Optimized FOV Representation

2025-07-16 23:45:04 +02:00
parent 74f2ecabd2
commit 13cd053279
6 changed files with 103 additions and 22 deletions
@@ -18,6 +18,9 @@ public class FieldOfView : MonoBehaviour
    public LayerMask obstacleMask;

    public float meshResolution;
+    public int edgeResolveIterations;
+    public float edgeDistanceThreshold;
+
    public MeshFilter periMeshFilter;
    public MeshFilter foveaMeshFilter;
    private Mesh periMesh;
@@ -73,9 +76,10 @@ public class FieldOfView : MonoBehaviour

    void DrawFOV(float startAngle, Mesh viewMesh, float viewAngle)
    {
-        int stepCount = Mathf.RoundToInt(foveaAngle * meshResolution);
+        int stepCount = Mathf.RoundToInt(viewAngle * meshResolution);
        float stepAngleSize = viewAngle / stepCount;
        List<Vector3> viewPoints = new List<Vector3>();
+        ViewCastInfo oldViewCast = new ViewCastInfo();

        for (int i = 0; i <= stepCount; i++)
        {
@@ -84,7 +88,25 @@ public class FieldOfView : MonoBehaviour
            Debug.DrawLine(transform.position, transform.position + DirFromAngle(angle, true) * viewRadius, Color.red);

            ViewCastInfo newViewCast = ViewCast(angle);
+
+            if (i > 0)
+            {
+                bool edgeDistThresholdExeeded = Mathf.Abs(oldViewCast.distance - newViewCast.distance) > edgeDistanceThreshold;
+                if (oldViewCast.didHit != newViewCast.didHit || (oldViewCast.didHit && newViewCast.didHit && edgeDistThresholdExeeded))
+                {
+                    EdgeInfo edge = FingEdge(oldViewCast, newViewCast);
+                    if (edge.pointmin != Vector3.zero)
+                    {
+                        viewPoints.Add(edge.pointmin);
+                    }
+                    if (edge.pointmax != Vector3.zero)
+                    {
+                        viewPoints.Add(edge.pointmax);
+                    }
+                }
+            }
            viewPoints.Add(newViewCast.hitPoint);
+            oldViewCast = newViewCast;
        }

        int vertexcount = viewPoints.Count + 1;
@@ -141,4 +163,44 @@ public class FieldOfView : MonoBehaviour
            angle = _angle;
        }
    }
+
+    public struct EdgeInfo
+    {
+        public Vector3 pointmin;
+        public Vector3 pointmax;
+
+        public EdgeInfo(Vector3 _pointmin, Vector3 _pointmax)
+        {
+            pointmin = _pointmin;
+            pointmax = _pointmax;
+        }
+    }
+
+    EdgeInfo FingEdge(ViewCastInfo minViewCast,  ViewCastInfo maxViewCast)
+    {
+        float minAngle = minViewCast.angle;
+        float maxAngle = maxViewCast.angle;
+        Vector3 minPoint = Vector3.zero;
+        Vector3 maxPoint = Vector3.zero;
+
+        for (int i = 0; i < edgeResolveIterations; i++)
+        {
+            float angle = (minAngle + maxAngle) / 2;
+            ViewCastInfo newViewCast = ViewCast(angle);
+
+            bool edgeDistThresholdExeeded = Mathf.Abs(minViewCast.distance - newViewCast.distance) > edgeDistanceThreshold;
+            if (newViewCast.didHit == minViewCast.didHit && !edgeDistThresholdExeeded)
+            {
+                minAngle = angle;
+                minPoint = newViewCast.hitPoint;
+            }
+            else
+            {
+                maxAngle = angle;
+                maxPoint = newViewCast.hitPoint;
+            }
+        }
+
+        return new EdgeInfo(minPoint, maxPoint);
+    }
 }