protected void ParseColliders(
int numFound,
DetectionConstraint constraint,
Matrix4x4 worldToLocalMatrix)
{
Vector3 sensorPos = m_Transform.position;
for (int i = 0; i < numFound; i++)
{
if (m_Settings.IsDetectableTag(
m_ColliderBuffer[i].tag,
out PointDetectionType type))
{
var detectable = DetectableGameObject.GetCached(m_ColliderBuffer[i]);
// Need to filter out compound collider duplicate results,
// as each collider is a key in DetectableGameObject's cache.
// We also ignore the sensor owner if there is a
// DetectableGameObject parent to the sensor.
if (detectable != m_Owner && !Result.Contains(detectable))
{
m_NormPoints.Clear();
m_WorldPoints.Clear();
switch (type)
{
case PointDetectionType.Position:
m_WorldPoints.Add(detectable.GetWorldPosition());
break;
case PointDetectionType.ClosestPoint:
m_WorldPoints.Add(detectable.GetClosestWorldPoint(sensorPos));
break;
case PointDetectionType.Shape:
float normDistance = constraint.GetNormalizedDistance(
worldToLocalMatrix.MultiplyPoint3x4(
detectable.GetClosestWorldPoint(sensorPos)));
m_WorldPoints.AddRange(
detectable.GetShapeWorldPoints(normDistance));
break;
}
for (int j = 0, c = m_WorldPoints.Count; j < c; j++)
{
if (constraint.ContainsPoint(
worldToLocalMatrix.MultiplyPoint3x4(m_WorldPoints[j]),
out Vector3 normPoint))
{
m_NormPoints.Add(normPoint);
}
}
if (m_NormPoints.Count > 0)
{
Result.Add(detectable, m_NormPoints);
}
}
}
}
}
protected void ParseColliders(int n, Constraint constraint, Matrix4x4 worldToLocalMatrix)
{
Vector3 sensorPos = m_Transform.position;
for (int i = 0; i < n; i++)
{
if (m_Settings.IsDetectableTag(m_Buffer[i].tag, out ColliderDetectionType type))
{
var detectable = DetectableGameObject.GetCached(m_Buffer[i]);
// Need to filter out compound collider duplicate results,
// as each collider is a key in DetectableGameObject's cache.
// NOTE
// We also skip the sensor owner if there's a DetectableGameObject
// parent to the sensor.
// Although the owner could be excluded by setting the minimum detection
// distance large enough for 3D, it's better to avoid checking the
// owner's points at every step in the first place.
if (detectable != m_Owner && !Result.Contains(detectable))
{
m_TmpNormPoints.Clear();
m_TmpWorldPoints.Clear();
switch (type)
{
case ColliderDetectionType.Position:
m_TmpWorldPoints.Add(detectable.GetPosition());
break;
case ColliderDetectionType.ClosestPoint:
m_TmpWorldPoints.Add(detectable.GetClosestPoint(sensorPos));
break;
case ColliderDetectionType.Shape:
m_TmpWorldPoints.AddRange(detectable.GetShapePoints(
constraint.NormalizeDistance(
worldToLocalMatrix.MultiplyPoint3x4(
detectable.GetPosition()))));
break;
}
for (int j = 0, c = m_TmpWorldPoints.Count; j < c; j++)
{
if (constraint.ContainsPoint(
worldToLocalMatrix.MultiplyPoint3x4(m_TmpWorldPoints[j]),
out Vector3 normalized))
{
m_TmpNormPoints.Add(normalized);
}
}
if (m_TmpNormPoints.Count > 0)
{
Result.Add(detectable, m_TmpNormPoints);
}
}
}
}
}
