新增SensorToolkit

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Assets/SensorToolkit/Examples/assets/ArenaShooter/ScoreZone.cs

@@ -0,0 +1,26 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Micosmo.SensorToolkit.Example
+{
+    /* When the pickup is detected in the score zone it's team wins a point. */
+    public class ScoreZone : MonoBehaviour
+    {
+        public Sensor PickupSensor;
+        public GameObject ScoreEffect;
+
+        void Update()
+        {
+            var pickup = PickupSensor.GetNearestComponent<Holdable>();
+            if (pickup != null)
+            {
+                // Pickup has been brought to score zone. It's team scores!
+                if (ScoreEffect != null)
+                {
+                    Instantiate(ScoreEffect, pickup.transform.position, pickup.transform.rotation);
+                }
+                Destroy(pickup.gameObject);
+            }
+        }
+    }
+}

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Assets/SensorToolkit/Examples/assets/ArenaShooter/SoldierAI.cs

@@ -0,0 +1,180 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Micosmo.SensorToolkit.Extras;
+
+namespace Micosmo.SensorToolkit.Example {
+
+    public class SoldierAI : StupidSimpleFSM {
+        [Header("References")]
+        public Sensor Sight;
+        public SteeringSensor SteerSensor;
+        public IgnoreProcessor IgnoreProc;
+        public Holder Holder;
+        public GunWithClip Gun;
+        public TeamMember TeamMember;
+
+        GameObject myBase;
+
+        void OnEnable() {
+            SetFSMState(DefaultState());
+        }
+
+        void Start() {
+            myBase = GameObject.Find(TeamMember.Team == Teams.Yellow ? "YellowBase" : "MagentaBase");
+        }
+
+        void Update() {
+            SteerSensor.Locomotion.MaxSpeedMultiplier = Holder.IsHolding ? .5f : 1f;
+        }
+
+        IEnumerator DefaultState() {
+            while (true) {
+                yield return null;
+
+                if (Holder.Held != null) {
+                    yield return SetFSMState(CarryToBaseState());
+                }
+
+                var nearestPickup = Sight.GetNearestComponent<Holdable>();
+                if (nearestPickup != null) {
+                    if (nearestPickup.IsHeld && TeamMember.IsEnemy(nearestPickup.Holder.gameObject)) {
+                        yield return SetFSMState(AttackState(nearestPickup.Holder.gameObject));
+                    } else if (Random.value > 0.9f) {
+                        yield return SetFSMState(PickUpState(nearestPickup));
+                    }
+                }
+
+                var nearestEnemy = Sight.GetNearestDetection(s => TeamMember.IsEnemy(s.Object));
+                if (nearestEnemy != null) {
+                    yield return SetFSMState(AttackState(nearestEnemy));
+                }
+
+                float countdown = 1f;
+                while (countdown > 0f) {
+                    // Make way to the center of the map
+                    SteerSensor.ArriveTo(Vector3.zero);
+                    SteerSensor.Locomotion.Strafing.Clear();
+                    countdown -= Time.deltaTime;
+                    yield return null;
+                }
+            }
+        }
+
+        IEnumerator AttackState(GameObject target) {
+            if (target == null) {
+                yield return SetFSMState(DefaultState());
+            } else if ((target.transform.position - transform.position).magnitude > 10f) {
+                yield return SetFSMState(ChargeState(target));
+            } else {
+                yield return SetFSMState(StrafeState(target));
+            }
+        }
+
+        IEnumerator ChargeState(GameObject target) {
+            var timer = Random.Range(0.5f, 2f);
+            while (timer >= 0f) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                if (target == null) {
+                    break;
+                }
+                SteerSensor.SeekTo(target.transform);
+                SteerSensor.Locomotion.Strafing.Clear();
+
+                Gun.Fire();
+                if (Gun.IsEmptyClip) {
+                    Gun.Reload();
+                }
+            }
+            yield return SetFSMState(DefaultState());
+        }
+
+        IEnumerator StrafeState(GameObject target) {
+            var timer = Random.Range(0.5f, 2f);
+            var strafeDirection = new Vector3(Random.Range(-1f, 1f), 0f, Random.Range(-1f, 1f)).normalized;
+            while (timer > 0f) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                if (target == null) {
+                    break;
+                }
+
+                SteerSensor.SeekTo(transform.position + strafeDirection * 10);
+                SteerSensor.Locomotion.Strafing.SetFaceTarget(target.transform);
+
+                Gun.Fire();
+                if (Gun.IsEmptyClip && !Gun.IsReloading) {
+                    Gun.Reload();
+                    if (Random.value > 0.5f) {
+                        yield return SetFSMState(FleeState());
+                    }
+                }
+            }
+            yield return SetFSMState(DefaultState());
+        }
+
+        IEnumerator FleeState() {
+            var timer = Random.Range(2f, 4f);
+
+            SteerSensor.Locomotion.Strafing.Clear();
+
+            while (timer > 0) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                var nearestEnemy = Sight.GetNearestDetection(s => TeamMember.IsEnemy(s.Object));
+                if (nearestEnemy == null) {
+                    break;
+                }
+
+                SteerSensor.SeekTo(nearestEnemy.transform, 20f); // Seek position 20-units away from target. This will cause flee
+            }
+
+            SteerSensor.Stop();
+
+            yield return SetFSMState(DefaultState());
+        }
+
+        IEnumerator PickUpState(Holdable pickup) {
+            float timer = 4f;
+            while (timer > 0f) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                if (pickup == null || pickup.IsHeld) {
+                    yield return SetFSMState(DefaultState());
+                }
+
+                IgnoreProc.ToIgnore = pickup.gameObject;
+                SteerSensor.ArriveTo(pickup.transform);
+                SteerSensor.Locomotion.Strafing.Clear();
+                if (Holder.CanPickUp(pickup)) {
+                    Holder.PickUp(pickup);
+                    break;
+                }
+            }
+
+            while (Holder.IsInteracting) {
+                yield return null;
+            }
+
+            yield return SetFSMState(DefaultState());
+        }
+
+        IEnumerator CarryToBaseState() {
+            while (true) {
+                yield return null;
+
+                if (Holder.Held == null) {
+                    yield return SetFSMState(DefaultState());
+                }
+
+                SteerSensor.ArriveTo(myBase.transform);
+                SteerSensor.Locomotion.Strafing.Clear();
+            }
+        }
+    }
+}

