Class KaijuVisionSensor<T>

KaijuSensor to allow for visual detection of a component type.

Inheritance

System.Object

KaijuBehaviour

KaijuSensor

KaijuVisionSensor<T>

KaijuAgentsVisionSensor

KaijuEverythingVisionSensor

Inherited Members

KaijuSensor.OnSense

KaijuSensor.OnSenseGlobal

KaijuSensor.OnEnabled

KaijuSensor.OnEnabledGlobal

KaijuSensor.OnDisabled

KaijuSensor.OnDisabledGlobal

KaijuSensor.automatic

KaijuSensor.Agent

KaijuSensor.Sense()

KaijuBehaviour.OnPreSetPosition

KaijuBehaviour.OnPreSetPositionGlobal

KaijuBehaviour.OnSetPosition

KaijuBehaviour.OnSetPositionGlobal

KaijuBehaviour.OnPreSetOrientation

KaijuBehaviour.OnPreSetOrientationGlobal

KaijuBehaviour.OnSetOrientation

KaijuBehaviour.OnSetOrientationGlobal

KaijuBehaviour.OnPreSetScale

KaijuBehaviour.OnPreSetScaleGlobal

KaijuBehaviour.OnSetScale

KaijuBehaviour.OnSetScaleGlobal

KaijuBehaviour.Position

KaijuBehaviour.Position3

KaijuBehaviour.LocalPosition

KaijuBehaviour.LocalPosition3

KaijuBehaviour.X

KaijuBehaviour.LocalX

KaijuBehaviour.Y

KaijuBehaviour.LocalY

KaijuBehaviour.Z

KaijuBehaviour.LocalZ

KaijuBehaviour.Orientation

KaijuBehaviour.LocalOrientation

KaijuBehaviour.OrientationAngles

KaijuBehaviour.LocalOrientationAngles

KaijuBehaviour.OrientationQuaternion

KaijuBehaviour.LocalOrientationQuaternion

KaijuBehaviour.OrientationX

KaijuBehaviour.LocalOrientationX

KaijuBehaviour.OrientationY

KaijuBehaviour.LocalOrientationY

KaijuBehaviour.OrientationZ

KaijuBehaviour.LocalOrientationZ

KaijuBehaviour.OrientationQuaternionX

KaijuBehaviour.LocalOrientationQuaternionX

KaijuBehaviour.OrientationQuaternionY

KaijuBehaviour.LocalOrientationQuaternionY

KaijuBehaviour.OrientationQuaternionZ

KaijuBehaviour.LocalOrientationQuaternionZ

KaijuBehaviour.OrientationQuaternionW

KaijuBehaviour.LocalOrientationQuaternionW

KaijuBehaviour.LocalScale

KaijuBehaviour.LocalScaleX

KaijuBehaviour.LocalScaleY

KaijuBehaviour.LocalScaleZ

KaijuBehaviour.GlobalScale

KaijuBehaviour.GlobalScaleX

KaijuBehaviour.GlobalScaleY

KaijuBehaviour.GlobalScaleZ

KaijuBehaviour.LocalToWorld

KaijuBehaviour.WorldToLocal

KaijuBehaviour.Forward

KaijuBehaviour.Forward3

KaijuBehaviour.Backwards

KaijuBehaviour.Up

KaijuBehaviour.Down

KaijuBehaviour.Right

KaijuBehaviour.Left

KaijuBehaviour.Parent

KaijuBehaviour.Root

KaijuBehaviour.ChildCount

KaijuBehaviour.HasChanged

KaijuBehaviour.HierarchyCount

KaijuBehaviour.HierarchyCapacity

KaijuBehaviour.Layer

KaijuBehaviour.ComponentCount

KaijuBehaviour.ActiveInHierarchy

KaijuBehaviour.ActiveSelf

KaijuBehaviour.IsStatic

KaijuBehaviour.Scene

Namespace: KaijuSolutions.Agents.Sensors

Syntax

public abstract class KaijuVisionSensor<T> : KaijuSensor where T : Component

Type Parameters

Name	Description
T	The type of component.

