From 07a702c97284fc1c4883079041e704df0824033f Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Mon, 20 Mar 2023 12:17:24 +0800 Subject: [PATCH 1/6] initial --- Assets/Scenes/NavigationTest.shade | 79 +++++++++++ Assets/Scenes/NavigationTest.shade.shmeta | 3 + .../src/Application/SBApplication.cpp | 3 + .../src/Navigation/SHNavigationSystem.cpp | 132 ++++++++++++++++++ .../src/Navigation/SHNavigationSystem.h | 67 +++++++++ 5 files changed, 284 insertions(+) create mode 100644 Assets/Scenes/NavigationTest.shade create mode 100644 Assets/Scenes/NavigationTest.shade.shmeta create mode 100644 SHADE_Engine/src/Navigation/SHNavigationSystem.cpp create mode 100644 SHADE_Engine/src/Navigation/SHNavigationSystem.h diff --git a/Assets/Scenes/NavigationTest.shade b/Assets/Scenes/NavigationTest.shade new file mode 100644 index 00000000..cd358faa --- /dev/null +++ b/Assets/Scenes/NavigationTest.shade @@ -0,0 +1,79 @@ +- EID: 0 + Name: Camera + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 0} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Camera Component: + Position: {x: 0, y: 0, z: 0} + Pitch: 0 + Yaw: 0 + Roll: 0 + Width: 1920 + Near: 0.00999999978 + Far: 10000 + Perspective: true + FOV: 90 + IsActive: true + Scripts: ~ +- EID: 1 + Name: Floor + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 12.8000002, y: 1, z: 12.8000002} + IsActive: true + Renderable Component: + Mesh: 142686872 + Material: 126223465 + IsActive: true + Scripts: ~ +- EID: 2 + Name: Light + IsActive: true + NumberOfChildren: 0 + Components: + Light Component: + Position: {x: 0, y: 0, z: 0} + Type: Directional + Direction: {x: 0, y: -1, z: 1} + Color: {x: 1, y: 1, z: 1, w: 1} + Layer: 4294967295 + Strength: 0 + Casting Shadows: false + IsActive: true + Scripts: ~ +- EID: 3 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ \ No newline at end of file diff --git a/Assets/Scenes/NavigationTest.shade.shmeta b/Assets/Scenes/NavigationTest.shade.shmeta new file mode 100644 index 00000000..a281205a --- /dev/null +++ b/Assets/Scenes/NavigationTest.shade.shmeta @@ -0,0 +1,3 @@ +Name: NavigationTest +ID: 100246336 +Type: 5 diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp index 42e112b8..93183a4f 100644 --- a/SHADE_Application/src/Application/SBApplication.cpp +++ b/SHADE_Application/src/Application/SBApplication.cpp @@ -35,6 +35,7 @@ #include "Scripting/SHScriptEngine.h" #include "UI/SHUISystem.h" #include "Animation/SHAnimationSystem.h" +#include "Navigation/SHNavigationSystem.h" // Components #include "Graphics/MiddleEnd/Interface/SHRenderable.h" @@ -89,6 +90,7 @@ namespace Sandbox SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); + SHSystemManager::CreateSystem(); //std::system("FontCompiler.exe ../../Assets/Fonts/SegoeUI.ttf"); //std::system("FontCompiler.exe ../../Assets/Fonts/ALGER.ttf"); @@ -127,6 +129,7 @@ namespace Sandbox #ifdef SHEDITOR SHSystemManager::RegisterRoutine(); + SHSystemManager::RegisterRoutine(); #endif SHSystemManager::RegisterRoutine(); diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp new file mode 100644 index 00000000..ca427ab0 --- /dev/null +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp @@ -0,0 +1,132 @@ +#include "SHpch.h" +#include "SHNavigationSystem.h" +#include "ECS_Base/Managers/SHSystemManager.h" +#include "Physics/System/SHPhysicsSystem.h" +#include "Math/Geometry/SHAABB.h" +#include "Input/SHInputManager.h" + +namespace SHADE +{ + void SHNavigationSystem::Init() + { + SystemID i = SystemFamily::GetID(); + } + + void SHNavigationSystem::Exit() + { + + } + + + uint16_t SHNavigationSystem::GetIndex(uint16_t row, uint16_t col) noexcept + { + size_t rowOffset = numRows / sizeof(GridDataType); + return row * rowOffset + (col / sizeof(GridDataType)); + } + + + + bool SHNavigationSystem::GetCollisionData(uint16_t row, uint16_t col) noexcept + { + + size_t index = GetIndex(row, col); + + GridDataType bitMask = 1 << (col % NumGridDataTypeBits); + + if (collisionGrid.size() < index) + { + return collisionGrid[index] & bitMask; + } + else + { + return 0; + } + + + } + + SHVec2 SHNavigationSystem::GetGridSize() noexcept + { + return SHVec2{size.x / numRows, size.y / numCols}; + } + + void SHNavigationSystem::GenerateCollisionGridData(SHVec3 origin, SHVec2 size, uint16_t nr, uint16_t nc, float gridHeight) noexcept + { + if (size.x <= 0.0f || size.y <= 0.0f || nr == 0 || nc == 0 || gridHeight <= 0.0f) + { + return; + } + + + this->origin = origin; + this->size = size; + numRows = nr; + numCols = nc; + collisionGrid.clear(); + + + GridDataType temp = 0; + + for (size_t r = 0; r < numRows; ++r) + { + for (size_t c = 0; c < numCols; ++c) + { + GridDataType bitmask = 1 << (c % NumGridDataTypeBits); + auto physics = SHSystemManager::GetSystem(); + + //Does the AABB calculation + if (physics != nullptr) + { + //Get the top left position + SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.y / 2.0f) }; + SHVec2 halfGridSize = GetGridSize() * 0.5f; + + //offset it by row and column and center it with half grid size. + topleft += SHVec3{ c * GetGridSize().x, 0.0f, r * GetGridSize().y} + SHVec3{halfGridSize.x,0.0f,halfGridSize.y}; + + //Get half extents. + + SHVec3 halfExtents{ halfGridSize.x, gridHeight, halfGridSize.y }; + + SHAABB aabb{ topleft,halfExtents }; + + if (physics->TestAABBOverlap(aabb)) + { + temp |= bitmask; + } + } + + + if ((c % NumGridDataTypeBits) == NumGridDataTypeBits - 1) + { + collisionGrid.push_back(temp); + temp = 0; + } + + } + //if the number of column dont fit perfectly to the NumGridDataTypeBits. We push in what we have with the rest as 0s. + if (numCols % NumGridDataTypeBits != 0) + { + collisionGrid.push_back(temp); + temp = 0; + } + + } + + + + } + + + + void SHNavigationSystem::NavigationSystemGenerateRoutine::Execute(double dt) noexcept + { + SHNavigationSystem* system = static_cast(GetSystem()); + if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H)) + { + system->GenerateCollisionGridData(SHVec3{ 0.0f }, SHVec2{ 25.6f }, 128, 128, 10.0f); + } + } + + +} diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.h b/SHADE_Engine/src/Navigation/SHNavigationSystem.h new file mode 100644 index 00000000..e9973bb0 --- /dev/null +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.h @@ -0,0 +1,67 @@ +#pragma once + +#include "ECS_Base/System/SHSystem.h" +#include "ECS_Base/System/SHSystemRoutine.h" +#include "Math/Vector/SHVec2.h" +#include "Math/Vector/SHVec3.h" + +#include +#include "SH_API.h" + + +namespace SHADE +{ + + + + class SH_API SHNavigationSystem final: public SHSystem + { + private: + + using GridDataType = uint8_t; + + const size_t NumGridDataTypeBits = sizeof(GridDataType) * CHAR_BIT; + + std::vector collisionGrid; + + //Number of subdivision on the x axis + uint16_t numRows{0}; + //Number of subdivision on the z axis + uint16_t numCols{0}; + + //The center of the collision area. + SHVec3 origin{0.0f}; + + //Size of the collision area + SHVec2 size{0.0f}; + + SHVec2 GetGridSize() noexcept; + uint16_t GetIndex(uint16_t row, uint16_t col) noexcept; + + + public: + SHNavigationSystem() = default; + virtual ~SHNavigationSystem() = default; + + void Init(); + void Exit(); + + void SaveNavigationData() noexcept; + void GenerateCollisionGridData(SHVec3 origin, SHVec2 size, uint16_t numRow, uint16_t numCol, float gridHeight = 10.0f) noexcept; + bool GetCollisionData(uint16_t row, uint16_t col) noexcept; + + + class SH_API NavigationSystemGenerateRoutine final: public SHSystemRoutine + { + public: + NavigationSystemGenerateRoutine() : SHSystemRoutine("Navigation System Generate", true) {}; + virtual void Execute(double dt)noexcept override final; + }; + friend class NavigationSystemGenerateRoutine; + + }; + + + +} + From 38d7e49976b6872f3870fb2ebcab8d14a45dc36a Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Wed, 22 Mar 2023 23:27:30 +0800 Subject: [PATCH 2/6] WIP --- .../src/Navigation/SHNavigationComponent.cpp | 38 ++ .../src/Navigation/SHNavigationComponent.h | 86 +++++ .../src/Navigation/SHNavigationSystem.cpp | 328 +++++++++++++++++- .../src/Navigation/SHNavigationSystem.h | 33 +- 4 files changed, 461 insertions(+), 24 deletions(-) create mode 100644 SHADE_Engine/src/Navigation/SHNavigationComponent.cpp create mode 100644 SHADE_Engine/src/Navigation/SHNavigationComponent.h diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp new file mode 100644 index 00000000..3a59d5fe --- /dev/null +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp @@ -0,0 +1,38 @@ +#include "SHpch.h" +#include "SHNavigationComponent.h" + + +namespace SHADE +{ + SHNavigationComponent::SHNavigationComponent() + :target{ 0.0f }, path{}, threshold{0.1f}, recalculatePath{false}, unreachableTarget{false} + { + + } + + + SHVec3 SHNavigationComponent::GetTarget() const noexcept + { + return target; + } + + SHVec3 SHNavigationComponent::GetForward() const noexcept + { + return forward; + } + + + void SHNavigationComponent::SetTarget(SHVec3 value) noexcept + { + recalculatePath = true; + target = value; + } + + + void SHNavigationComponent::EmptySetForward(SHVec3 value) noexcept + { + + } + + +} diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.h b/SHADE_Engine/src/Navigation/SHNavigationComponent.h new file mode 100644 index 00000000..1552be60 --- /dev/null +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.h @@ -0,0 +1,86 @@ +#pragma once + +#include + +#include "ECS_Base/Components/SHComponent.h" +#include "Math/Vector/SHVec2.h" +#include "Math/Vector/SHVec3.h" + +#include + + +#include "SH_API.h" + + +namespace SHADE +{ + using NavigationGridIndex = std::pair; + #define NullGridIndex 9999; + + class SH_API SHNavigationComponent final: public SHComponent + { + private: + //Target to move to + SHVec3 target; + //Direction to mvoe towards to get to the target position. + SHVec3 forward; + //The path to follow to reach the target. + std::queue path; + //The distance threshold that indicates when the entity has reached the navigation grid. + float threshold; + //The flag to check against to indicate whether to recalculate path + bool recalculatePath; + //The flag to set if the target is unreachable. + bool unreachableTarget; + public: + friend class SHNavigationSystem; + + SHNavigationComponent(); + virtual ~SHNavigationComponent() = default; + + + /******************************************************************** + * \brief + * Getter for the target position. This should be in world position. + * \return + * SHVec3 + ********************************************************************/ + SHVec3 GetTarget() const noexcept; + /******************************************************************** + * \brief + * Getter for the forward vector. This shows the direction to move + * in order to reach the target. + * \return + * SHVec3 + ********************************************************************/ + SHVec3 GetForward() const noexcept; + + + /******************************************************************** + * \brief + * Setter for the target variable. Also sets recalculatePath boolean + * to true. + * \param value + * The target world location. The y-axis will be ignored. + * \return + * void + ********************************************************************/ + void SetTarget(SHVec3 value) noexcept; + /******************************************************************** + * \brief + * An empty setter so we can see this variable in inspector but + * can't set it. + * \param value + * value to set to. + * \return + * void + ********************************************************************/ + void EmptySetForward(SHVec3 value) noexcept; + + + RTTR_ENABLE() + protected: + + + }; +} diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp index ca427ab0..8c97162e 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp @@ -4,6 +4,12 @@ #include "Physics/System/SHPhysicsSystem.h" #include "Math/Geometry/SHAABB.h" #include "Input/SHInputManager.h" +#include "Editor/SHEditor.h" + + +#include +#include +#include namespace SHADE { @@ -26,33 +32,49 @@ namespace SHADE - bool SHNavigationSystem::GetCollisionData(uint16_t row, uint16_t col) noexcept + bool SHNavigationSystem::GetNavigationData(uint16_t row, uint16_t col) noexcept { size_t index = GetIndex(row, col); GridDataType bitMask = 1 << (col % NumGridDataTypeBits); - if (collisionGrid.size() < index) + if (navigationGrid.size() < index) { - return collisionGrid[index] & bitMask; + return navigationGrid[index] & bitMask; } else { - return 0; + return true; } - - } + bool SHNavigationSystem::GetNavigationData(NavigationGridIndex index) noexcept + { + return GetNavigationData(index.first, index.second); + } + + SHVec2 SHNavigationSystem::GetGridSize() noexcept { - return SHVec2{size.x / numRows, size.y / numCols}; + return SHVec2{size.x / numCols, size.z / numRows}; } - void SHNavigationSystem::GenerateCollisionGridData(SHVec3 origin, SHVec2 size, uint16_t nr, uint16_t nc, float gridHeight) noexcept + NavigationGridIndex SHNavigationSystem::GetNavigationGridIndex(SHVec3 const& worldPosition) noexcept { - if (size.x <= 0.0f || size.y <= 0.0f || nr == 0 || nc == 0 || gridHeight <= 0.0f) + NavigationGridIndex result; + SHVec3 pos = worldPosition - origin; + SHVec2 gridSize = GetGridSize(); + result.first = pos.z / gridSize.x; + result.second = pos.x / gridSize.y; + + return result; + } + + + void SHNavigationSystem::GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t nr, uint16_t nc) noexcept + { + if (size.x <= 0.0f || size.y <= 0.0f || size.z <= 0.0f || nr == 0 || nc == 0 ) { return; } @@ -62,7 +84,7 @@ namespace SHADE this->size = size; numRows = nr; numCols = nc; - collisionGrid.clear(); + navigationGrid.clear(); GridDataType temp = 0; @@ -78,7 +100,7 @@ namespace SHADE if (physics != nullptr) { //Get the top left position - SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.y / 2.0f) }; + SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) }; SHVec2 halfGridSize = GetGridSize() * 0.5f; //offset it by row and column and center it with half grid size. @@ -86,7 +108,7 @@ namespace SHADE //Get half extents. - SHVec3 halfExtents{ halfGridSize.x, gridHeight, halfGridSize.y }; + SHVec3 halfExtents{ halfGridSize.x, size.y, halfGridSize.y }; SHAABB aabb{ topleft,halfExtents }; @@ -99,7 +121,7 @@ namespace SHADE if ((c % NumGridDataTypeBits) == NumGridDataTypeBits - 1) { - collisionGrid.push_back(temp); + navigationGrid.push_back(temp); temp = 0; } @@ -107,7 +129,7 @@ namespace SHADE //if the number of column dont fit perfectly to the NumGridDataTypeBits. We push in what we have with the rest as 0s. if (numCols % NumGridDataTypeBits != 0) { - collisionGrid.push_back(temp); + navigationGrid.push_back(temp); temp = 0; } @@ -121,11 +143,283 @@ namespace SHADE void SHNavigationSystem::NavigationSystemGenerateRoutine::Execute(double dt) noexcept { - SHNavigationSystem* system = static_cast(GetSystem()); - if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H)) +#ifdef SHEDITOR + auto editor = SHSystemManager::GetSystem(); + if (editor->editorState != SHEditor::State::PLAY) { - system->GenerateCollisionGridData(SHVec3{ 0.0f }, SHVec2{ 25.6f }, 128, 128, 10.0f); + SHNavigationSystem* system = static_cast(GetSystem()); + if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H)) + { + system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 10.0f, 25.6f }, 128, 128); + } } +#endif + } + + + void SHNavigationSystem::GeneratePath(SHNavigationComponent& comp) noexcept + { + + //Check that the entity has a transform. + if (SHComponentManager::HasComponent(comp.GetEID()) == false) + { + comp.unreachableTarget = true; + return; + } + std::list openList; + std::unordered_map closedList; + + //Check if ending position is set to true in navigation data. + NavigationGridIndex endIndex = GetNavigationGridIndex(comp.target); + if (GetNavigationData(endIndex) == true) + { + //Target position is unreachable. + SHLOG_WARNING("Navigation System: GeneratePath() target position is unreachable EID: {}", comp.GetEID()) + comp.unreachableTarget = true; + return; + } + + auto transform = SHComponentManager::GetComponent(comp.GetEID()); + + NavigationNode startingNode; + startingNode.index = GetNavigationGridIndex(transform->GetWorldPosition()); + + startingNode.parent.first = NullGridIndex; + startingNode.parent.second = NullGridIndex; + startingNode.h = 0; + startingNode.g = 0; + startingNode.f = 0; + + openList.push_back(startingNode); + + + NavigationNode endNode; + endNode.index.first = NullGridIndex; + endNode.index.second = NullGridIndex; + endNode.g = std::numeric_limits::max(); + endNode.h = std::numeric_limits::max(); + endNode.f = std::numeric_limits::max(); + + while (!openList.empty()) + { + NavigationNode currNode; + std::list::iterator lowestNode = openList.end(); + uint32_t lowestFValue = std::numeric_limits::max(); + uint32_t lowestHValue = std::numeric_limits::max(); + for (std::list::iterator node = openList.begin(); node != openList.end(); ++node) + { + if (node->f < lowestFValue) + { + lowestNode = node; + lowestHValue = node->h; + lowestFValue = node->f; + } + if (node->f == lowestFValue && node->h < lowestHValue) + { + lowestNode = node; + lowestHValue = node->h; + } + + } + + currNode = *lowestNode; + openList.erase(lowestNode); + closedList.emplace(currNode.index, currNode); + + if (currNode.index == endIndex) + { + endNode = currNode; + break; + } + + //Add the surrounding 8 tiles into the open list + { + //Top + if (currNode.index.second > 0) + { + NavigationNode topNode; + topNode.index = currNode.index; + topNode.index.second -= 1; + topNode.parent = currNode.index; + topNode.g = currNode.g + 10; + topNode.h = HCostCalculation(topNode.index, endIndex); + topNode.f = topNode.g + topNode.h; + AddNodeToOpenList(topNode, openList, closedList); + + //TopLeft + if (currNode.index.first > 0) + { + NavigationNode newNode; + newNode.index = currNode.index; + newNode.index.second -= 1; + newNode.index.first -= 1; + newNode.parent = currNode.index; + newNode.g = currNode.g + 14; + newNode.h = HCostCalculation(newNode.index, endIndex); + newNode.f = newNode.g + newNode.h; + AddNodeToOpenList(newNode, openList, closedList); + } + + } + //Bottom + if (currNode.index.second < numRows - 1) + { + NavigationNode btmNode; + btmNode.index = currNode.index; + btmNode.index.second += 1; + btmNode.parent = currNode.index; + btmNode.g = currNode.g + 10; + btmNode.h = HCostCalculation(btmNode.index, endIndex); + btmNode.f = btmNode.g + btmNode.h; + AddNodeToOpenList(btmNode, openList, closedList); + + //BottomRight + if (currNode.index.first < numCols - 1) + { + NavigationNode newNode; + newNode.index = currNode.index; + newNode.index.second += 1; + newNode.index.first += 1; + newNode.parent = currNode.index; + newNode.g = currNode.g + 14; + newNode.h = HCostCalculation(newNode.index, endIndex); + newNode.f = newNode.g + newNode.h; + AddNodeToOpenList(newNode, openList, closedList); + } + + } + //Left + if (currNode.index.first > 0) + { + NavigationNode leftNode; + leftNode.index = currNode.index; + leftNode.index.first -= 1; + leftNode.parent = currNode.index; + leftNode.g = currNode.g + 10; + leftNode.h = HCostCalculation(leftNode.index, endIndex); + leftNode.f = leftNode.g + leftNode.h; + AddNodeToOpenList(leftNode, openList, closedList); + + + //BottomLeft + if (currNode.index.second < numRows - 1) + { + NavigationNode newNode; + newNode.index = currNode.index; + newNode.index.second += 1; + newNode.index.first -= 1; + newNode.parent = currNode.index; + newNode.g = currNode.g + 14; + newNode.h = HCostCalculation(newNode.index, endIndex); + newNode.f = newNode.g + newNode.h; + AddNodeToOpenList(newNode, openList, closedList); + } + + + } + //Right + if (currNode.index.first < numCols - 1) + { + NavigationNode rightNode; + rightNode.index = currNode.index; + rightNode.index.first += 1; + rightNode.parent = currNode.index; + rightNode.g = currNode.g + 10; + rightNode.h = HCostCalculation(rightNode.index, endIndex); + rightNode.f = rightNode.g + rightNode.h; + AddNodeToOpenList(rightNode, openList, closedList); + + //TopRight + if (currNode.index.second > 0) + { + NavigationNode newNode; + newNode.index = currNode.index; + newNode.index.second -= 1; + newNode.index.first += 1; + newNode.parent = currNode.index; + newNode.g = currNode.g + 14; + newNode.h = HCostCalculation(newNode.index, endIndex); + newNode.f = newNode.g + newNode.h; + AddNodeToOpenList(newNode, openList, closedList); + } + + } + } + } + //Check if there is a path. + if (endNode.g == std::numeric_limits::max() || endNode.h == std::numeric_limits::max() || endNode.f == std::numeric_limits::max()) + { + comp.unreachableTarget = true; + return; + } + + + + //Generate the path using end node. + std::stack reversePath; + NavigationNode pathNode = endNode; + + while (pathNode.index != startingNode.index) + { + reversePath.push(pathNode.index); + if (closedList.find(pathNode.parent) == closedList.end()) + { + SHLOG_WARNING("Navigation System: GeneratePath() reverse path parent not in closed list EID: {}", comp.GetEID()) + comp.unreachableTarget = true; + return; + } + pathNode = closedList.find(pathNode.parent)->second; + + } + //Clear the queue. + while (!comp.path.empty()) + { + comp.path.pop(); + } + + while (!reversePath.empty()) + { + comp.path.push(reversePath.top()); + reversePath.pop(); + } + + + + + + + }//End GeneratePath + + + bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list& openList, std::unordered_map& closedList) noexcept + { + if (closedList.find(node.index) != closedList.end()) + { + //Node