Pascal Serrarens
9717ae0335
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37 lines
1.4 KiB
C#
37 lines
1.4 KiB
C#
using UnityEngine;
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namespace Breitenberg {
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public class Sensor : MonoBehaviour {
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public float sensorRange = 10f;
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public LayerMask senseLayer; // layer for "light" objects
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public float output {get; protected set; }
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protected virtual void FixedUpdate() {
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output = SampleSensor(this.transform);
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}
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protected virtual float SampleSensor(Transform sensor) {
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// Cast a short set of rays in a cone and accumulate "brightness" from hits.
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int rays = 7;
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float halfAngle = 30f;
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float total = 0f;
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for (int i = 0; i < rays; i++) {
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float t = rays == 1 ? 0.5f : (float)i / (rays - 1);
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float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
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Vector3 dir = Quaternion.AngleAxis(angle, sensor.up) * sensor.forward;
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Debug.DrawRay(sensor.position, dir * sensorRange);
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if (Physics.Raycast(sensor.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
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// Strength inversely proportional to distance, clamped to [0,1]
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float str = 1f - (hit.distance / sensorRange);
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// You can also sample material emission or color here if desired
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total += Mathf.Clamp01(str);
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}
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}
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return Mathf.Clamp01(total / rays);
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}
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}
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} |