67 lines
2.3 KiB
C#
67 lines
2.3 KiB
C#
#if UNITY_5_3_OR_NEWER
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using System.Collections;
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using UnityEngine;
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namespace Passer.RoboidControl.Unity {
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/// <summary>
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/// The Unity representation of a distance sensor
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/// </summary>
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public class DistanceSensor : Thing {
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/// <summary>
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/// The core distance sensor
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/// </summary>
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public new RoboidControl.DistanceSensor core {
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get => (RoboidControl.DistanceSensor)base.core;
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set => base.core = value;
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}
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/// <summary>
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/// Start the Unity representation
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/// </summary>
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protected virtual void Start() {
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if (core == null) {
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SiteServer siteServer = FindAnyObjectByType<SiteServer>();
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SetCoreThing(new RoboidControl.DistanceSensor(siteServer.site));
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}
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StartCoroutine(MeasureDistance());
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}
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/// <summary>
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/// Create the Unity representation of the distance sensor
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/// </summary>
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/// <param name="parent">The parent of the core distance sensor</param>
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/// <returns>The Unity representation of the distance sensor</returns>
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public static DistanceSensor Create(RoboidControl.DistanceSensor core) {
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GameObject distanceObj = new("Distance sensor");
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DistanceSensor component = distanceObj.AddComponent<DistanceSensor>();
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if (core.parent != null && core.parent.component != null)
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distanceObj.transform.SetParent(core.parent.component.transform, false);
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return component;
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}
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/// <summary>
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/// Periodically measure the distance
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/// </summary>
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/// <returns></returns>
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IEnumerator MeasureDistance() {
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while (Application.isPlaying) {
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if (Physics.Raycast(this.transform.position, this.transform.forward, out RaycastHit hitInfo, 2.0f)) {
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Thing thing = hitInfo.transform.GetComponentInParent<Thing>();
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if (thing == null) {
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// Debug.Log($"collision {hitInfo.transform.name} {hitInfo.distance}");
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core.distance = hitInfo.distance;
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}
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else
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core.distance = 0;
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}
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yield return new WaitForSeconds(0.1f);
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}
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}
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}
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}
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#endif |