is already in closed list. + return false; + } + + //Check if the node is pointing to a non movable tile. + if (GetNavigationData(node.index) == true) + { + return false; + } + + //Check if node exist in open list already + for (auto& n : openList) + { + if (n.index == node.index ) + { + if (n.f > node.f) + { + n = node; + } + return false; + } + } + + openList.push_back(node); + return true; } diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.h b/SHADE_Engine/src/Navigation/SHNavigationSystem.h index e9973bb0..271d6b88 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.h +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.h @@ -2,6 +2,7 @@ #include "ECS_Base/System/SHSystem.h" #include "ECS_Base/System/SHSystemRoutine.h" +#include "SHNavigationComponent.h" #include "Math/Vector/SHVec2.h" #include "Math/Vector/SHVec3.h" @@ -12,7 +13,14 @@ namespace SHADE { - + struct NavigationNode + { + NavigationGridIndex index; + NavigationGridIndex parent; + uint32_t g; + uint32_t h; + uint32_t f; + }; class SH_API SHNavigationSystem final: public SHSystem { @@ -22,22 +30,26 @@ namespace SHADE const size_t NumGridDataTypeBits = sizeof(GridDataType) * CHAR_BIT; - std::vector collisionGrid; + std::vector navigationGrid; //Number of subdivision on the x axis uint16_t numRows{0}; //Number of subdivision on the z axis uint16_t numCols{0}; - //The center of the collision area. + //The center of the navigation area. SHVec3 origin{0.0f}; - //Size of the collision area - SHVec2 size{0.0f}; + //Size of the navigation area + SHVec3 size{0.0f}; SHVec2 GetGridSize() noexcept; uint16_t GetIndex(uint16_t row, uint16_t col) noexcept; + void GeneratePath(SHNavigationComponent& comp) noexcept; + uint32_t HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept; //TO DO + bool AddNodeToOpenList(NavigationNode node, std::list& openList, std::unordered_map& closedList) noexcept; + public: SHNavigationSystem() = default; @@ -47,8 +59,15 @@ namespace SHADE void Exit(); void SaveNavigationData() noexcept; - void GenerateCollisionGridData(SHVec3 origin, SHVec2 size, uint16_t numRow, uint16_t numCol, float gridHeight = 10.0f) noexcept; - bool GetCollisionData(uint16_t row, uint16_t col) noexcept; + void GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t numRow, uint16_t numCol) noexcept; + + + bool GetNavigationData(uint16_t row, uint16_t col) noexcept; + bool GetNavigationData(NavigationGridIndex index) noexcept; + + + NavigationGridIndex GetNavigationGridIndex(SHVec3 const& worldPosition) noexcept; + class SH_API NavigationSystemGenerateRoutine final: public SHSystemRoutine From a785a972e4b901c9c1fd88f91750d69551d55a55 Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Fri, 24 Mar 2023 04:22:51 +0800 Subject: [PATCH 3/6] Navigation Fix --- Assets/Scenes/NavigationTest.shade | 273 +++++++++++++++++- .../AIRework/NavigationTestScript.cs | 37 +++ .../AIRework/NavigationTestScript.cs.shmeta | 3 + .../src/Application/SBApplication.cpp | 1 + SHADE_Engine/src/Common/SHAllComponents.h | 3 +- .../Inspector/SHEditorInspector.cpp | 6 + .../src/Navigation/SHNavigationComponent.cpp | 36 ++- .../src/Navigation/SHNavigationComponent.h | 39 ++- .../src/Navigation/SHNavigationSystem.cpp | 264 ++++++++++++++--- .../src/Navigation/SHNavigationSystem.h | 30 +- .../src/Serialization/SHSerialization.cpp | 8 + SHADE_Managed/src/Components/Navigation.cxx | 58 ++++ SHADE_Managed/src/Components/Navigation.hxx | 35 +++ SHADE_Managed/src/Engine/ECS.cxx | 3 +- 14 files changed, 723 insertions(+), 73 deletions(-) create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs.shmeta create mode 100644 SHADE_Managed/src/Components/Navigation.cxx create mode 100644 SHADE_Managed/src/Components/Navigation.hxx diff --git a/Assets/Scenes/NavigationTest.shade b/Assets/Scenes/NavigationTest.shade index cd358faa..454f56a2 100644 --- a/Assets/Scenes/NavigationTest.shade +++ b/Assets/Scenes/NavigationTest.shade @@ -4,21 +4,10 @@ NumberOfChildren: 0 Components: Transform Component: - Translate: {x: 0, y: 0, z: 0} - Rotate: {x: 0, y: 0, z: 0} + Translate: {x: 0, y: 10.2736483, z: 0} + Rotate: {x: -1.48352981, y: 1.5, z: 0.5} Scale: {x: 1, y: 1, z: 1} IsActive: true - Camera Component: - Position: {x: 0, y: 0, z: 0} - Pitch: 0 - Yaw: 0 - Roll: 0 - Width: 1920 - Near: 0.00999999978 - Far: 10000 - Perspective: true - FOV: 90 - IsActive: true Scripts: ~ - EID: 1 Name: Floor @@ -56,9 +45,9 @@ NumberOfChildren: 0 Components: Transform Component: - Translate: {x: 0, y: 0, z: 0} - Rotate: {x: -0, y: 0, z: -0} - Scale: {x: 1, y: 1, z: 1} + Translate: {x: 11, y: 0, z: 0} + Rotate: {x: -0, y: 1.57079637, z: -0} + Scale: {x: 10.6225176, y: 1, z: 1} IsActive: true Renderable Component: Mesh: 142652392 @@ -76,4 +65,256 @@ Position Offset: {x: 0, y: 0, z: 0} Rotation Offset: {x: 0, y: 0, z: 0} IsActive: true + Scripts: ~ +- EID: 4 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: -11.2958097} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 10.6225176, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 5 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 11} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 10.6225176, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 6 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 6.06437206, y: 0, z: -5.60716629} + Rotate: {x: -0, y: 1.57079601, z: -0} + Scale: {x: 4.99989605, y: 1, z: 0.999986947} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 7 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -11, y: 0, z: 0} + Rotate: {x: -0, y: 1.57079637, z: -0} + Scale: {x: 10.6225176, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 8 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4.70212746, y: 0, z: -0.00226712227} + Rotate: {x: -0, y: 1.57079601, z: -0} + Scale: {x: 4.99982977, y: 1, z: 0.999978602} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 9 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 1.46194017, y: 0, z: 0.71579361} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 4.99985838, y: 1, z: 0.999982238} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 10 + Name: Wall + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2.30867815, y: 0, z: -6.02849674} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 4, y: 1, z: 0.999974966} + IsActive: true + Renderable Component: + Mesh: 142652392 + Material: 126223465 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 0 + Type: Box + Half Extents: {x: 2.5, y: 1, z: 1.60000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 11 + Name: TestAI + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 8.5, y: -1, z: -8.20610714} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 5, y: 5, z: 5} + IsActive: true + Renderable Component: + Mesh: 140639624 + Material: 131956078 + IsActive: true + Navigation Component: + Target: {x: 0, y: 0, z: 0} + Forward: {x: 0, y: 0, z: 0} + Recalculate Path: true + Unreachable Target: false + Acceptance threshold: 0.100000001 + IsActive: true + Scripts: + - Type: SHADE_Scripting.Gameplay.AIBehaviour.AIRework.NavigationTestScript + Enabled: true + endPoint: 12 + speed: 3 +- EID: 12 + Name: EndPoint + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -0.940230131, y: -1, z: -2.05140448} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 5, y: 5, z: 5} + IsActive: true + Renderable Component: + Mesh: 140639624 + Material: 131956078 + IsActive: true + Scripts: ~ +- EID: 13 + Name: Camera + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 10.2736483, z: 0} + Rotate: {x: -1.48352981, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Camera Component: + Position: {x: 0, y: 0, z: 0} + Pitch: -85 + Yaw: 0 + Roll: 0 + Width: 1920 + Near: 0.00999999978 + Far: 10000 + Perspective: true + FOV: 90 + IsActive: true Scripts: ~ \ No newline at end of file diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs new file mode 100644 index 00000000..c8687820 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs @@ -0,0 +1,37 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; +using static System.IO.Enumeration.FileSystemEnumerable; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public class NavigationTestScript :Script + { + public GameObject endPoint; + + public float speed = 1.0f; + + protected override void start() + { + + } + + protected override void update() + { + Navigation nav = GetComponent(); + Transform transform = GetComponent(); + if (nav && transform) + { + Transform endTransform = endPoint.GetComponent(); + if(endTransform) + nav.MoveTo(endTransform.GlobalPosition); + transform.LocalPosition = transform.LocalPosition + ( nav.GetForward() * Time.DeltaTimeF * speed); + + } + } + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs.shmeta new file mode 100644 index 00000000..3d8685a5 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs.shmeta @@ -0,0 +1,3 @@ +Name: NavigationTestScript +ID: 162476480 +Type: 9 diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp index 93183a4f..c46bc7eb 100644 --- a/SHADE_Application/src/Application/SBApplication.cpp +++ b/SHADE_Application/src/Application/SBApplication.cpp @@ -131,6 +131,7 @@ namespace Sandbox SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); #endif + SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); diff --git a/SHADE_Engine/src/Common/SHAllComponents.h b/SHADE_Engine/src/Common/SHAllComponents.h index 32efee1f..21a87dfd 100644 --- a/SHADE_Engine/src/Common/SHAllComponents.h +++ b/SHADE_Engine/src/Common/SHAllComponents.h @@ -15,4 +15,5 @@ #include "Graphics/MiddleEnd/TextRendering/SHTextRenderableComponent.h" #include "AudioSystem/SHAudioListenerComponent.h" #include "Graphics/MiddleEnd/TrajectoryRendering/SHTrajectoryRenderableComponent.h" -#include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h" \ No newline at end of file +#include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h" +#include "Navigation/SHNavigationComponent.h" diff --git a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorInspector.cpp b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorInspector.cpp index e9da2f09..701944ad 100644 --- a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorInspector.cpp +++ b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorInspector.cpp @@ -27,6 +27,7 @@ #include "AudioSystem/SHAudioListenerComponent.h" #include "Graphics/MiddleEnd/TextRendering/SHTextRenderableComponent.h" #include "Graphics/MiddleEnd/Particles/SHParticleEmitterComponent.h" +#include "Navigation/SHNavigationComponent.h" #include "Camera/SHCameraSystem.h" #include "FRC/SHFramerateController.h" @@ -193,6 +194,10 @@ namespace SHADE { DrawComponent(particleComponent); } + if (auto navigationComponent = SHComponentManager::GetComponent_s(eid)) + { + DrawComponent(navigationComponent); + } ImGui::Separator(); // Render Scripts SHScriptEngine* scriptEngine = static_cast(SHSystemManager::GetSystem()); @@ -219,6 +224,7 @@ namespace SHADE DrawAddComponentWithEnforcedComponentButton(eid); DrawAddComponentWithEnforcedComponentButton(eid); DrawAddComponentWithEnforcedComponentButton(eid); + DrawAddComponentWithEnforcedComponentButton(eid); //DrawAddComponentWithEnforcedComponentButton(eid); ImGui::EndMenu(); diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp index 3a59d5fe..c50949ec 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp @@ -4,8 +4,11 @@ namespace SHADE { + uint16_t NavigationGridIndex::numColumns = 8; + + SHNavigationComponent::SHNavigationComponent() - :target{ 0.0f }, path{}, threshold{0.1f}, recalculatePath{false}, unreachableTarget{false} + :target{ 0.0f }, path{}, threshold{ 0.1f }, recalculatePath{ false }, unreachableTarget{ false }, forward{0.0f} { } @@ -21,6 +24,16 @@ namespace SHADE return forward; } + bool SHNavigationComponent::GetRecalculatePath() const noexcept + { + return recalculatePath; + } + + bool SHNavigationComponent::GetUnreachableTarget() const noexcept + { + return unreachableTarget; + } + void SHNavigationComponent::SetTarget(SHVec3 value) noexcept { @@ -34,5 +47,26 @@ namespace SHADE } + void SHNavigationComponent::EmptySetBool(bool value) noexcept + { + + } + + +}//namespace SHADE + + +RTTR_REGISTRATION +{ + using namespace SHADE; + using namespace rttr; + + registration::class_("Navigation Component") + .property("Target", &SHNavigationComponent::GetTarget, &SHNavigationComponent::SetTarget) + .property("Forward", &SHNavigationComponent::GetForward, &SHNavigationComponent::EmptySetForward) + .property("Recalculate Path", &SHNavigationComponent::GetRecalculatePath, &SHNavigationComponent::EmptySetBool) + .property("Unreachable Target", &SHNavigationComponent::GetUnreachableTarget, &SHNavigationComponent::EmptySetBool) + .property("Acceptance threshold", &SHNavigationComponent::threshold) + ; } diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.h b/SHADE_Engine/src/Navigation/SHNavigationComponent.h index 1552be60..be23521d 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationComponent.h +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.h @@ -14,7 +14,32 @@ namespace SHADE { - using NavigationGridIndex = std::pair; + struct NavigationGridIndex + { + uint16_t row; + uint16_t column; + + static uint16_t numColumns; + + bool operator==(NavigationGridIndex const& rhs) const noexcept + { + return row == rhs.row && column == rhs.column; + } + + bool operator!=(NavigationGridIndex const& rhs) const noexcept + { + return row != rhs.row || column != rhs.column; + } + + bool operator<(NavigationGridIndex const& rhs) const noexcept + { + return (row * numColumns + column) < (rhs.row * numColumns + rhs.column); + } + + }; + + + #define NullGridIndex 9999; class SH_API SHNavigationComponent final: public SHComponent @@ -26,8 +51,7 @@ namespace SHADE SHVec3 forward; //The path to follow to reach the target. std::queue path; - //The distance threshold that indicates when the entity has reached the navigation grid. - float threshold; + //The flag to check against to indicate whether to recalculate path bool recalculatePath; //The flag to set if the target is unreachable. @@ -35,6 +59,9 @@ namespace SHADE public: friend class SHNavigationSystem; + //The distance threshold that indicates when the entity has reached the navigation grid. + float threshold; + SHNavigationComponent(); virtual ~SHNavigationComponent() = default; @@ -55,6 +82,11 @@ namespace SHADE ********************************************************************/ SHVec3 GetForward() const noexcept; + bool GetRecalculatePath() const noexcept; + + bool GetUnreachableTarget() const noexcept; + + /******************************************************************** * \brief @@ -77,6 +109,7 @@ namespace SHADE ********************************************************************/ void EmptySetForward(SHVec3 value) noexcept; + void EmptySetBool(bool value) noexcept; RTTR_ENABLE() protected: diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp index 8c97162e..56778771 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp @@ -5,16 +5,25 @@ #include "Math/Geometry/SHAABB.h" #include "Input/SHInputManager.h" #include "Editor/SHEditor.h" +#include "Scene/SHSceneManager.h" +#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h" +#include #include -#include +#include #include +#define DRAW_NAVIGATION_DATA +#define DRAW_NAVIGATION_PATH + + namespace SHADE { void SHNavigationSystem::Init() { + auto id = ComponentFamily::GetID(); + SHComponentManager::CreateComponentSparseSet(); SystemID i = SystemFamily::GetID(); } @@ -26,8 +35,8 @@ namespace SHADE uint16_t SHNavigationSystem::GetIndex(uint16_t row, uint16_t col) noexcept { - size_t rowOffset = numRows / sizeof(GridDataType); - return row * rowOffset + (col / sizeof(GridDataType)); + size_t rowOffset = numRows / NumGridDataTypeBits; + return row * rowOffset + (col / NumGridDataTypeBits ); } @@ -39,7 +48,7 @@ namespace SHADE GridDataType bitMask = 1 << (col % NumGridDataTypeBits); - if (navigationGrid.size() < index) + if ( index < navigationGrid.size()) { return navigationGrid[index] & bitMask; } @@ -51,7 +60,7 @@ namespace SHADE bool SHNavigationSystem::GetNavigationData(NavigationGridIndex index) noexcept { - return GetNavigationData(index.first, index.second); + return GetNavigationData(index.row, index.column); } @@ -63,14 +72,30 @@ namespace SHADE NavigationGridIndex SHNavigationSystem::GetNavigationGridIndex(SHVec3 const& worldPosition) noexcept { NavigationGridIndex result; - SHVec3 pos = worldPosition - origin; + SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) }; + SHVec3 pos = worldPosition - topleft; SHVec2 gridSize = GetGridSize(); - result.first = pos.z / gridSize.x; - result.second = pos.x / gridSize.y; + + result.row = (pos.z )/ gridSize.y; + result.column = (pos.x )/ gridSize.x; return result; } + SHVec3 SHNavigationSystem::GetGridWorldPos(NavigationGridIndex index) noexcept + { + SHVec3 result{0.0f}; + SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) }; + SHVec2 gridSize = GetGridSize(); + result.x = (index.column * gridSize.x); + result.z = (index.row * gridSize.y) ; + + result += topleft; + + return result; + } + + void SHNavigationSystem::GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t nr, uint16_t nc) noexcept { @@ -150,12 +175,150 @@ namespace SHADE SHNavigationSystem* system = static_cast(GetSystem()); if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H)) { - system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 10.0f, 25.6f }, 128, 128); + system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 1.0f, 25.6f }, 128, 128); } + + auto debugDrawSystem = SHSystemManager::GetSystem(); + if (debugDrawSystem) + { + SHTransform trans; + trans.position = SHVec3{ 0.0f }; + trans.scale = SHVec3{ 25.6f, 1.0f, 25.6f }; + trans.ComputeTRS(); + debugDrawSystem->DrawWireCube(trans.trs, SHColour::YELLOW, true); + +#ifdef DRAW_NAVIGATION_DATA + for (uint16_t r = 0; r < system->numRows; ++r) + { + for (uint16_t c = 0; c < system->numCols; ++c) + { + if (system->GetNavigationData(r, c) == true) + { + SHVec3 topleft{ system->origin.x - (system->size.x / 2.0f), system->origin.y, system->origin.z - (system->size.z / 2.0f) }; + SHVec2 halfGridSize = system->GetGridSize() * 0.5f; + + //offset it by row and column and center it with half grid size. + topleft += SHVec3{ c * system->GetGridSize().x, 0.0f, r * system->GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y }; + SHTransform t; + t.position = system->GetGridWorldPos({r,c}); + t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f}; + t.ComputeTRS(); + debugDrawSystem->DrawCube(t.trs, SHColour::RED, true); + + } + else + { + SHVec3 topleft{ system->origin.x - (system->size.x / 2.0f), system->origin.y, system->origin.z - (system->size.z / 2.0f) }; + SHVec2 halfGridSize = system->GetGridSize() * 0.5f; + + //offset it by row and column and center it with half grid size. + topleft += SHVec3{ c * system->GetGridSize().x, 0.0f, r * system->GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y }; + SHTransform t; + t.position = system->GetGridWorldPos({ r,c }); + t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f }; + t.ComputeTRS(); + debugDrawSystem->DrawCube(t.trs, SHColour::WHITE, true); + } + + + } + } +#endif + + + } + } #endif } + void SHNavigationSystem::UpdateNavigationRoutine::Execute(double dt) noexcept + { + SHNavigationSystem* system = static_cast(GetSystem()); + auto& dense = SHComponentManager::GetDense(); + + for (auto& comp : dense) + { + if (SHSceneManager::CheckNodeAndComponentsActive(comp.GetEID())) + { + if (comp.recalculatePath) + system->GeneratePath(comp); + + system->UpdateNavigationComponent(comp); + } + } + + } + + + void SHNavigationSystem::UpdateNavigationComponent(SHNavigationComponent& comp) noexcept + { + + if (comp.unreachableTarget == true || comp.path.empty()) + { + comp.forward = SHVec3::Zero; + return; // no point continuing because target can't be reached / path is empty. + } + + + SHTransformComponent* transform = SHComponentManager::GetComponent_s(comp.GetEID()); + if (transform) + { + NavigationGridIndex nxtPoint = comp.path.front(); + SHVec3 nxtPointPos = GetGridWorldPos(nxtPoint); + + SHVec3 direction = nxtPointPos - transform->GetWorldPosition(); + direction.y = 0.0f; + + + + if (direction.LengthSquared() <= comp.threshold * comp.threshold || direction.LengthSquared() <= GetGridSize().LengthSquared() * 0.5f) + { + comp.path.pop(); + //Rerun this function + UpdateNavigationComponent(comp); + //return so we don't run the parts after this twice. + return; + } + + + comp.forward = SHVec3::Normalise(direction); + +#ifdef DRAW_NAVIGATION_PATH + + auto debugDrawSystem = SHSystemManager::GetSystem(); + + auto queue = comp.path; + + while (!queue.empty()) + { + uint16_t r = queue.front().row; + uint16_t c = queue.front().column; + + { + SHVec3 topleft{ origin.x - (size.x / 2.0f), origin.y, origin.z - (size.z / 2.0f) }; + SHVec2 halfGridSize = GetGridSize() * 0.5f; + + //offset it by row and column and center it with half grid size. + topleft += SHVec3{ c * GetGridSize().x, 0.0f, r * GetGridSize().y } + SHVec3{ halfGridSize.x,0.0f,halfGridSize.y }; + SHTransform t; + t.position = GetGridWorldPos({ r,c }); + t.scale = SHVec3{ halfGridSize.x * 2.0f, 1.0f, halfGridSize.y * 2.0f }; + t.ComputeTRS(); + debugDrawSystem->DrawCube(t.trs, SHColour::YELLOW, true); + + } + queue.pop(); + } + +#endif + + } + + + } + + void SHNavigationSystem::GeneratePath(SHNavigationComponent& comp) noexcept { @@ -167,7 +330,10 @@ namespace SHADE return; } std::list