Fields

editorColor

The visualizations color in the editor.

Declaration

public Color editorColor

Field Value

Type	Description
Color

editorFromAgent

If the visualizations in the editor for the line-of-sight checks should come from the Agent's position or from the KaijuSensor's position. The range and view arc are always drawn from the Agent's Y height and the KaijuSensor's X and Z positions.

Declaration

public bool editorFromAgent

Field Value

Type	Description
System.Boolean

lineOfSight

If line-of-sight checks should be made for the vision. Turning off line-of-sight checks will return items within the view arc based on the angle and distance.

Declaration

public bool lineOfSight

Field Value

Type	Description
System.Boolean

mask

What layers to collide with on the line-of-sight checks.

Declaration

public LayerMask mask

Field Value

Type	Description
LayerMask

Observables

The objects which this can detect.

Declaration

public IEnumerable<T> Observables

Field Value

Type	Description
System.Collections.Generic.IEnumerable<T>

offset

Any vertical offset to add to the line-of-sight checks. This can be useful if you for instance have targets which are a few units high but their origins are at their bases.

Declaration

public float offset

Field Value

Type	Description
System.Single

triggers

How line-of-sight checks should handle hitting triggers.

Declaration

public QueryTriggerInteraction triggers

Field Value

Type	Description
QueryTriggerInteraction

Properties

Angle

What angle the vision detection should cover.

Declaration

public float Angle { get; set; }

Property Value

Type	Description
System.Single

Distance

How far vision can extend.

Declaration

public float Distance { get; set; }

Property Value

Type	Description
System.Single

HasObserved

If at least one instance has been Observed.

Declaration

public bool HasObserved { get; }

Property Value

Type	Description
System.Boolean

Observed

All observed items.

Declaration

public IReadOnlyCollection<T> Observed { get; }

Property Value

Type	Description
System.Collections.Generic.IReadOnlyCollection<T>

ObservedCount

The number of Observed items.

Declaration

public int ObservedCount { get; }

Property Value

Type	Description
System.Int32

Radius

The radius of the line-of-sight checks.

Declaration

public float Radius { get; set; }

Property Value

Type	Description
System.Single

Methods

Cleanup()

Perform any needed resetting of the KaijuSensor.

Declaration

protected override void Cleanup()

Overrides

KaijuSensor.Cleanup()

DefaultObservables()

If there are no explicitly defined observable objects, define how to query for default observables.

Declaration

protected virtual IEnumerable<T> DefaultObservables()

Returns

Type	Description
System.Collections.Generic.IEnumerable<T>	All active instances.

EditorVisualize(Vector3)

Allow for visualizing in the editor. The position of the Agent.

Declaration

public override void EditorVisualize(Vector3 position)

Parameters

Type	Name	Description
Vector3	position

Overrides

KaijuSensor.EditorVisualize(Vector3)

Farthest(out Single, Boolean)

The farthest Observed instance to the Agent.

Declaration

public T Farthest(out float farthest, bool normalize = false)

Parameters

Type	Name	Description
System.Single	farthest	The distance to the farthest Observed instance.
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
T	The farthest Observed instance. Will be NULL if the Observed list is empty.

Farthest3(out Single, Boolean)

The farthest Observed instance across all axes to the Agent.

Declaration

public T Farthest3(out float farthest, bool normalize = false)

Parameters

Type	Name	Description
System.Single	farthest	The distance to the farthest Observed instance.
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
T	The farthest Observed instance. Will be NULL if the Observed list is empty.

FarthestPosition(Boolean)

The farthest Observed instance position to the Agent.

Declaration

public Vector2 FarthestPosition(bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
Vector2	The farthest Observed position instance. Will be a zero vector if the Observed list is empty.

FarthestPosition3(Boolean)

The farthest Observed instance position to the Agent.

