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@tool |
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extends ISensor2D |
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class_name RaycastSensor2D |
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@export_flags_2d_physics var collision_mask := 1: |
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get: return collision_mask |
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set(value): |
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collision_mask = value |
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_update() |
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@export var collide_with_areas := false: |
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get: return collide_with_areas |
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set(value): |
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collide_with_areas = value |
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_update() |
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@export var collide_with_bodies := true: |
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get: return collide_with_bodies |
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set(value): |
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collide_with_bodies = value |
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_update() |
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@export var n_rays := 16.0: |
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get: return n_rays |
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set(value): |
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n_rays = value |
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_update() |
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@export_range(5,200,5.0) var ray_length := 200: |
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get: return ray_length |
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set(value): |
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ray_length = value |
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_update() |
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@export_range(5,360,5.0) var cone_width := 360.0: |
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get: return cone_width |
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set(value): |
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cone_width = value |
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_update() |
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@export var debug_draw := true : |
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get: return debug_draw |
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set(value): |
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debug_draw = value |
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_update() |
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var _angles = [] |
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var rays := [] |
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func _update(): |
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if Engine.is_editor_hint(): |
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if debug_draw: |
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_spawn_nodes() |
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else: |
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for ray in get_children(): |
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if ray is RayCast2D: |
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remove_child(ray) |
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func _ready() -> void: |
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_spawn_nodes() |
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func _spawn_nodes(): |
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for ray in rays: |
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ray.queue_free() |
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rays = [] |
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_angles = [] |
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var step = cone_width / (n_rays) |
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var start = step/2 - cone_width/2 |
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for i in n_rays: |
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var angle = start + i * step |
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var ray = RayCast2D.new() |
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ray.set_target_position(Vector2( |
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ray_length*cos(deg_to_rad(angle)), |
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ray_length*sin(deg_to_rad(angle)) |
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)) |
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ray.set_name("node_"+str(i)) |
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ray.enabled = true |
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ray.collide_with_areas = collide_with_areas |
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ray.collide_with_bodies = collide_with_bodies |
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ray.collision_mask = collision_mask |
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add_child(ray) |
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rays.append(ray) |
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_angles.append(start + i * step) |
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func _physics_process(delta: float) -> void: |
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if self._active: |
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self._obs = calculate_raycasts() |
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func get_observation() -> Array: |
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if len(self._obs) == 0: |
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print("obs was null, forcing raycast update") |
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return self.calculate_raycasts() |
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return self._obs |
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func calculate_raycasts() -> Array: |
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var result = [] |
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for ray in rays: |
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ray.force_raycast_update() |
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var distance = _get_raycast_distance(ray) |
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result.append(distance) |
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return result |
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func _get_raycast_distance(ray : RayCast2D) -> float : |
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if !ray.is_colliding(): |
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return 0.0 |
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var distance = (global_position - ray.get_collision_point()).length() |
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distance = clamp(distance, 0.0, ray_length) |
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return (ray_length - distance) / ray_length |
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