openList; - std::unordered_map closedList; + std::map closedList; + closedList.clear(); + + NavigationGridIndex::numColumns = numCols; //Check if ending position is set to true in navigation data. NavigationGridIndex endIndex = GetNavigationGridIndex(comp.target); @@ -184,8 +350,8 @@ namespace SHADE NavigationNode startingNode; startingNode.index = GetNavigationGridIndex(transform->GetWorldPosition()); - startingNode.parent.first = NullGridIndex; - startingNode.parent.second = NullGridIndex; + startingNode.parent.row = NullGridIndex; + startingNode.parent.column = NullGridIndex; startingNode.h = 0; startingNode.g = 0; startingNode.f = 0; @@ -194,8 +360,8 @@ namespace SHADE NavigationNode endNode; - endNode.index.first = NullGridIndex; - endNode.index.second = NullGridIndex; + endNode.index.row = NullGridIndex; + endNode.index.column = NullGridIndex; endNode.g = std::numeric_limits::max(); endNode.h = std::numeric_limits::max(); endNode.f = std::numeric_limits::max(); @@ -235,11 +401,11 @@ namespace SHADE //Add the surrounding 8 tiles into the open list { //Top - if (currNode.index.second > 0) + if (currNode.index.column > 0) { NavigationNode topNode; topNode.index = currNode.index; - topNode.index.second -= 1; + topNode.index.column -= 1; topNode.parent = currNode.index; topNode.g = currNode.g + 10; topNode.h = HCostCalculation(topNode.index, endIndex); @@ -247,12 +413,12 @@ namespace SHADE AddNodeToOpenList(topNode, openList, closedList); //TopLeft - if (currNode.index.first > 0) + if (currNode.index.row > 0) { NavigationNode newNode; newNode.index = currNode.index; - newNode.index.second -= 1; - newNode.index.first -= 1; + newNode.index.column -= 1; + newNode.index.row -= 1; newNode.parent = currNode.index; newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); @@ -262,11 +428,11 @@ namespace SHADE } //Bottom - if (currNode.index.second < numRows - 1) + if (currNode.index.column < numCols - 1) { NavigationNode btmNode; btmNode.index = currNode.index; - btmNode.index.second += 1; + btmNode.index.column += 1; btmNode.parent = currNode.index; btmNode.g = currNode.g + 10; btmNode.h = HCostCalculation(btmNode.index, endIndex); @@ -274,12 +440,12 @@ namespace SHADE AddNodeToOpenList(btmNode, openList, closedList); //BottomRight - if (currNode.index.first < numCols - 1) + if (currNode.index.row < numRows - 1) { NavigationNode newNode; newNode.index = currNode.index; - newNode.index.second += 1; - newNode.index.first += 1; + newNode.index.column += 1; + newNode.index.row += 1; newNode.parent = currNode.index; newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); @@ -289,11 +455,11 @@ namespace SHADE } //Left - if (currNode.index.first > 0) + if (currNode.index.row > 0) { NavigationNode leftNode; leftNode.index = currNode.index; - leftNode.index.first -= 1; + leftNode.index.row -= 1; leftNode.parent = currNode.index; leftNode.g = currNode.g + 10; leftNode.h = HCostCalculation(leftNode.index, endIndex); @@ -302,12 +468,12 @@ namespace SHADE //BottomLeft - if (currNode.index.second < numRows - 1) + if (currNode.index.column < numCols - 1) { NavigationNode newNode; newNode.index = currNode.index; - newNode.index.second += 1; - newNode.index.first -= 1; + newNode.index.column += 1; + newNode.index.row -= 1; newNode.parent = currNode.index; newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); @@ -318,11 +484,11 @@ namespace SHADE } //Right - if (currNode.index.first < numCols - 1) + if (currNode.index.row < numRows - 1) { NavigationNode rightNode; rightNode.index = currNode.index; - rightNode.index.first += 1; + rightNode.index.row += 1; rightNode.parent = currNode.index; rightNode.g = currNode.g + 10; rightNode.h = HCostCalculation(rightNode.index, endIndex); @@ -330,12 +496,12 @@ namespace SHADE AddNodeToOpenList(rightNode, openList, closedList); //TopRight - if (currNode.index.second > 0) + if (currNode.index.column > 0) { NavigationNode newNode; newNode.index = currNode.index; - newNode.index.second -= 1; - newNode.index.first += 1; + newNode.index.column -= 1; + newNode.index.row += 1; newNode.parent = currNode.index; newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); @@ -345,10 +511,12 @@ namespace SHADE } } - } + +} //Check if there is a path. if (endNode.g == std::numeric_limits::max() || endNode.h == std::numeric_limits::max() || endNode.f == std::numeric_limits::max()) { + SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID()) comp.unreachableTarget = true; return; } @@ -382,16 +550,12 @@ namespace SHADE comp.path.push(reversePath.top()); reversePath.pop(); } - - - - - - + comp.recalculatePath = false; + comp.unreachableTarget = false; }//End GeneratePath - bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list& openList, std::unordered_map& closedList) noexcept + bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList) noexcept { if (closedList.find(node.index) != closedList.end()) { @@ -423,4 +587,20 @@ namespace SHADE } + uint32_t SHNavigationSystem::HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept + { + uint16_t rDiff = (first.row > second.row)?first.row - second.row: second.row - first.row; + uint16_t cDiff = (first.column > second.column) ? first.column - second.column : second.column - first.column; + + if (rDiff > cDiff) + { + return (cDiff * 14) + ((rDiff - cDiff) * 10); + } + else + { + return (rDiff * 14 )+ ((cDiff - rDiff) * 10); + } + } + + } diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.h b/SHADE_Engine/src/Navigation/SHNavigationSystem.h index 271d6b88..83273236 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.h +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.h @@ -6,14 +6,15 @@ #include "Math/Vector/SHVec2.h" #include "Math/Vector/SHVec3.h" -#include + #include "SH_API.h" namespace SHADE { - struct NavigationNode + + struct SH_API NavigationNode { NavigationGridIndex index; NavigationGridIndex parent; @@ -22,6 +23,7 @@ namespace SHADE uint32_t f; }; + class SH_API SHNavigationSystem final: public SHSystem { private: @@ -46,21 +48,22 @@ namespace SHADE SHVec2 GetGridSize() noexcept; uint16_t GetIndex(uint16_t row, uint16_t col) noexcept; - void GeneratePath(SHNavigationComponent& comp) noexcept; + uint32_t HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept; //TO DO - bool AddNodeToOpenList(NavigationNode node, std::list& openList, std::unordered_map& closedList) noexcept; - + bool AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList) noexcept; + void UpdateNavigationComponent(SHNavigationComponent& comp) noexcept; + SHVec3 GetGridWorldPos(NavigationGridIndex index) noexcept; public: SHNavigationSystem() = default; virtual ~SHNavigationSystem() = default; - void Init(); - void Exit(); + virtual void Init(); + virtual void Exit(); - void SaveNavigationData() noexcept; + void GenerateNavigationGridData(SHVec3 origin, SHVec3 size, uint16_t numRow, uint16_t numCol) noexcept; - + void GeneratePath(SHNavigationComponent& comp) noexcept; bool GetNavigationData(uint16_t row, uint16_t col) noexcept; bool GetNavigationData(NavigationGridIndex index) noexcept; @@ -78,6 +81,15 @@ namespace SHADE }; friend class NavigationSystemGenerateRoutine; + class SH_API UpdateNavigationRoutine final: public SHSystemRoutine + { + public: + UpdateNavigationRoutine() : SHSystemRoutine("Update Navigation Routine", false) {}; + virtual void Execute(double dt)noexcept override final; + }; + friend class UpdateNavigationRoutine; + + }; diff --git a/SHADE_Engine/src/Serialization/SHSerialization.cpp b/SHADE_Engine/src/Serialization/SHSerialization.cpp index 8dec9ad6..842c0c4e 100644 --- a/SHADE_Engine/src/Serialization/SHSerialization.cpp +++ b/SHADE_Engine/src/Serialization/SHSerialization.cpp @@ -243,6 +243,8 @@ namespace SHADE AddComponentToComponentNode(components, eid); AddComponentToComponentNode(components, eid); + AddComponentToComponentNode(components, eid); + AddComponentToComponentNode(components, eid); AddComponentToComponentNode(components, eid); AddComponentToComponentNode(components, eid); @@ -306,6 +308,9 @@ namespace SHADE AddComponentID(componentIDList, componentsNode); AddComponentID(componentIDList, componentsNode); AddComponentID(componentIDList, componentsNode); + + AddComponentID(componentIDList, componentsNode); + AddComponentID(componentIDList, componentsNode); AddComponentID(componentIDList, componentsNode); AddComponentID(componentIDList, componentsNode); @@ -394,6 +399,9 @@ namespace SHADE SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); + + SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); + SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); SHSerializationHelper::InitializeComponentFromNode(componentsNode, eid); diff --git a/SHADE_Managed/src/Components/Navigation.cxx b/SHADE_Managed/src/Components/Navigation.cxx new file mode 100644 index 00000000..3bc3200d --- /dev/null +++ b/SHADE_Managed/src/Components/Navigation.cxx @@ -0,0 +1,58 @@ +#include "SHpch.h" + +#include "Navigation.hxx" +#include "ECS_Base/Managers/SHSystemManager.h" +#include "Navigation/SHNavigationSystem.h" + +namespace SHADE +{ + Navigation::Navigation(Entity entity) + :Component(entity) + { + + } + + float Navigation::Threshold::get() + { + return GetNativeComponent()->threshold; + } + + void Navigation::Threshold::set(float val) + { + GetNativeComponent()->threshold = val; + } + + Vector3 Navigation::Target::get() + { + return Convert::ToCLI(GetNativeComponent()->GetTarget()); + } + + void Navigation::Target::set(Vector3 val) + { + GetNativeComponent()->SetTarget(Convert::ToNative(val)); + } + + + Vector3 Navigation::GetForward() + { + return Convert::ToCLI(GetNativeComponent()->GetForward()); + } + + bool Navigation::GetUnreachableTarget() + { + return GetNativeComponent()->GetUnreachableTarget(); + } + + void Navigation::MoveTo(Vector3 val) + { + GetNativeComponent()->SetTarget(Convert::ToNative(val)); + auto system = SHSystemManager::GetSystem(); + if (system) + { + system->GeneratePath(*GetNativeComponent()); + } + + } + + +} diff --git a/SHADE_Managed/src/Components/Navigation.hxx b/SHADE_Managed/src/Components/Navigation.hxx new file mode 100644 index 00000000..eccf93dc --- /dev/null +++ b/SHADE_Managed/src/Components/Navigation.hxx @@ -0,0 +1,35 @@ +#pragma once + +#include "Components/Component.hxx" +#include "Math/Vector3.hxx" + +//External Dependencies +#include "Navigation/SHNavigationComponent.h" + +namespace SHADE +{ + public ref class Navigation : public Component + { + internal: + Navigation(Entity entity); + + public: + property float Threshold + { + float get(); + void set(float val); + } + property Vector3 Target + { + Vector3 get(); + void set(Vector3 val); + } + + Vector3 GetForward(); + bool GetUnreachableTarget(); + + void MoveTo(Vector3 val); + + + }; +} diff --git