322 lines
15 KiB
C#
322 lines
15 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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/*该scrip用于创建复数条ray于视角内，并探测被ray射到的物体*/
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public class RaySensors : MonoBehaviour
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{
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public Camera agentCam;
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public GameObject myself;
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public int rayNum = 6;
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public string EnemyTagName;
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public string WallTagName;
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public float viewDistance = 100; // how long the ray can detect
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public float Damage = 50; // damage to enemy
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public float attentionRange = 1f; //注意力范围，1为最大
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public float MaxDistance = 9999999999f;
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public float EnemyWidthRedundancy = 0.01f; //为了确保Ray可以击中Enemy，用于缩小EnemyWidth的长度
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//public List<string> tagNames = new List<string>();
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public static int allEnemyNum = 0;//All Enemy Num
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public static float[] focusEnemyInfo = new float[3];
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public static float[] rayTagResult; // Array to save Tag Result
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public static float[] rayDisResult; // Array to save Distance Result
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public static List<float> enemyLDisList = new List<float>();// All Enemy Lside Distances
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public static List<float> enemyRDisList = new List<float>();// All Enemy Rside Distances
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public bool showEnemySensor = true;
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public bool showEyeSensor = true;
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static int tagToInt(string tag)
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{
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switch (tag)
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{
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case "Wall":
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return 1;
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case "Enemy":
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return 2;
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default:
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return 0;
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}
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}
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// 敌人Ray探测处理
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// 返回
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(int, List<float>, List<float>, float[]) enemySensorRay(GameObject myself, Camera agentCam, float attentionRange)
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{
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List<float> thisLDistanceList = new List<float>();
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List<float> thisRDistanceList = new List<float>();
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GameObject[] EnemyGameObjs;
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EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
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int EnemyIndex = 0;
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float MinEnemyDis = MaxDistance+1.0f;
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int MinEnemyIndex = 0;
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float[] MinEnemyInfo = new float[3];
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//遍历所有Enemy
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foreach (GameObject EnemyObj in EnemyGameObjs)
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{
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Vector3 thisEnemyPosition = EnemyObj.transform.position;
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Vector3 thisEnemyScale = EnemyObj.transform.localScale;
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Vector3 MyselfPosition = myself.transform.position;
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float thisEnemyWidth = (float)(thisEnemyScale.x / 2) - EnemyWidthRedundancy;
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float thisEnemyDistance = Vector3.Distance(MyselfPosition, thisEnemyPosition);
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//探测到Agent为自己时的处理
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if (thisEnemyPosition == MyselfPosition)
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{
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//Debug.Log("OH It's me");
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thisLDistanceList.Add(MaxDistance);
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thisRDistanceList.Add(MaxDistance);
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}
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//非己Agent处理
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else
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{
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EnemyIndex += 1;
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Vector3 Vertical = new Vector3(0, 100, 0);//垂直向上的向量
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Vector3 EnemytoMe = MyselfPosition - thisEnemyPosition;//Enemy和自机连线，指向自机的向量
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Vector3 LHorizontal = Vector3.Cross(Vertical, EnemytoMe);// 垂直于EnemytoMe与Vertical向量所组成的面的，且指向<-左侧的小向量<- Enemy
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Vector3 RHorizontal = Vector3.Cross(EnemytoMe, Vertical);// 垂直于EnemytoMe与Vertical向量所组成的面的，且指向->右侧的小向量Enemy ->
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//此时RHorizontal，LHorizontal的长度巨几把长，需要下面操作标准化为1/2Enemy宽度
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float standaedization = (float)thisEnemyWidth / Vector3.Distance(thisEnemyPosition, RHorizontal);//计算需要缩小的比例
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RHorizontal *= standaedization;//应用缩小比例，标准化完成
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LHorizontal *= standaedization;//应用缩小比例，标准化完成
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Vector3 LMetoEnemy = LHorizontal - EnemytoMe;//自机与左侧边界连线Me<- Enemy
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Vector3 RMetoEnemy = RHorizontal - EnemytoMe;//自机与右侧边界连线Enemy ->Me
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Vector3 L0toEnemy = LHorizontal + thisEnemyPosition;// Enemy左侧绝对坐标
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Vector3 R0toEnemy = RHorizontal + thisEnemyPosition;// Enemy右侧绝对坐标
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float LMetoEnemyDist = Vector3.Distance(MyselfPosition, L0toEnemy);
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float RMetoEnemyDist = Vector3.Distance(MyselfPosition, R0toEnemy);
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Vector3 LEnemyInView = agentCam.WorldToViewportPoint(L0toEnemy);//Enemy左侧于视角中位置
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Vector3 REnemyInView = agentCam.WorldToViewportPoint(R0toEnemy);//Enemy右侧于视角中位置
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//Debug连线，颜色遵循飞机航行灯基本使用规则，左红右绿尾翼白。
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//Debug.DrawRay(thisEnemyPosition, EnemytoMe, Color.white);//Enemy和自机连线，指向自机的向量
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//Debug.DrawRay(thisEnemyPosition, Vertical, Color.white);//垂直向上的向量