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Assets/SensorToolkit/Examples/assets/Developer.meta

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Assets/SensorToolkit/Examples/assets/Developer/TestAngleSensor.unity.meta

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Assets/SensorToolkit/Examples/assets/Developer/TestAngleSensor/ScreenRay.cs

@@ -0,0 +1,44 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Micosmo.SensorToolkit.Example.Developer {
+    public class ScreenRay : MonoBehaviour {
+        [Header("References")]
+        public GameObject LineGraphic;
+        [Header("Runtime")]
+        public Vector2 P1;
+        public Vector2 P2;
+        public Vector2 Direction => (P2 - P1);
+        public bool IsZero => Direction == Vector2.zero;
+        public void Clear() {
+            P1 = P2 = Vector2.zero;
+        }
+        void LateUpdate() {
+            var mouseGUIPos = new Vector2(Input.mousePosition.x, Screen.height - Input.mousePosition.y);
+            var isOverGUI = TestAngleSensor.GUIRect.Contains(mouseGUIPos);
+            if (!isOverGUI) {
+                if (Input.GetMouseButtonDown(0)) {
+                    P1 = P2 = Input.mousePosition;
+                }
+                if (Input.GetMouseButton(0)) {
+                    P2 = Input.mousePosition;
+                }
+            }
+            Draw(LineGraphic);
+        }
+         void Draw(GameObject lineGraphic) {
+            if (P1 == P2) {
+                lineGraphic.SetActive(false);
+                return;
+            }
+            lineGraphic.SetActive(true);
+            var cam = Camera.main;
+            var p1Proj = cam.ScreenToWorldPoint(new Vector3(P1.x, P1.y, 1f));
+            var p2Proj = cam.ScreenToWorldPoint(new Vector3(P2.x, P2.y, 1f));
+            lineGraphic.transform.position = p1Proj;
+            lineGraphic.transform.LookAt(p2Proj);
+            lineGraphic.transform.localScale = new Vector3(1f, 1f, Vector3.Distance(p1Proj, p2Proj));
+        }
+    }
+}

