// Casts three rays to a point, returns all the hits or misses
void rayCastToPoint(Vector2 point, ref List <Vector3> vertices)
{
RaycastHit2D[] target = new RaycastHit2D[1];
// Raycast fro the center to the point, and to the left and to the right
Vector2 direction = point - new Vector2(lightCenter.x, lightCenter.y);
Vector2 left = rotatePointbyRadians(direction, 0.00001f);
Vector2 right = rotatePointbyRadians(direction, -0.00001f);
// Aim for point
if (colliderCircle.Raycast(direction, layerfilter, target, lightRadius) == 0)
{
// if no collision, push in a point on the radius
direction.Normalize();
vertices.Add(new Vector3((direction.x * lightRadius) + lightCenter.x, (direction.y * lightRadius) + lightCenter.y, lightCenter.z));
}
else
{
// if collision, push in the collision point
vertices.Add(new Vector3(target[0].point.x, target[0].point.y, lightCenter.z));
}
// Aim left
if (colliderCircle.Raycast(left, layerfilter, target, lightRadius) == 0)
{
left.Normalize();
vertices.Add(new Vector3((left.x * lightRadius) + lightCenter.x, (left.y * lightRadius) + lightCenter.y, lightCenter.z));
}
else
{
vertices.Add(new Vector3(target[0].point.x, target[0].point.y, lightCenter.z));
}
// Aim Right
if (colliderCircle.Raycast(right, layerfilter, target, lightRadius) == 0)
{
right.Normalize();
vertices.Add(new Vector3((right.x * lightRadius) + lightCenter.x, (right.y * lightRadius) + lightCenter.y, lightCenter.z));
}
else
{
vertices.Add(new Vector3(target[0].point.x, target[0].point.y, lightCenter.z));
}
}
void Update()
{
if (running)
{
transform.position += direction * Time.deltaTime * speed;
}
RaycastHit2D[] hits = new RaycastHit2D[10];
if (collider.Raycast(direction, hits, 0.2f) > 0)
{
direction = Vector2.Reflect(direction, hits[0].normal);
}
}
private RaycastHit2D[] interloperHit = new RaycastHit2D[1]; // BUGFIX: for UpdateCarriedItem checks
private void UpdateCarriedItem()
{
if (!isCarryingItem || path == null || path.Length <= 0)
{
return;
}
Vector3 carryDir = (path [path.Length - 1] - transform.position).normalized;
Vector3 carryPos = transform.position + carryDir * carryItemDistance;
carriedItem.transform.position = new Vector3(carryPos.x, carryPos.y, 0.0f);
// BUGFIX: a box will sometimes get pushed between a robot and its carried item, causing the robot to
// rocket backwards due to the default unity collision correction
circleCollider.Raycast(carryDir, interloperHit, carryItemDistance, groundedResetMask);
if (interloperHit[0].collider != null)
{
Throwable hitItem = interloperHit[0].collider.GetComponent <Throwable> ();
if (hitItem != null && (hitItem is Box) && hitItem != carriedItem)
{
DropItem();
}
}
}
private void View()
{
//获得在ViewRange的物体
List <Collider2D> targets = new List <Collider2D>();
ContactFilter2D vf = new ContactFilter2D().NoFilter(); //过滤器
vf.SetLayerMask(ViewLayer);
vf.useLayerMask = true;
vf.useTriggers = true;
//Debug.Log(LayerMask.LayerToName(vm));
ViewRange.OverlapCollider(vf, targets);
//Debug.Log(ViewRange.OverlapCollider(vf, targets));
//遍历
foreach (Collider2D c in targets)
{
if (c == null)
{
continue;
}
SensoryVisual sv;
//检测到SensoryVisual脚本的才是可视对象
if ((sv = c.gameObject.GetComponent <SensoryVisual>()) == null)
{
//Debug.Log(c.gameObject.name + "不可视");
continue;
}
Vector2 thisPos = this.transform.position; //自己的位置
Vector2 targetPos = c.transform.position; //检测目标的位置
Vector2 dir = this.transform.up; //自己的方向
Vector2 targetDir = targetPos - thisPos; //检测目标的相对位置
////坐标cos公式
//float cos = Vector2.Dot(targetDir, dir) / targetDir.magnitude / dir.magnitude;
float angle = Vector3.Angle(dir, targetDir) / 180 * Mathf.PI; //相对角度角度制
//Debug.Log(angle);
float viewAngleRangeArc = ViewAngleRange / 180f * Mathf.PI; //探测范围弧度制
//超出角度判定
if (angle > viewAngleRangeArc / 2f || angle < -viewAngleRangeArc / 2f)
{
//Debug.Log(c.gameObject.name + "超出角度判定");
continue;
}
float checkRange = Mathf.Asin(sv.VisualRange.radius / targetDir.magnitude) * 2; //需要检测的角度范围
int checkTimes = (int)(checkRange / (ViewCheckDegrees / 180 * Mathf.PI)) + 1; //计算检测次数
float checkRange_r = ViewCheckOffset * checkRange; //方便边缘检测
float anglePerCheck = checkRange_r / (checkTimes + 1); //每次增加的角度
float targetAngle = Mathf.Atan2(targetDir.y, targetDir.x); //目标方向的绝对角
float startAngle = targetAngle - checkRange / 2f + checkRange * (1 - ViewCheckOffset) / 2f; //起始角度
float currentAngle = startAngle; //当前检测的角度
//检测
for (int i = 0; i < checkTimes + 2; ++i)
{
//射线超出角度剔除
if (currentAngle - targetAngle > viewAngleRangeArc / 2f || angle < -viewAngleRangeArc / 2f)
{
continue;
}
//计算射线的方向向量
Vector3 v0 = new Vector3(1f, 0f, 0f);
Quaternion rot = new Quaternion();
rot.eulerAngles = new Vector3(0, 0, currentAngle / Mathf.PI * 180);
Vector2 v1 = rot * v0; //方向向量
currentAngle += anglePerCheck; //递增角度
//进行射线判断
RaycastHit2D[] hits = new RaycastHit2D[10];
int length = ViewRange.Raycast(v1, vf, hits, ViewRange.radius);
//什么都没碰到
if (length <= 0)
{
Debug.DrawLine(thisPos, thisPos + v1 * ViewRange.radius, Color.red);
continue;
}
//第一个命中
if (hits[0].collider.gameObject.GetComponent <SensoryVisual>() == sv)
{
memory.UpdateViewRecord(hits[0].collider.gameObject);
Debug.DrawLine(thisPos, hits[0].point, Color.green);
}
//没命中
else
{
Debug.DrawLine(thisPos, hits[0].point, Color.red);
}
}
}
}