a/SHADE_Managed/src/Engine/ECS.cxx b/SHADE_Managed/src/Engine/ECS.cxx index 38138be6..f29dd2ac 100644 --- a/SHADE_Managed/src/Engine/ECS.cxx +++ b/SHADE_Managed/src/Engine/ECS.cxx @@ -52,7 +52,7 @@ of DigiPen Institute of Technology is prohibited. #include "Components\TrajectoryRenderable.hxx" #include "Components\Animator.hxx" #include "Components\ParticleEmitter.hxx" - +#include "Components\Navigation.hxx" namespace SHADE @@ -344,6 +344,7 @@ namespace SHADE componentMap.Add(createComponentSet()); componentMap.Add(createComponentSet()); componentMap.Add(createComponentSet()); + componentMap.Add(createComponentSet()); } /*---------------------------------------------------------------------------------*/ From 9dd180c1e6e887779ebb2e2855383543a2bb5824 Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Fri, 24 Mar 2023 07:41:05 +0800 Subject: [PATCH 4/6] Fix for when end point is unreachable. Find closest reachable point --- Assets/Scenes/NavigationTest.shade | 6 +- .../AIBehaviour/AIRework/BaseState.cs | 38 +++++++++ .../AIBehaviour/AIRework/BaseState.cs.shmeta | 3 + .../AIBehaviour/AIRework/HomeOwnerAI.cs | 17 ++++ .../AIRework/HomeOwnerAI.cs.shmeta | 3 + .../AIRework/NavigationTestScript.cs | 25 ++++-- .../AIBehaviour/AIRework/StateMachine.cs | 80 +++++++++++++++++++ .../AIRework/StateMachine.cs.shmeta | 3 + .../AIBehaviour/AIRework/States/IdleState.cs | 27 +++++++ .../AIRework/States/IdleState.cs.shmeta | 3 + .../src/Navigation/SHNavigationSystem.cpp | 33 +++++--- 11 files changed, 219 insertions(+), 19 deletions(-) create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs.shmeta diff --git a/Assets/Scenes/NavigationTest.shade b/Assets/Scenes/NavigationTest.shade index 454f56a2..c4f5a3aa 100644 --- a/Assets/Scenes/NavigationTest.shade +++ b/Assets/Scenes/NavigationTest.shade @@ -261,7 +261,7 @@ NumberOfChildren: 0 Components: Transform Component: - Translate: {x: 8.5, y: -1, z: -8.20610714} + Translate: {x: 8.5, y: -1, z: -6.41661787} Rotate: {x: -0, y: 0, z: -0} Scale: {x: 5, y: 5, z: 5} IsActive: true @@ -274,7 +274,7 @@ Forward: {x: 0, y: 0, z: 0} Recalculate Path: true Unreachable Target: false - Acceptance threshold: 0.100000001 + Acceptance threshold: 1 IsActive: true Scripts: - Type: SHADE_Scripting.Gameplay.AIBehaviour.AIRework.NavigationTestScript @@ -287,7 +287,7 @@ NumberOfChildren: 0 Components: Transform Component: - Translate: {x: -0.940230131, y: -1, z: -2.05140448} + Translate: {x: -0.853474855, y: -1, z: 0.354041398} Rotate: {x: -0, y: 0, z: -0} Scale: {x: 5, y: 5, z: 5} IsActive: true diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs new file mode 100644 index 00000000..22595f56 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs @@ -0,0 +1,38 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public abstract class BaseState + { + protected string stateName = "Base State"; + protected StateMachine machine; + + protected BaseState(StateMachine stateMachine) + { + machine = stateMachine; + } + + public virtual void OnEnter() + { + + } + + public abstract void Update(); + + public virtual void OnExit() + { + + } + + + public string GetStateName() + { + return stateName; + } + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs.shmeta new file mode 100644 index 00000000..a0d4e7c8 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs.shmeta @@ -0,0 +1,3 @@ +Name: BaseState +ID: 167091082 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs new file mode 100644 index 00000000..6e756a78 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs @@ -0,0 +1,17 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public class HomeOwnerAI:Script + { + + + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs.shmeta new file mode 100644 index 00000000..354ae816 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs.shmeta @@ -0,0 +1,3 @@ +Name: HomeOwnerAI +ID: 162553450 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs index c8687820..4dde63d7 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs @@ -4,30 +4,45 @@ using System.Linq; using System.Text; using System.Threading.Tasks; using SHADE; -using static System.IO.Enumeration.FileSystemEnumerable; namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework { + + + public class NavigationTestScript :Script { public GameObject endPoint; public float speed = 1.0f; + float timer = 0.0f; protected override void start() { - + + Navigation nav = GetComponent(); + Transform endTransform = endPoint.GetComponent(); + if (endTransform) + nav.MoveTo(endTransform.GlobalPosition); } protected override void update() { + timer += Time.DeltaTimeF; Navigation nav = GetComponent(); Transform transform = GetComponent(); + if (timer >= 1.0f) + { + timer = 0.0f; + + Transform endTransform = endPoint.GetComponent(); + if (endTransform) + nav.MoveTo(endTransform.GlobalPosition); + } + + if (nav && transform) { - Transform endTransform = endPoint.GetComponent(); - if(endTransform) - nav.MoveTo(endTransform.GlobalPosition); transform.LocalPosition = transform.LocalPosition + ( nav.GetForward() * Time.DeltaTimeF * speed); } diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs new file mode 100644 index 00000000..07600772 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs @@ -0,0 +1,80 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public class StateMachine: Script + { + private Dictionary stateDictionary; + public BaseState currentState = null; + public string currentStateName; + + public void InitStateMachine(Dictionary dictionary) + { + stateDictionary = dictionary; + currentState = stateDictionary.First().Value; + currentStateName = currentState.GetStateName(); + currentState.OnEnter(); + } + + public bool HasState(Type type) + { + if(!type.IsSubclassOf(typeof(BaseState))) + { + return false; + } + else + { + return stateDictionary.ContainsKey(type); + } + } + public void SetState(Type type) + { + if (!type.IsSubclassOf(typeof(BaseState))) + { + return; + } + + + if (stateDictionary.ContainsKey(type)) + { + currentState.OnExit(); + currentState = stateDictionary[type]; + currentState.OnEnter(); + } + else + { + SetState(stateDictionary.First().Key); + } + } + + public BaseState GetState(Type type) + { + if (!stateDictionary.ContainsKey(type)) + return null; + + return stateDictionary[type]; + } + + protected override void update() + { + if(currentState != null) + { + currentStateName = currentState.GetStateName().ToString(); + currentState.Update(); + } + } + + public bool IsState(Type type) + { + return (currentState.GetType() == type); + } + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs.shmeta new file mode 100644 index 00000000..a36b2ec9 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs.shmeta @@ -0,0 +1,3 @@ +Name: StateMachine +ID: 165140157 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs new file mode 100644 index 00000000..438a585c --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs @@ -0,0 +1,27 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public class IdleState: BaseState + { + + float idleDuration = 1.0f; + + public IdleState(StateMachine machine, float idleDuration): base(machine) + { + stateName = "Idle State"; + } + + + public override void Update() + { + + } + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs.shmeta new file mode 100644 index 00000000..93dcc589 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs.shmeta @@ -0,0 +1,3 @@ +Name: IdleState +ID: 164902316 +Type: 9 diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp index 56778771..38457ba5 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp @@ -337,13 +337,13 @@ namespace SHADE //Check if ending position is set to true in navigation data. NavigationGridIndex endIndex = GetNavigationGridIndex(comp.target); - if (GetNavigationData(endIndex) == true) - { - //Target position is unreachable. - SHLOG_WARNING("Navigation System: GeneratePath() target position is unreachable EID: {}", comp.GetEID()) - comp.unreachableTarget = true; - return; - } + //if (GetNavigationData(endIndex) == true) + //{ + // //Target position is unreachable. + // SHLOG_WARNING("Navigation System: GeneratePath() target position is unreachable EID: {}", comp.GetEID()) + // comp.unreachableTarget = true; + // return; + //} auto transform = SHComponentManager::GetComponent(comp.GetEID()); @@ -352,7 +352,7 @@ namespace SHADE startingNode.parent.row = NullGridIndex; startingNode.parent.column = NullGridIndex; - startingNode.h = 0; + startingNode.h = std::numeric_limits::max(); startingNode.g = 0; startingNode.f = 0; @@ -516,9 +516,20 @@ namespace SHADE //Check if there is a path. if (endNode.g == std::numeric_limits::max() || endNode.h == std::numeric_limits::max() || endNode.f == std::numeric_limits::max()) { - SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID()) - comp.unreachableTarget = true; - return; + //SHLOG_WARNING("Navigation System: End Node not found after running through algo EID: {}", comp.GetEID()) + //comp.unreachableTarget = true; + uint32_t lowestH = std::numeric_limits::max(); + + for (std::map::iterator it = closedList.begin(); it != closedList.end(); ++it) + { + if (it->second.h < lowestH) + { + lowestH = it->second.h; + endNode = (it->second); + } + } + + //return; } From b32dba06947788bcd0e4a523dfadbe6175e65f12 Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Fri, 24 Mar 2023 13:26:18 +0800 Subject: [PATCH 5/6] basic FSM --- Assets/CollisionTags.SHConfig | 10 +- Assets/Scenes/Level2_AITest.shade | 15029 ++++++++++++++++ Assets/Scenes/Level2_AITest.shade.shmeta | 3 + .../AIBehaviour/AIRework/AILineOfSight.cs | 107 + .../AIRework/AILineOfSight.cs.shmeta | 3 + .../AIBehaviour/AIRework/BaseState.cs | 38 - .../AIBehaviour/AIRework/HomeOwnerAI.cs | 80 + .../AIRework/NavigationTestScript.cs | 2 +- .../AIBehaviour/AIRework/RotateToVelocity.cs | 40 + .../AIRework/RotateToVelocity.cs.shmeta | 3 + .../AIBehaviour/AIRework/StateMachine.cs | 80 - .../AIRework/States/AIBaseState.cs | 22 + .../AIRework/States/AIBaseState.cs.shmeta | 3 + .../AIBehaviour/AIRework/States/AlertState.cs | 42 + .../AIRework/States/AlertState.cs.shmeta | 3 + .../AIBehaviour/AIRework/States/ChaseState.cs | 77 + .../AIRework/States/ChaseState.cs.shmeta | 3 + .../AIBehaviour/AIRework/States/IdleState.cs | 30 +- .../AIRework/States/PatrolState.cs | 88 + .../AIRework/States/PatrolState.cs.shmeta | 3 + .../AIRework/States/TimeoutState.cs | 47 + .../AIRework/States/TimeoutState.cs.shmeta | 3 + .../src/Navigation/SHNavigationComponent.cpp | 8 +- .../src/Navigation/SHNavigationComponent.h | 6 +- .../src/Navigation/SHNavigationSystem.cpp | 80 +- .../src/Navigation/SHNavigationSystem.h | 2 +- SHADE_Engine/src/Scene/SHSceneGraph.cpp | 2 +- SHADE_Managed/src/Components/Navigation.cxx | 5 + SHADE_Managed/src/Components/Navigation.hxx | 5 +- 29 files changed, 15676 insertions(+), 148 deletions(-) create mode 100644 Assets/Scenes/Level2_AITest.shade create mode 100644 Assets/Scenes/Level2_AITest.shade.