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//Debug.DrawRay(thisEnemyPosition, LHorizontal, Color.red);// 垂直于Vc与Vertical向量所组成的面的，且指向<-左侧的小向量<- Enemy
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//Debug.DrawRay(thisEnemyPosition, RHorizontal, Color.green);// 垂直于Vc与Vertical向量所组成的面的，且指向->右侧的小向量Enemy ->
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//Debug.DrawRay(MyselfPosition, LMetoEnemy, Color.red);//自机与左侧边界连线<- Enemy
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//Debug.DrawRay(MyselfPosition, RMetoEnemy, Color.green);//自机与右侧边界连线Enemy ->
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//Debug.Log("EnemyObj" + EnemyIndex + "Position:" + thisEnemyPosition);
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//左侧于可见范围内--<--<--<--<--<--<--<--<--<--<--<--<--<--<
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if (LEnemyInView.x >= (thisEnemyWidth - attentionRange / 2) && LEnemyInView.x <= (thisEnemyWidth + attentionRange / 2) && LEnemyInView.z > 0)
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{
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//射出Raycast
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Ray LRay = new Ray(MyselfPosition, LMetoEnemy);
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RaycastHit LHit;
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if (showEnemySensor)
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{
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Debug.DrawRay(LRay.origin, LRay.direction * LMetoEnemyDist, Color.white);//自机与左侧边界连线<- Enemy
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}
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//Ray Hit Something
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if (Physics.Raycast(MyselfPosition, LMetoEnemy, out LHit, LMetoEnemyDist))
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{
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//Ray Hit Enemy
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//并且当射线射到的Enemy的距离与当前判断Enemy的距离差小于该Enemy半径时
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//既该射线所射到的Enemy为当前Enemy而不是别的时
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if (LHit.collider.tag == EnemyTagName && System.Math.Abs(LHit.distance - thisEnemyDistance) <= thisEnemyWidth)
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{
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if (showEnemySensor)
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{
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Debug.DrawRay(LRay.origin, LRay.direction * LHit.distance, Color.red);//自机与所击中物体的连线
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}
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thisLDistanceList.Add(LHit.distance);
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//Debug.Log("Hit Tag = " + LHit.collider.tag);
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//Debug.Log(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYL");
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}
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//当射线所hit的不是enemy或hit的enemy不是当前所判断的enemy
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else
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{
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if (showEnemySensor)
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{
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Debug.DrawRay(LRay.origin, LRay.direction * LHit.distance, Color.cyan);//自机与所击中物体的连线
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}
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thisLDistanceList.Add(MaxDistance);
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//Debug.LogWarning("Hit Tag = " + LHit.collider.tag);
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//Debug.LogWarning(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYL");
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}
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}
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else
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{
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thisLDistanceList.Add(MaxDistance);
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Debug.LogError("LRAY HIT NOTHING, Check Code!");
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}
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}
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//左侧不在可见范围内时--<--<--<--<--<--<--<--<--<--<--<--<--<--<
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else
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{
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thisLDistanceList.Add(MaxDistance);
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//Debug.LogError("NoVisual");
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//Debug.LogError(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYL_ELSE");
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}
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//右侧于可见范围内-->-->-->-->-->-->-->-->-->-->-->-->-->-->
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if (REnemyInView.x >= (thisEnemyWidth - attentionRange / 2) && REnemyInView.x <= (thisEnemyWidth + attentionRange / 2) && REnemyInView.z > 0)
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{
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//射出Raycast
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Ray RRay = new Ray(MyselfPosition, RMetoEnemy);
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RaycastHit RHit;
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if (showEnemySensor)
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{
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Debug.DrawRay(RRay.origin, RRay.direction * RMetoEnemyDist, Color.white);//自机与左侧边界连线<- Enemy
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}
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//Ray Hit Something
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if (Physics.Raycast(MyselfPosition, RMetoEnemy, out RHit, RMetoEnemyDist))
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{
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//Ray Hit Enemy
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//并且当射线射到的Enemy的距离与当前判断Enemy的距离差小于该Enemy半径时
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//既该射线所射到的Enemy为当前Enemy而不是别的时
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if (RHit.collider.tag == EnemyTagName && System.Math.Abs(RHit.distance - thisEnemyDistance) <= thisEnemyWidth)
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{
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if (showEnemySensor)
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{
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Debug.DrawRay(RRay.origin, RRay.direction * RHit.distance, Color.red);//自机与所击中物体的连线
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}
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thisRDistanceList.Add(RHit.distance);
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//Debug.Log("Hit Tag = " + LHit.collider.tag);
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//Debug.Log(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYR");
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}
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//当射线所hit的不是enemy或hit的enemy不是当前所判断的enemy
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else
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{
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if (showEnemySensor)
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{
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Debug.DrawRay(RRay.origin, RRay.direction * RHit.distance, Color.cyan);//自机与所击中物体的连线
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}
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thisRDistanceList.Add(MaxDistance);
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//Debug.LogWarning("Hit Tag = " + LHit.collider.tag);
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//Debug.LogWarning(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYR");