Assets/SensorToolkit/Examples/assets/Developer/TestAngleSensor/ScreenRay.cs.meta

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Assets/SensorToolkit/Examples/assets/Developer/TestAngleSensor/TargetGraphics.cs

@@ -0,0 +1,57 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Micosmo.SensorToolkit.Example.Developer {
+    public class TargetGraphics : MonoBehaviour {
+        [Header("References")]
+        public Material Mat1;
+        public Material Mat2;
+        public GameObject Diamond;
+        public GameObject Border;
+        [Header("Runtime")]
+        public GameObject Target;
+
+        Renderer[] renderers;
+
+        void Awake() {
+            renderers = gameObject.GetComponentsInChildren<Renderer>();
+        }
+
+        public void SetStyle(int code) {
+            var mat = code == 0 ? Mat1 : Mat2;
+            foreach (var renderer in renderers) {
+                renderer.sharedMaterial = mat;
+            }
+        }
+
+        void LateUpdate() {
+            if (Target == null) {
+                Diamond.SetActive(false);
+                Border.SetActive(false);
+                return;
+            }
+            Diamond.SetActive(true);
+            Border.SetActive(true);
+            var bounds = GetBoundsOfTarget();
+            transform.position = bounds.center;
+            Diamond.transform.localPosition = Vector3.up * bounds.extents.y;
+            Border.transform.localScale = new Vector3(bounds.size.x, bounds.size.y, 1f);
+            var cam = Camera.main;
+            transform.LookAt(cam.transform.position);
+        }
+
+        Bounds GetBoundsOfTarget() {
+            Bounds bounds = default;
+            var renderers = Target.GetComponentsInChildren<Renderer>();
+            foreach (var renderer in renderers) {
+                if (bounds.size == Vector3.zero) {
+                    bounds = renderer.bounds;
+                } else {
+                    bounds.Encapsulate(renderer.bounds);
+                }
+            }
+            return bounds;
+        }
+    }
+}

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Assets/SensorToolkit/Examples/assets/Developer/TestAngleSensor/TestAngleSensor.cs