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs.shmeta delete mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs.shmeta delete mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs.shmeta create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs create mode 100644 Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs.shmeta diff --git a/Assets/CollisionTags.SHConfig b/Assets/CollisionTags.SHConfig index d662b247..7da4b88d 100644 --- a/Assets/CollisionTags.SHConfig +++ b/Assets/CollisionTags.SHConfig @@ -1,13 +1,13 @@ -0 StaticObject 1100000000000000 -1 Player 1100000000000000 +0 StaticObject 1101000000000000 +1 Player 1101000000000000 2 Food 1000000000000000 3 Breakable 1100000000000000 4 ScoringWallCollider 0110000000000000 5 Homeowner 1100000000000000 6 Camera 0010000000000000 -7 StaticWithCameraCollision 1110000000000000 -8 9 0000000000000000 -9 10 0000000000000000 +7 StaticWithCameraCollision 1111000000000000 +8 Floor 1100000000000000 +9 Navigation 0001000000000000 10 11 0000000000000000 11 12 0000000000000000 12 13 0000000000000000 diff --git a/Assets/Scenes/Level2_AITest.shade b/Assets/Scenes/Level2_AITest.shade new file mode 100644 index 00000000..d9bca4e7 --- /dev/null +++ b/Assets/Scenes/Level2_AITest.shade @@ -0,0 +1,15029 @@ +- EID: 20 + Name: ===== Light ===== + IsActive: true + NumberOfChildren: 3 + Components: ~ + Scripts: ~ +- EID: 296 + Name: Light_Directional + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 0} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Light Component: + Position: {x: 0, y: 0, z: 0} + Type: Directional + Direction: {x: 15, y: -90, z: 15} + Color: {x: 1, y: 1, z: 1, w: 1} + Layer: 4294967295 + Strength: 1 + Casting Shadows: false + IsActive: true + Scripts: ~ +- EID: 5 + Name: Light_Ambient + IsActive: true + NumberOfChildren: 0 + Components: + Light Component: + Position: {x: 0, y: 0, z: 0} + Type: Ambient + Direction: {x: 0, y: 0, z: 1} + Color: {x: 0.901608765, y: 0.867841423, z: 1, w: 1} + Layer: 4294967295 + Strength: 0.699999988 + Casting Shadows: false + IsActive: true + Scripts: ~ +- EID: 65674 + Name: Light_Directional + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0.236000001, y: 1.56757355, z: -6.07086945} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Light Component: + Position: {x: 2, y: 1.5, z: -5.5999999} + Type: Directional + Direction: {x: -0.0780000016, y: 0.159999996, z: -1} + Color: {x: 0, y: 0, z: 0, w: 1} + Layer: 4294967295 + Strength: 1 + Casting Shadows: true + IsActive: true + Scripts: ~ +- EID: 240 + Name: ====ItemPool==== + IsActive: true + NumberOfChildren: 31 + Components: ~ + Scripts: ~ +- EID: 241 + Name: Mesh_Meat + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4.29928255, y: 1.04368806, z: 3.10842299} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 136892700 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.300000012, y: 0.300000012, z: 0.300000012} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 50 + currCategory: 1 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 157 + Name: Mesh_Meat + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4.0829463, y: 1.37235689, z: -4.4815464} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 136892700 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.300000012, y: 0.300000012, z: 0.300000012} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 50 + currCategory: 1 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 155 + Name: Mesh_Cheese + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4.43617487, y: 1.15123272, z: 4.36190414} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 141841143 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.5, y: 0.150000006, z: 0.5} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 500 + currCategory: 2 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 100 + highlightLowerClamp: 0.25 +- EID: 154 + Name: Mesh_Cheese + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 3.36943603, y: 1.43484139, z: -3.52366042} + Rotate: {x: 0.266221136, y: 0, z: 0} + Scale: {x: 1, y: 0.999999166, z: 0.999999166} + IsActive: true + Renderable Component: + Mesh: 141841143 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.5, y: 0.150000006, z: 0.5} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 500 + currCategory: 2 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 100 + highlightLowerClamp: 0.25 +- EID: 65778 + Name: Mesh_Apple + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4.24789906, y: 0.931104183, z: 2.13486958} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 144128170 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.200000003, y: 0.200000003, z: 0.200000003} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 10 + currCategory: 0 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 152 + Name: Mesh_Apple + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4.5356307, y: 0.850251734, z: 4.42769098} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 144128170 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.200000003, y: 0.200000003, z: 0.200000003} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 10 + currCategory: 0 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 151 + Name: Mesh_Apple + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2.47161412, y: 0.949428797, z: -4.23114157} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 144128170 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Box + Half Extents: {x: 0.200000003, y: 0.200000003, z: 0.200000003} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Item + Enabled: true + Score: 10 + currCategory: 0 + density: 1 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 144 + Name: Egg + IsActive: true + NumberOfChildren: 4 + Components: + Transform Component: + Translate: {x: 0.199520111, y: 1.25556076, z: 1.23466492} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 0.999979734, y: 1, z: 0.999979734} + IsActive: true + Renderable Component: + Mesh: 147457317 + Material: 122370915 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 2 + Type: Sphere + Radius: 0.200000003 + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Breakable + Enabled: true + threshHold: 0.5 + ignoreRaccoon: true + breakClipHandlerName: SFXEggBreak144 + breakClipPath: event:/Props/impact_egg + - Type: Item + Enabled: true + Score: 10 + currCategory: 0 + density: 2 + dontReturn: false + soundDistance: 10 + highlightSpeed: 300 + highlightThickness: 250 + highlightLowerClamp: 0.25 +- EID: 143 + Name: Piece1 + IsActive: false + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0.0224030018, y: 0.0607728958, z: -0.00627422333} + Rotate: {x: 0, y: 3.6088712e-09, z: 1.97286229e-16} + Scale: {x: 1, y: 1, z: 1} + IsActive: false + Renderable Component: + Mesh: 134900190 + Material: 131956078 + IsActive: false + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: false + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 3 + Type: Box + Half Extents: {x: 0.0500000007, y: 0.0500000007, z: 0.0500000007} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0.164060935, y: 0, z: 0} + IsActive: false + Scripts: ~ +- EID: 142 + Name: Piece2 + IsActive: false + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -0.00627422333, y: 0.0337567925, z: -0.00243234634} + Rotate: {x: 0, y: 3.6088712e-09, z: 1.97286229e-16} + Scale: {x: 1, y: 1, z: 1} + IsActive: false + Renderable Component: + Mesh: 146271645 + Material: 131956078 + IsActive: false + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: false + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 3 + Type: Box + Half Extents: {x: 0.0500000007, y: 0.0500000007, z: 0.0500000007} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: -0.34906584} + IsActive: false + Scripts: ~ +- EID: 141 + Name: Piece3 + IsActive: false + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -0.0166685581, y: -0.0367090404, z: 0.0114421844} + Rotate: {x: 0, y: 3.6088712e-09, z: 1.97286229e-16} + Scale: {x: 1, y: 1, z: 1} + IsActive: false + Renderable Component: + Mesh: 135945648 + Material: 131956078 + IsActive: false + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: false + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 3 + Type: Box + Half Extents: {x: 0.0500000007, y: 0.0500000007, z: 0.0500000007} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: -0.261799395} + IsActive: false + Scripts: ~ +- EID: 140 + Name: Piece4 + IsActive: false + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0.020128727, y: -0.0155199468, z: -0.0045747757} + Rotate: {x: 0, y: 3.6088712e-09, z: 1.97286229e-16} + Scale: {x: 1, y: 1, z: 1} + IsActive: false + Renderable Component: + Mesh: 141722646 + Material: 131956078 + IsActive: false + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.100000001 + Gravity Scale: 1 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: false + Freeze Rotation Y: false + Freeze Rotation Z: false + IsActive: false + Collider Component: + Colliders: + - Is Trigger: false + Collision Tag: 3 + Type: Box + Half Extents: {x: 0.0500000007, y: 0.0500000007, z: 0.0500000007} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0, z: 0} + Rotation Offset: {x: 0, y: 0, z: -1.04719758} + IsActive: false + Scripts: ~ +- EID: 66006 + Name: Mesh_Meat + IsActive: true + NumberOfChildren: 0 + 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true + Scripts: + - Type: FixRotation + Enabled: true +- EID: 568 + Name: Score BG + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -770, y: 425, z: 59.9999962} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 345.600006, y: 200, z: 60} + IsActive: true + Renderable Component: + Mesh: 141771688 + Material: 127527215 + IsActive: true + UI Component: + Canvas ID: 131271 + Hovered: false + Clicked: false + IsActive: true + Scripts: ~ \ No newline at end of file diff --git a/Assets/Scenes/Level2_AITest.shade.shmeta b/Assets/Scenes/Level2_AITest.shade.shmeta new file mode 100644 index 00000000..4031e617 --- /dev/null +++ b/Assets/Scenes/Level2_AITest.shade.shmeta @@ -0,0 +1,3 @@ +Name: Level2_AITest +ID: 86300248 +Type: 5 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs new file mode 100644 index 00000000..c95add93 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs @@ -0,0 +1,107 @@ +using SHADE; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public class AILineOfSight:Script + { + public GameObject player; + + public float range = 2.0f; + [Tooltip("Angle between player and forward to be within sight")] + public float angle = 30.0f; + + [Tooltip("For debug")] + public float angleBetween = 