = this.na_rays;
int i_raysCount = this.i_raysCount;
Entities
.WithName("LIDARJob")
.WithAll <NNBrainTag, LIDARTag, IsAliveTag> ()
.WithNone <NNIsFinishedTag> ()
.WithReadOnly(collisionWorld)
// .WithReadOnly ( collector )
.WithReadOnly(na_rays)
.ForEach((ref DynamicBuffer <NNInputNeuronsValuesBuffer> a_inputLayerValues, in Translation position, in Rotation q, in VehicleVelocityComponent velocity) =>
{
float3 f3_startPoint = position.Value;
for (int i = 0; i < i_raysCount; i++)
{
quaternion q_rayDirection = na_rays [i];
float3 f3_endPoint = f3_startPoint + math.mul(math.mul(q.Value, q_rayDirection), Vector3.forward) * 3;
var raycastInput = new RaycastInput
{
Start = f3_startPoint,
End = f3_endPoint,
Filter = CollisionFilter.Default
};
// raycastInput.Filter.CollidesWith = 2 ; // Scores layer.
raycastInput.Filter.CollidesWith = 1; // Barriers layer.
float f_input = -1;
var collector = new IgnoreTransparentClosestHitCollector(collisionWorld);
if (collisionWorld.CastRay(raycastInput, ref collector))
{
Unity.Physics.RaycastHit hit = collector.ClosestHit;
// Debug.DrawLine ( f3_startPoint, f3_endPoint, Color.red ) ;
// Debug.DrawLine ( f3_startPoint, hit.Position, Color.green ) ; // Length of ray, until hit collider.
f_input = math.lengthsq(hit.Position - f3_startPoint);
}
// else
// {
// Debug.DrawLine ( f3_startPoint, f3_endPoint, Color.blue ) ;
// }
a_inputLayerValues [i] = new NNInputNeuronsValuesBuffer()
{
f = f_input
};
}
a_inputLayerValues [a_inputLayerValues.Length - 1] = new NNInputNeuronsValuesBuffer()
{
f = math.length(velocity.f_forwardSpeed)
};
a_inputLayerValues [a_inputLayerValues.Length - 2] = new NNInputNeuronsValuesBuffer()
{
f = math.length(velocity.f_sideWaySkiddSpeed)
};
}).ScheduleParallel();
protected override void OnUpdate()
{
CollisionWorld collisionWorld = buildPhysicsWorld.PhysicsWorld.CollisionWorld;
// EntityCommandBuffer commandBuffer = m_EntityCommandBufferSystem.CreateCommandBuffer();
Dependency = JobHandle.CombineDependencies(Dependency, endFramePhysicsSystem.GetOutputDependency());
// UnityEngine.Debug.Log ( "Ray 2" ) ;
Vector3 f3_point = Camera.main.ScreenToWorldPoint(Input.mousePosition);
float3 f3_endPoint = f3_point - Vector3.up * 200;
Debug.DrawLine(f3_point, f3_endPoint, Color.yellow);
// Perform the Raycast
var raycastInput = new RaycastInput
{
Start = f3_point,
End = f3_endPoint,
Filter = CollisionFilter.Default
};
// Debug.Log ( raycastInput.Filter.BelongsTo + "; " + raycastInput.Filter.CollidesWith + "; " + raycastInput.Filter.GroupIndex ) ;
// raycastInput.Filter.CollidesWith = 0 ;
raycastInput.Filter.CollidesWith = 2;
var collector = new IgnoreTransparentClosestHitCollector(collisionWorld);
collisionWorld.CastRay(raycastInput, ref collector);
var hit = collector.ClosestHit;
var hitDistance = 200 * hit.Fraction;
Debug.DrawLine(f3_point, f3_point - Vector3.up * hitDistance, Color.green);
if (hitDistance != 0)
{
Debug.Log("Try hit at: " + hitDistance);
}
/*
* Entities
* .WithName("RaycastWithCustomCollector")
* .WithBurst()
* .ForEach((Entity entity, ref Translation position, ref Rotation rotation, ref VisualizedRaycast visualizedRaycast) =>
* {
* var raycastLength = visualizedRaycast.RayLength;
*
* // Perform the Raycast
* var raycastInput = new RaycastInput
* {
* Start = position.Value,
* End = position.Value + (math.forward(rotation.Value) * visualizedRaycast.RayLength),
* Filter = CollisionFilter.Default
* };
*
* var collector = new IgnoreTransparentClosestHitCollector(collisionWorld);
*
* collisionWorld.CastRay(raycastInput, ref collector);
*
* var hit = collector.ClosestHit;
* var hitDistance = raycastLength * hit.Fraction;
*
* // position the entities and scale based on the ray length and hit distance
* // visualization elements are scaled along the z-axis aka math.forward
* var newFullRayPosition = new float3(0, 0, raycastLength * 0.5f);
* var newFullRayScale = new float3(1f, 1f, raycastLength);
* var newHitPosition = new float3(0, 0, hitDistance);
* var newHitRayPosition = new float3(0, 0, hitDistance * 0.5f);
* var newHitRayScale = new float3(1f, 1f, raycastLength * hit.Fraction);
*
* commandBuffer.SetComponent(visualizedRaycast.HitPositionEntity, new Translation { Value = newHitPosition });
* commandBuffer.SetComponent(visualizedRaycast.HitRayEntity, new Translation { Value = newHitRayPosition });
* commandBuffer.SetComponent(visualizedRaycast.HitRayEntity, new NonUniformScale { Value = newHitRayScale });
* commandBuffer.SetComponent(visualizedRaycast.FullRayEntity, new Translation { Value = newFullRayPosition });
* commandBuffer.SetComponent(visualizedRaycast.FullRayEntity, new NonUniformScale { Value = newFullRayScale });
* }).Schedule();
*
* m_EntityCommandBufferSystem.AddJobHandleForProducer(Dependency);
*/
}