Declaration

public Vector3 FarthestPosition3(bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
Vector3	The farthest Observed position instance. Will be a zero vector if the Observed list is empty.

Nearest(out Single, Boolean)

The nearest Observed instance to the Agent.

Declaration

public T Nearest(out float nearest, bool normalize = false)

Parameters

Type	Name	Description
System.Single	nearest	The distance to the nearest Observed instance.
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
T	The nearest Observed instance. Will be NULL if the Observed list is empty.

Nearest3(out Single, Boolean)

The nearest Observed instance across all axes to the Agent.

Declaration

public T Nearest3(out float nearest, bool normalize = false)

Parameters

Type	Name	Description
System.Single	nearest	The distance to the nearest Observed instance.
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
T	The nearest Observed instance. Will be NULL if the Observed list is empty.

NearestPosition(Boolean)

The nearest Observed instance position to the Agent.

Declaration

public Vector2 NearestPosition(bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
Vector2	The nearest Observed position instance. Will be a zero vector if the Observed list is empty.

NearestPosition3(Boolean)

The nearest Observed instance position to the Agent.

Declaration

public Vector3 NearestPosition3(bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	normalize	If the distance should be normalized between [-1, 1].

Returns

Type	Description
Vector3	The nearest Observed position instance. Will be a zero vector if the Observed list is empty.

Run()

Run the KaijuSensor.

Declaration

protected override void Run()

Overrides

KaijuSensor.Run()

SortAngle(T[], KaijuAngleSortMode, Nullable<Boolean>)

Sort Observed instances by angle to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortAngle(T[] cache, KaijuAngleSortMode mode = null, bool? farthest = false)

Parameters

Type	Name	Description
T[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with NULL values.
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortAngle(KaijuAngleSortMode, Nullable<Boolean>)

Sort Observed instances by angle to the Agent.

Declaration

public T[] SortAngle(KaijuAngleSortMode mode = null, bool? farthest = false)

Parameters

Type	Name	Description
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.

Returns

Type	Description
T[]	The sorted Observed instances.

SortAnglePosition(KaijuAngleSortMode, Nullable<Boolean>, Boolean)

Sort Observed instances by angle to the Agent.

Declaration

public Vector2[] SortAnglePosition(KaijuAngleSortMode mode = null, bool? farthest = false, bool normalize = false)

Parameters

Type	Name	Description
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector2[]	The sorted Observed instances.

SortAnglePosition(Vector2[], KaijuAngleSortMode, Nullable<Boolean>, Boolean)

Sort Observed instances by angle to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortAnglePosition(Vector2[] cache, KaijuAngleSortMode mode = null, bool? farthest = false, bool normalize = false)

Parameters

Type	Name	Description
Vector2[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with NULL values.
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortAnglePosition3(KaijuAngleSortMode, Nullable<Boolean>, Boolean)

Sort Observed instances by angle to the Agent.

Declaration

public Vector3[] SortAnglePosition3(KaijuAngleSortMode mode = null, bool? farthest = false, bool normalize = false)

Parameters

Type	Name	Description
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector3[]	The sorted Observed instances.

SortAnglePosition3(Vector3[], KaijuAngleSortMode, Nullable<Boolean>, Boolean)

Sort Observed instances by angle to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortAnglePosition3(Vector3[] cache, KaijuAngleSortMode mode = null, bool? farthest = false, bool normalize = false)

Parameters

Type	Name	Description
Vector3[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with NULL values.
KaijuAngleSortMode	mode	How to handle sorting.
System.Nullable<System.Boolean>	farthest	How to handle breaking ties by distance. NULL means no tie breaking, false for nearest distance, and true for farthest distance.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistance(T[], Boolean, Nullable<KaijuAngleSortMode>)

Sort Observed instances by distance to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistance(T[] cache, bool farthest = false, KaijuAngleSortMode? mode = null)

Parameters

Type	Name	Description
T[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with NULL values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistance(Boolean, Nullable<KaijuAngleSortMode>)

Sort Observed instances by distance to the Agent.