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}
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}
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else
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{
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thisLDistanceList.Add(MaxDistance);
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Debug.LogError("RRAY HIT NOTHING, Check Code!");
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}
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}
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//右侧不在可见范围内时-->-->-->-->-->-->-->-->-->-->-->-->-->-->
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else
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{
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thisRDistanceList.Add(MaxDistance);
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//Debug.LogError("NoVisual");
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//Debug.LogError(LDistance[EnemyIndex-1]);
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//Debug.Log("ADD_LIST_ENEMYR_ELSE");
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}
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}
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//Debug.LogWarning("EnemyIndex" + EnemyIndex);
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//Debug.LogWarning(thisLDistanceList.Count);
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//Debug.LogWarning(MinEnemyIndex);
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//Debug.Log("thisLDistanceList" + thisLDistanceList.Count);
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//Debug.Log("thisRDistanceList" + thisRDistanceList.Count);
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//检查最近Enemy
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if (System.Math.Min(thisLDistanceList[EnemyIndex], thisRDistanceList[EnemyIndex]) < MinEnemyDis)
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{
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//Debug.Log("EnemyIndex" + EnemyIndex);
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MinEnemyDis = System.Math.Min(thisLDistanceList[EnemyIndex], thisRDistanceList[EnemyIndex]);
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MinEnemyIndex = EnemyIndex;
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}
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}
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// 获取最近敌人的准确位置信息
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MinEnemyInfo[0] = (float)MinEnemyIndex;
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if(MinEnemyInfo[0] <= 0)
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{
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MinEnemyInfo[1] = MaxDistance;
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MinEnemyInfo[2] = MaxDistance;
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}
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else
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{
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MinEnemyInfo[1] = EnemyGameObjs[MinEnemyIndex].transform.position.x;
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MinEnemyInfo[2] = EnemyGameObjs[MinEnemyIndex].transform.position.z;
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}
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return (EnemyIndex, thisLDistanceList, thisRDistanceList,MinEnemyInfo);
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}
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// 全局Ray探测处理
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(float[], float[]) eyeSensorRay(int rayNum, Camera agentCam, float viewDistance)
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{
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//初始化result Array
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float[] thisRayTagResult = new float[rayNum];
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float[] thisRayDisResult = new float[rayNum];
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//于视角范围内一帧射出rayNum条射线
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for (int a = 0; a <= rayNum - 1; a = a + 1)
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{
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//射线射出
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Vector3 point = new Vector3(a * agentCam.pixelWidth / (rayNum - 1), agentCam.pixelHeight / 2, 0);//发射位置
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Ray ray = agentCam.ScreenPointToRay(point);
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RaycastHit hit;
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if (showEyeSensor)
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{
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Debug.DrawRay(ray.origin, ray.direction * viewDistance, Color.black);
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}
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//若在viewDistance范围内有碰撞
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if (Physics.Raycast(ray, out hit, viewDistance))
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{
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thisRayTagResult[a] = tagToInt(hit.collider.tag);
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thisRayDisResult[a] = hit.distance;
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if (showEyeSensor)
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{
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Debug.DrawRay(ray.origin, ray.direction * hit.distance, Color.yellow);
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}
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//输出log
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//Debug.Log(rayTagResult[a]);
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//Debug.Log(tagToInt(hit.collider.tag));
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}
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//若在viewDistance范围无碰撞
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else
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{
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thisRayTagResult[a] = -1f;
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thisRayDisResult[a] = -1f;
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//输出log
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//Debug.Log(0);
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//Debug.Log(0);
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}
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}
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return (thisRayTagResult, thisRayDisResult);
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}
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void Start()
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{
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rayTagResult = new float[rayNum];
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rayDisResult = new float[rayNum];
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}
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|
|
|
|||
|
|
|
|||
|
|
void Update()
|
|||
|
|
{
|
|||
|
|
(rayTagResult, rayDisResult) = eyeSensorRay(rayNum, agentCam, viewDistance);
|
|||
|
|
(allEnemyNum, enemyLDisList, enemyRDisList, focusEnemyInfo) = enemySensorRay(myself, agentCam, attentionRange);
|
|||
|
|
transform.gameObject.GetComponent<UIController>().updateRemainEnemy(allEnemyNum);
|
|||
|
|
/*
|
|||
|
|
Debug.LogWarning("rayNum :" + rayNum);
|
|||
|
|
for (int i =0;i < rayNum; i++)
|
|||
|
|
{
|
|||
|
|
Debug.Log("rayTagResult" + rayTagResult[i] + "rayDisResult"+ rayDisResult[i]);
|
|||
|
|
}
|
|||
|
|
Debug.LogWarning("EnemyNum Include Me:" + allEnemyNum);
|
|||
|
|
for(int i = 0; i < allEnemyNum; i++)
|
|||
|
|
{
|
|||
|
|
Debug.Log("enemyLDisList" + enemyLDisList[i] + "enemyRDisList" + enemyRDisList[i]);
|
|||
|
|
}
|
|||
|
|
*/
|
|||
|
|
}
|
|||
|
|
}
|