public float threshold; // 聞こえる音の閾値。人間の通常状態（立ち）を 1.0f とする。loudness は、種別を超えた対象の興味度を加味した値とする。
public override int scan(TargetFinder3 finder, _Action3[] others, float[] sqrDists)
{
var sqrLimitDist = distance * distance;
var ires = -1;
var resLoudness = 0.0f;
for (var i = 0; i < others.Length; i++)
{
if (sqrDists[i] <= sqrLimitDist)
{
if (capture(finder, others[i]) && others[i].output.loudness > resLoudness) // 音は全候補で最大のものを返す。
{
ires = i;
resLoudness = others[i].output.loudness;
}
}
else
{
// これ以上遠いものは打ち切ってＯＫ
break;
}
}
return(ires);
}
public TargetFinder3.TargetInfoUnit capture(TargetFinder3 finder, _Action3 other, float sqrDist)
{
foreach (var s in sensors)
{
if (sqrDist <= s.distance * s.distance && s.capture(finder, other))
{
Destroy(Instantiate(s.hint, finder.tfSensor.position, finder.rb.rotation), 1.0f); //
return(new TargetFinder3.TargetInfoUnit(other, s.errRadius));
}
}
return(new TargetFinder3.TargetInfoUnit());
}
public override bool capture(TargetFinder3 finder, _Action3 target)
{
var visible = false;
var senspos = finder.tfSensor.position;
var targpos = target.tfObservedCenter.position;
visible = !Physics.Linecast(senspos, targpos, UserLayer.sensorEyeOcculusion);
return(visible);
}
public TargetFinder3.TargetInfoUnit scan(TargetFinder3 finder, _Action3[] others, float[] sqrDists)
{
foreach (var s in sensors)
{
var i = s.scan(finder, others, sqrDists);
if (i != -1)
{
Destroy(Instantiate(s.hint, finder.tfSensor.position, finder.rb.rotation), 1.0f); //
return(new TargetFinder3.TargetInfoUnit(others[i], s.errRadius));
}
}
return(new TargetFinder3.TargetInfoUnit());
}
public override bool capture(TargetFinder3 finder, _Action3 target)
{
var visible = false;
var senspos = finder.tfSensor.position;
var targpos = target.tfObservedCenter.position;
var forward = finder.tfSensor.forward;
var dir = (targpos - senspos).normalized;
if (Vector3.Dot(forward, dir) >= cosDirectivity)
{
visible = !Physics.Linecast(senspos, targpos, UserLayer.sensorEyeOcculusion);
}
return(visible);
}
public override int scan(TargetFinder3 finder, _Action3[] others, float[] sqrDists)
{
var sqrLimitDist = distance * distance;
for (var i = 0; i < others.Length; i++)
{
if (sqrDists[i] <= sqrLimitDist)
{
if (capture(finder, others[i]))
{
return(i);
}
}
else
{
// これ以上遠いものは打ち切ってＯＫ
break;
}
}
return(-1);
}
public override bool concentrate(TargetFinder3 finder)
{
return(false);
}
public override bool capture(TargetFinder3 finder, _Action3 target)
{
return(target.output.loudness >= threshold); // * finder.sensitiveRateR;
}
public virtual bool concentrate(TargetFinder3 finder)
{
return(false);
}
public virtual bool capture(TargetFinder3 finder, _Action3 target)
{
return(false);
}
public virtual int scan(TargetFinder3 finder, _Action3[] others, float[] sqrDists)
{
return(-1);
}