Declaration

public T[] SortDistance(bool farthest = false, KaijuAngleSortMode? mode = null)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.

Returns

Type	Description
T[]	The sorted Observed instances.

SortDistance3(T[], Boolean, Nullable<KaijuAngleSortMode>)

Sort Observed instances by distance across all axes to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistance3(T[] cache, bool farthest = false, KaijuAngleSortMode? mode = null)

Parameters

Type	Name	Description
T[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with NULL values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistance3(Boolean, Nullable<KaijuAngleSortMode>)

Sort Observed instances by distance across all axes to the Agent.

Declaration

public T[] SortDistance3(bool farthest = false, KaijuAngleSortMode? mode = null)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.

Returns

Type	Description
T[]	The sorted Observed instances.

SortDistance3Position(Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance across all axes to the Agent.

Declaration

public Vector2[] SortDistance3Position(bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector2[]	The sorted Observed instances.

SortDistance3Position(Vector2[], Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance across all axes to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistance3Position(Vector2[] cache, bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
Vector2[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with zero values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistance3Position(Vector3[], Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance across all axes to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistance3Position(Vector3[] cache, bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
Vector3[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with zero values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistance3Position3(Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance across all axes to the Agent.

Declaration

public Vector3[] SortDistance3Position3(bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector3[]	The sorted Observed instances.

SortDistancePosition(Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance to the Agent.

Declaration

public Vector2[] SortDistancePosition(bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector2[]	The sorted Observed instances.

SortDistancePosition(Vector2[], Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistancePosition(Vector2[] cache, bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
Vector2[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with zero values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistancePosition(Vector3[], Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance to the Agent, keeping only the first instances which fit into a cache.

Declaration

public int SortDistancePosition(Vector3[] cache, bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
Vector3[]	cache	Where to store the observed instances. If this is less than the total Observed instances, only the first fitting instances will be returned. If this is larger than the Observed instances, any extra space will be filled with zero values.
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
System.Int32	The number of Observed instances fit into the cache.

SortDistancePosition3(Boolean, Nullable<KaijuAngleSortMode>, Boolean)

Sort Observed instances by distance to the Agent.

Declaration

public Vector3[] SortDistancePosition3(bool farthest = false, KaijuAngleSortMode? mode = null, bool normalize = false)

Parameters

Type	Name	Description
System.Boolean	farthest	If this should sort by farthest items first.
System.Nullable<KaijuAngleSortMode>	mode	How to break ties based on angle.
System.Boolean	normalize	If positions should be normalized between [-1, 1].

Returns

Type	Description
Vector3[]	The sorted Observed instances.

Operators

Implicit(GameObject to KaijuVisionSensor<T>)

Implicit conversion from a GameObject.

Declaration

public static implicit operator KaijuVisionSensor<T>(GameObject o)

Parameters

Type	Name	Description
GameObject	o	The GameObject.

Returns

Type	Description
KaijuVisionSensor<T>	The KaijuVisionSensor<T> attached to the GameObject if there was one.

Implicit(KaijuVisionSensor<T> to KaijuAgent)

Implicit conversion to a KaijuAgent.

Declaration

public static implicit operator KaijuAgent(KaijuVisionSensor<T> s)

Parameters

Type	Name	Description
KaijuVisionSensor<T>	s	The KaijuVisionSensor<T>.

Returns

Type	Description
KaijuAgent	The KaijuAgent attached to the KaijuVisionSensor<T> if there was one.

Implicit(Transform to KaijuVisionSensor<T>)

Implicit conversion from a transform.

Declaration

public static implicit operator KaijuVisionSensor<T>(Transform t)

Parameters

Type	Name	Description
Transform	t	The transform.

Returns

Type	Description
KaijuVisionSensor<T>	The KaijuVisionSensor<T> attached to the transform if there was one.