Updated Mesh Colliders of all Humans and added FOV Representation

2025-07-16 00:02:07 +02:00
parent 8e711ca067
commit 74f2ecabd2
38 changed files with 7876 additions and 44 deletions
@@ -0,0 +1,144 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+public class FieldOfView : MonoBehaviour
+{
+    public float viewRadius;
+
+    [Range(0,360)]
+    public float periAngle;
+
+    [Range(0,180)]
+    public float foveaAngle;
+
+    public Transform eyeLeft;
+    public Transform eyeRight;
+
+    public LayerMask targetMask;
+    public LayerMask obstacleMask;
+
+    public float meshResolution;
+    public MeshFilter periMeshFilter;
+    public MeshFilter foveaMeshFilter;
+    private Mesh periMesh;
+    private Mesh foveaMesh;
+
+    private void Start()
+    {
+        periMesh = new Mesh();
+        periMesh.name = "View Mesh";
+        periMeshFilter.mesh = periMesh;
+
+        foveaMesh = new Mesh();
+        foveaMesh.name = "View Mesh";
+        foveaMeshFilter.mesh = foveaMesh;
+    }
+
+    private void LateUpdate()
+    {
+        Vector3 gazeDirection = ((eyeLeft.forward + eyeRight.forward) * 0.5f).normalized;
+        float gazeAngle = AngleFromDir(gazeDirection, true);
+        DrawFOV(transform.eulerAngles.y, periMesh, periAngle);
+        DrawFOV(gazeAngle, foveaMesh, foveaAngle);
+    }
+
+    public Vector3 DirFromAngle(float angleDeg, bool angleIsGlobal)
+    {
+        if (!angleIsGlobal)
+        {
+            angleDeg += transform.eulerAngles.y;
+        }
+        return new Vector3(Mathf.Sin(angleDeg * Mathf.Deg2Rad), 0, Mathf.Cos(angleDeg * Mathf.Deg2Rad));
+    }
+
+    public float AngleFromDir(Vector3 dir, bool angleIsGlobal)
+    {
+        // Sicherheitsnetz: y‑Komponente ignorieren und Vektor normalisieren
+        dir.y = 0;
+        if (dir.sqrMagnitude < 0.0001f) return 0f;
+
+        // Atan2: (x, z) → Winkel in Rad, dann nach ° umrechnen
+        float angleDeg = Mathf.Atan2(dir.x, dir.z) * Mathf.Rad2Deg;
+
+        // Bereich schön sauber auf 0–360 bringen
+        angleDeg = (angleDeg + 360f) % 360f;
+
+        // Soll der Winkel relativ zum Objekt sein?
+        if (!angleIsGlobal)
+            angleDeg -= transform.eulerAngles.y;
+
+        // Und noch einmal normalisieren, damit auch hier 0–360 garantiert ist
+        return (angleDeg + 360f) % 360f;
+    }
+
+    void DrawFOV(float startAngle, Mesh viewMesh, float viewAngle)
+    {
+        int stepCount = Mathf.RoundToInt(foveaAngle * meshResolution);
+        float stepAngleSize = viewAngle / stepCount;
+        List<Vector3> viewPoints = new List<Vector3>();
+
+        for (int i = 0; i <= stepCount; i++)
+        {
+            float angle = startAngle - viewAngle / 2 + stepAngleSize * i;
+            
+            Debug.DrawLine(transform.position, transform.position + DirFromAngle(angle, true) * viewRadius, Color.red);
+
+            ViewCastInfo newViewCast = ViewCast(angle);
+            viewPoints.Add(newViewCast.hitPoint);
+        }
+
+        int vertexcount = viewPoints.Count + 1;
+        Vector3[] vertices = new Vector3[vertexcount];
+        int[] triangles = new int[(vertexcount-2) * 3];
+
+        vertices[0] = Vector3.zero;
+
+        for (int i = 0; i < vertexcount-1; i++)
+        {
+            vertices[i+1] = transform.InverseTransformPoint(viewPoints[i]);
+
+            if (i < vertexcount - 2)
+            {
+                triangles[i * 3] = 0;
+                triangles[i * 3 + 1] = i + 1;
+                triangles[i * 3 + 2] = i + 2;
+            }
+            
+        }
+        viewMesh.Clear();
+        viewMesh.vertices = vertices;
+        viewMesh.triangles = triangles;
+        viewMesh.RecalculateNormals();
+    }
+
+    ViewCastInfo ViewCast(float globalAngle)
+    {
+        Vector3 direction = DirFromAngle(globalAngle, true);
+        RaycastHit hit;
+
+        if (Physics.Raycast(transform.position, direction, out hit, viewRadius, obstacleMask))
+        {
+            return new ViewCastInfo(true, hit.point, hit.distance, globalAngle);
+        }
+        else
+        {
+            return new ViewCastInfo(false, transform.position + direction * viewRadius, viewRadius, globalAngle);
+        }
+    }
+
+    public struct ViewCastInfo
+    {
+        public bool didHit;
+        public Vector3 hitPoint;
+        public float distance;
+        public float angle;
+
+        public ViewCastInfo(bool _hit, Vector3 _hitPoint, float _distance, float _angle)
+        {
+            didHit = _hit;
+            hitPoint = _hitPoint;
+            distance = _distance;
+            angle = _angle;
+        }
+    }
+}