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class_name LaserSensor
extends Node3D
## Maximum detection range of the laser sensor in meters.
@export_custom(PROPERTY_HINT_NONE, "suffix:m") var max_range: float = 1.524:
set(value):
value = clamp(value, 0, 100)
max_range = value
## Toggle visibility of the laser beam visualization.
@export var show_beam: bool = true:
set(value):
show_beam = value
if _instance:
RenderingServer.instance_set_visible(_instance, show_beam)
if show_beam:
_beam_needs_update = true
## Current measured distance to detected object (read-only).
@export_custom(PROPERTY_HINT_NONE, "suffix:m") var distance: float = max_range:
set(value):
if _tag.is_ready() and value != distance:
_tag.write_float32(value)
distance = value
var _mesh: ImmediateMesh
static var _beam_material: StandardMaterial3D = preload("uid://ntmcfd25jgpm")
var _instance: RID
var _scenario: RID
var _ray_query: PhysicsRayQueryParameters3D
var _tag := OIPCommsTag.new()
var _last_distance: float = -1.0
var _last_beam_color: Color = Color.TRANSPARENT
var _last_transform: Transform3D
var _beam_needs_update: bool = true
@export_category("Communications")
## Enable communication with external PLC/control systems.
@export var enable_comms: bool = false
@export var tag_group_name: String
## The tag group for writing distance values to external systems.
@export_custom(0, "tag_group_enum") var tag_groups: String:
set(value):
tag_group_name = value
tag_groups = value
## The tag name for the distance value in the selected tag group.[br]Datatype: [code]REAL[/code] (32-bit float)[br][br]Format varies by protocol:[br][b]EIP:[/b] CIP tag names[br][b]Modbus:[/b] prefix+number (e.g. [code]hr0[/code])[br][b]OPC UA:[/b] full NodeId (e.g. [code]ns=2;s=MyVariable[/code] or [code]ns=2;i=12345[/code]).
@export var tag_name: String = ""
func _validate_property(property: Dictionary) -> void:
if property.name == "distance":
property.usage = PROPERTY_USAGE_EDITOR | PROPERTY_USAGE_READ_ONLY
else:
OIPCommsSetup.validate_tag_property(property)
func _enter_tree() -> void:
_instance = RenderingServer.instance_create()
_scenario = get_world_3d().scenario
_mesh = ImmediateMesh.new()
RenderingServer.instance_set_scenario(_instance, _scenario)
RenderingServer.instance_set_base(_instance, _mesh)
RenderingServer.instance_set_visible(_instance, show_beam)
_beam_needs_update = true
_ray_query = PhysicsRayQueryParameters3D.new()
_ray_query.collision_mask = 8
tag_group_name = OIPCommsSetup.default_tag_group(tag_group_name)
EditorInterface.simulation_started.connect(_on_simulation_started)
OIPCommsSetup.connect_comms(self, _tag_group_initialized)
func _exit_tree() -> void:
RenderingServer.free_rid(_instance)
SensorBeamCache.clear_beam(get_instance_id())
EditorInterface.simulation_started.disconnect(_on_simulation_started)
OIPCommsSetup.disconnect_comms(self, _tag_group_initialized)
func _physics_process(_delta: float) -> void:
var start_pos := global_position
var end_pos := start_pos + global_transform.basis.z * max_range
_ray_query.from = start_pos
_ray_query.to = end_pos
var space_state := get_world_3d().direct_space_state
var result := space_state.intersect_ray(_ray_query)
var new_distance: float
var beam_color: Color
if result.size() > 0:
new_distance = start_pos.distance_to(result["position"])
beam_color = Color.RED
else:
new_distance = max_range
beam_color = Color.GREEN
if new_distance != distance:
distance = new_distance
var current_transform := global_transform
var beam_end := start_pos + global_transform.basis.z * new_distance
if _beam_needs_update or new_distance != _last_distance or beam_color != _last_beam_color or current_transform != _last_transform:
if show_beam:
_update_beam_mesh(start_pos, new_distance, beam_color)
SensorBeamCache.set_beam(get_instance_id(), start_pos, beam_end)
_last_distance = new_distance
_last_beam_color = beam_color
_last_transform = current_transform
_beam_needs_update = false
func _update_beam_mesh(start_pos: Vector3, beam_distance: float, beam_color: Color) -> void:
_mesh.clear_surfaces()
_mesh.surface_begin(Mesh.PRIMITIVE_LINES, _beam_material)
_mesh.surface_set_color(beam_color)
_mesh.surface_add_vertex(start_pos)
_mesh.surface_set_color(beam_color)
_mesh.surface_add_vertex(start_pos + global_transform.basis.z * beam_distance)
_mesh.surface_end()
func use() -> void:
show_beam = not show_beam
func _on_simulation_started() -> void:
if enable_comms:
_tag.register(tag_group_name, tag_name)
func _tag_group_initialized(tag_group_name_param: String) -> void:
if _tag.on_group_initialized(tag_group_name_param):
_tag.write_float32(distance)
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