85 lines
3.4 KiB
C#
85 lines
3.4 KiB
C#
using System.Collections;
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using UnityEngine;
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namespace NanoBrain.Braitenberg {
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public class LightSensor : Sensor {
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[Tooltip("If true, perform occlusion checks with raycasts.")]
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public bool useOcclusion = true;
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[Tooltip("Angle (degrees) for directional sensitivity; 180 = omnidirectional.")]
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public float sensitivityAngle = 180f;
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[Tooltip("Multiplier to scale final output.")]
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public float multiplier = 1f;
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protected override float SampleSensor() {
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float sum = 0f;
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// Get all active lights in scene (Point lights only)
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#if UNITY_6000_0_OR_NEWER
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Light[] lights = FindObjectsByType<Light>();
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#else
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Light[] lights = FindObjectsByType<Light>(FindObjectsSortMode.None);
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#endif
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Vector3 pos = transform.position;
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Vector3 forward = transform.forward;
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float halfAngleCos = Mathf.Cos(sensitivityAngle * 0.5f * Mathf.Deg2Rad);
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int lightCount = 0;
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foreach (Light light in lights) {
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if (!light.enabled || light.type != LightType.Point)
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continue;
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// quick distance check
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float dist = Vector3.Distance(light.transform.position, pos);
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if (dist > this.sensorRange + light.range)
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continue; // outside both sensor and light ranges
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// angular sensitivity
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Vector3 toLight = (light.transform.position - pos).normalized;
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if (sensitivityAngle < 180f) {
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if (Vector3.Dot(forward, toLight) < halfAngleCos)
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continue;
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}
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// compute light falloff: Unity point lights use inverse squared (physically plausible)
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// you can approximate using L.intensity and L.range
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float attenuation = 0f;
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if (dist < light.range) {
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// inverse-square like falloff (avoid divide-by-zero)
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attenuation = light.intensity / Mathf.Max(0.01f, dist * dist);
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// optionally scale by (1 - dist/range) for a linear blend:
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attenuation *= 1f - dist / light.range;
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}
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else
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continue;
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// occlusion check
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if (useOcclusion) {
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Vector3 dir = (light.transform.position - pos).normalized;
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float rayDist = Mathf.Min(dist, light.range);
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if (Physics.Raycast(pos, dir, out RaycastHit hit, rayDist, senseLayer))
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attenuation *= 0f; // completely blocked; or reduce by factor
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}
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//Debug.DrawRay(this.transform.position, toLight * sensorRange);
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// color consideration: convert light color to luminance if needed
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float luminance = RGBToLuminance(light.color) * attenuation;
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//Debug.Log(luminance);
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sum += luminance;
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lightCount++;
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}
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if (lightCount == 0)
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return 0;
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else
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return (sum / lightCount) * multiplier;
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}
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static float RGBToLuminance(Color c) {
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// simple Rec.709 luminance
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return 0.2126f * c.r + 0.7152f * c.g + 0.0722f * c.b;
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}
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}
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} |