@@ -0,0 +1,138 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Micosmo.SensorToolkit.Example.Developer {
+    public class TestAngleSensor : MonoBehaviour {
+        public static Rect GUIRect = new Rect(10, 10, 150, 100);
+
+        [Header("Prefabs")]
+        public ScreenRay ScreenRayPrefab;
+        public TargetGraphics TargetGraphicsPrefab;
+        [Header("References")]
+        public Sensor InputSensor;
+        [Header("Attributes")]
+        public FOVRange FOV;
+        public AngleEnumerator.AngleMethodType AngleMethod;
+        public AngleEnumerator.SortByType SortBy;
+        public float VerticalAnglePenalty = 0.5f;
+        public float DistancePenalty = 0.5f;
+        [Header("Runtime")]
+        public GameObject Target;
+
+        ScreenRay screenRay;
+        TargetGraphics targetGraphics;
+        TargetGraphics nextTargetGraphics;
+        AngleEnumerator angleEnumerator = AngleEnumerator.Create();
+
+        void Awake() {
+            screenRay = Instantiate(ScreenRayPrefab.gameObject).GetComponent<ScreenRay>();
+            targetGraphics = Instantiate(TargetGraphicsPrefab.gameObject).GetComponent<TargetGraphics>();
+            targetGraphics.SetStyle(0);
+            nextTargetGraphics = Instantiate(TargetGraphicsPrefab.gameObject).GetComponent<TargetGraphics>();
+            nextTargetGraphics.SetStyle(1);
+        }
+
+        void Update() {
+            if (Target) { 
+                transform.LookAt(Target.transform); 
+            }
+            targetGraphics.Target = Target;
+            if (Target) {
+                nextTargetGraphics.Target = GetSuccessor(Target.transform.position, VerticalAnglePenalty, DistancePenalty, Target);
+            }
+        }
+
+        void ResetState() {
+            Target = null;
+            targetGraphics.Target = null;
+            nextTargetGraphics.Target = null;
+            screenRay.Clear();
+            transform.rotation = Quaternion.identity;
+        }
+
+        void TargetNearest() {
+            var results = GetDetectionsByCentralAngle();
+            Target = results.Count > 0 ? results[0].Object : null;
+        }
+
+        void TargetNext() {
+            if (Target) {
+                Target = GetSuccessor(Target.transform.position, VerticalAnglePenalty, DistancePenalty, Target);
+            }
+        }
+        public GameObject GetSuccessor(Vector3 refPoint, float vertAnglePenalty, float distPenalty, GameObject ignore = null) {
+            if (screenRay.IsZero) {
+                return null;
+            }
+            var frame = ReferenceFrame.From(transform, screenRay.Direction);
+            var dirCoords = AngleUtils.ViewAnglesToPoint(frame, refPoint);
+            var results = GetDetectionsByPlanarAngle();
+            var bestGrade = float.MaxValue;
+            GameObject bestObject = null;
+
+            foreach (var result in results) {
+                if (ReferenceEquals(result.Object, ignore)) {
+                    continue;
+                }
+                var deltaHoriz = result.Angles.HorizAngle - dirCoords.HorizAngle;
+                if (deltaHoriz < 0) {
+                    deltaHoriz += 360f;
+                }
+                var grade = deltaHoriz + (vertAnglePenalty * Mathf.Abs(result.Angles.VertAngle)) + (distPenalty * result.Distance);
+                if (grade < bestGrade) {
+                    bestGrade = grade;
+                    bestObject = result.Object;
+                }
+            }
+
+            return bestObject;
+        }
+
+        public List<AngleEnumerator.AngleResult> GetDetectionsByCentralAngle() {
+            var frame = ReferenceFrame.From(transform, Vector2.right);
+            angleEnumerator.AngleMethod = AngleEnumerator.AngleMethodType.BoundingBox;
+            angleEnumerator.SortBy = AngleEnumerator.SortByType.CentralAngle;
+            angleEnumerator.Calculate(frame, FOV, InputSensor.GetSignals());
+            return angleEnumerator.results;
+        }
+        public List<AngleEnumerator.AngleResult> GetDetectionsByPlanarAngle() {
+            var frame = ReferenceFrame.From(transform, screenRay.Direction);
+            angleEnumerator.AngleMethod = AngleEnumerator.AngleMethodType.Center;
+            angleEnumerator.SortBy = AngleEnumerator.SortByType.HorizontalAngle;
+            angleEnumerator.Calculate(frame, FOV, InputSensor.GetSignals());
+            return angleEnumerator.results;
+        }
+
+        void OnDrawGizmosSelected() {
+            if (!Application.isPlaying) {
+                return;
+            }
+            var frame = ReferenceFrame.From(transform, screenRay.IsZero ? Vector2.right : screenRay.Direction);
+            frame.DrawGizmos(1);
+            FOV.DrawGizmos(frame);
+            angleEnumerator.DrawGizmos();
+        }
+
+        void OnGUI() {
+#if UNITY_EDITOR
+            GUI.skin.label.fontSize = 20;
+            GUILayout.BeginArea(GUIRect, EditorStyles.helpBox);
+            if (GUILayout.Button("Reset")) {
+                ResetState();
+            }
+            if (GUILayout.Button("Target Nearest")) {
+                TargetNearest();
+            }
+            if (GUILayout.Button("Target Next")) {
+                TargetNext();
+            }
+            GUILayout.EndArea();
+            GUI.skin = null;
+#endif
+        }
+    }
+}

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