0.0f; + + [Tooltip("For debug")] + public float distance = 0.0f; + + public float heightLimit = 1.0f; + + public Vector3 rayOffset; + + + public bool withinRange; + public bool withinSight; + + + public Vector3 lastFoundPos; + public float lastFoundTimer = 0.0f; + + protected override void update() + { + if (player == GameObject.Null) + return; + + Transform transform = GetComponent(); + Transform playerTransform = player.GetComponent(); + Collider playerCollider = player.GetComponent(); + + withinRange = false; + withinSight = false; + + + if(transform && playerTransform && playerCollider) + { + Vector3 pos = transform.GlobalPosition + rayOffset; + Vector3 playerPos = playerTransform.GlobalPosition ; + Vector3 d = playerPos - pos; + distance = d.GetMagnitude(); + if(distance < range) + { + Vector3 fwdHorizontal = transform.Forward; + fwdHorizontal.y = 0; + fwdHorizontal.Normalise(); + + Vector3 dHorizontal = d; + dHorizontal.y = 0; + + + float dot = Vector3.Dot(fwdHorizontal, dHorizontal); + angleBetween = SHADE.Math.Rad2Deg * MathF.Acos(dot / (dHorizontal.GetMagnitude())); + if (angleBetween < angle && playerPos.y < pos.y + heightLimit) + { + withinRange = true; + withinSight = true; + Ray sightRay = new Ray(pos, d.GetNormalised()); + List hitResults = Physics.Raycast(sightRay, distance,false, (ushort)65535); + + foreach(RaycastHit hit in hitResults) + { + if (hit.Hit && hit.Other != player) + { + Debug.Log("AI LOS: HIT OTHER"); + withinSight = false; + break; + } + } + } + } + + if (withinSight == true) + { + lastFoundPos = playerTransform.GlobalPosition; + lastFoundTimer = 0.0f; + } + else + { + lastFoundTimer += Time.DeltaTimeF; + } + + } + + + + + + } + + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs.shmeta new file mode 100644 index 00000000..9139aeb5 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/AILineOfSight.cs.shmeta @@ -0,0 +1,3 @@ +Name: AILineOfSight +ID: 152074687 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs deleted file mode 100644 index 22595f56..00000000 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/BaseState.cs +++ /dev/null @@ -1,38 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using SHADE; - -namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework -{ - public abstract class BaseState - { - protected string stateName = "Base State"; - protected StateMachine machine; - - protected BaseState(StateMachine stateMachine) - { - machine = stateMachine; - } - - public virtual void OnEnter() - { - - } - - public abstract void Update(); - - public virtual void OnExit() - { - - } - - - public string GetStateName() - { - return stateName; - } - } -} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs index 6e756a78..02c00e03 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs @@ -1,17 +1,97 @@ using System; using System.Collections.Generic; using System.Linq; +using System.Net; +using System.Reflection.PortableExecutable; using System.Text; using System.Threading.Tasks; using SHADE; +using SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States; namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework { public class HomeOwnerAI:Script { + public float idleDuration = 1.0f; + public float timeoutDuration = 2.0f; + public GameObject patrolPointParent; + + public float patrolSpeed = 2.0f; + public float chaseSpeed = 3.0f; + + public float alertCooldown = 0.0f; + + public GameObject player; + [NonSerialized] + public IEnumerable patrolPointPool; + + + protected override void awake() + { + StateMachine machine = GetScript(); + if(machine) + { + Dictionary dictionary = new Dictionary(); + dictionary.Add(typeof(IdleState), new IdleState(machine)); + dictionary.Add(typeof(PatrolState), new PatrolState(machine)); + dictionary.Add(typeof(TimeoutState), new TimeoutState(machine)); + dictionary.Add(typeof(ChaseState), new ChaseState(machine)); + dictionary.Add(typeof(AlertState), new AlertState(machine)); + + machine.InitStateMachine(dictionary); + } + + patrolPointPool = patrolPointParent.GetComponentsInChildren(); + + + } + + + protected override void update() + { + if(alertCooldown > 0.0f) + { + alertCooldown -= Time.DeltaTimeF; + } + else + { + alertCooldown = 0.0f; + } + } + + public bool ShouldTransitAlert() + { + AILineOfSight los = GetScript(); + if (los) + { + if (los.withinSight && alertCooldown <= 0.0f) + { + return true; + } + } + return false; + } + + public void RotateToPlayer() + { + + Transform playerTransform = player.GetComponent(); + + //Rotate to face player. + Transform aiTransform = GetComponent(); + if(playerTransform && aiTransform) + { + Vector3 direction = playerTransform.GlobalPosition - aiTransform.GlobalPosition; + Quaternion currentRotation = aiTransform.LocalRotation; + Quaternion targetRotation = Quaternion.Euler(0.0f, MathF.Atan2(direction.x, direction.z), 0.0f); + aiTransform.LocalRotation = Quaternion.Slerp(currentRotation, targetRotation, 5.0f * (float)Time.FixedDeltaTime); + } + + } + } } diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs index 4dde63d7..602f75f3 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/NavigationTestScript.cs @@ -44,7 +44,7 @@ namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework if (nav && transform) { transform.LocalPosition = transform.LocalPosition + ( nav.GetForward() * Time.DeltaTimeF * speed); - + } } diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs new file mode 100644 index 00000000..a8e37d1e --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs @@ -0,0 +1,40 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework +{ + public class RotateToVelocity : Script + { + public float rotationPerSecond = 5.0f; + + protected override void update() + { + RigidBody rigid = GetComponent(); + Transform transform = GetComponent(); + + if(rigid && transform) + { + Vector3 vel = rigid.LinearVelocity; + + if(vel.GetSqrMagnitude() > 1.0f) + { + Quaternion currentRotation = transform.LocalRotation; + Quaternion targetRotation = Quaternion.Euler(0.0f, MathF.Atan2(vel.x, vel.z), 0.0f); + transform.LocalRotation = Quaternion.Slerp(currentRotation, targetRotation, rotationPerSecond * (float)Time.FixedDeltaTime); + } + + + } + + + + } + + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs.shmeta new file mode 100644 index 00000000..62de13a7 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs.shmeta @@ -0,0 +1,3 @@ +Name: RotateToVelocity +ID: 163814533 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs deleted file mode 100644 index 07600772..00000000 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/StateMachine.cs +++ /dev/null @@ -1,80 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using SHADE; - - -namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework -{ - public class StateMachine: Script - { - private Dictionary stateDictionary; - public BaseState currentState = null; - public string currentStateName; - - public void InitStateMachine(Dictionary dictionary) - { - stateDictionary = dictionary; - currentState = stateDictionary.First().Value; - currentStateName = currentState.GetStateName(); - currentState.OnEnter(); - } - - public bool HasState(Type type) - { - if(!type.IsSubclassOf(typeof(BaseState))) - { - return false; - } - else - { - return stateDictionary.ContainsKey(type); - } - } - public void SetState(Type type) - { - if (!type.IsSubclassOf(typeof(BaseState))) - { - return; - } - - - if (stateDictionary.ContainsKey(type)) - { - currentState.OnExit(); - currentState = stateDictionary[type]; - currentState.OnEnter(); - } - else - { - SetState(stateDictionary.First().Key); - } - } - - public BaseState GetState(Type type) - { - if (!stateDictionary.ContainsKey(type)) - return null; - - return stateDictionary[type]; - } - - protected override void update() - { - if(currentState != null) - { - currentStateName = currentState.GetStateName().ToString(); - currentState.Update(); - } - } - - public bool IsState(Type type) - { - return (currentState.GetType() == type); - } - - - } -} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs new file mode 100644 index 00000000..bf1dd730 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs @@ -0,0 +1,22 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public abstract class AIBaseState: BaseState + { + + protected HomeOwnerAI ai; + + public AIBaseState(StateMachine stateMachine): base(stateMachine, "") + { + stateName = "AI Base State"; + ai = stateMachine.GetScript(); + } + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs.shmeta new file mode 100644 index 00000000..d9a09efc --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AIBaseState.cs.shmeta @@ -0,0 +1,3 @@ +Name: AIBaseState +ID: 160233845 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs new file mode 100644 index 00000000..16379b34 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs @@ -0,0 +1,42 @@ +using SHADE; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public class AlertState: AIBaseState + { + const float alertDuration = 2.0f; + float alertTimer = alertDuration; + + + public AlertState(StateMachine machine): base(machine) + { + stateName = "Alert"; + } + + public override void OnEnter() + { + alertTimer = alertDuration; + } + + public override void update() + { + alertTimer -= Time.DeltaTimeF; + if (alertTimer <= 0.0f) + { + machine.SetState(typeof(ChaseState)); + } + } + + + public override void fixedUpdate() + { + + } + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs.shmeta new file mode 100644 index 00000000..23df2d8b --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/AlertState.cs.shmeta @@ -0,0 +1,3 @@ +Name: AlertState +ID: 159828775 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs new file mode 100644 index 00000000..c54f64d0 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs @@ -0,0 +1,77 @@ +using SHADE; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public class ChaseState :AIBaseState + { + + float giveUpDuration = 10.0f; + float giveUpTimer = 0.0f; + + + public ChaseState(StateMachine machine): base(machine) + { + stateName = "Chase"; + } + + public override void OnEnter() + { + giveUpTimer = giveUpDuration; + } + + public override void update() + { + Navigation nav = machine.GetComponent(); + AILineOfSight los = ai.GetScript(); + if(los && nav) + { + Transform playerTransform = los.player.GetComponent(); + if (los.withinSight) + { + nav.MoveTo(playerTransform.GlobalPosition); + } + else + { + nav.MoveTo(los.lastFoundPos); + giveUpTimer -= Time.DeltaTimeF; + } + if(los.lastFoundTimer>= 10.0f || giveUpTimer <= 0.0f) + { + machine.SetState(typeof(TimeoutState)); + } + + RigidBody rigid = machine.GetComponent(); + if(rigid) + { + if (los.withinSight) + rigid.LinearVelocity = nav.GetForward() * ai.chaseSpeed; + else + rigid.LinearVelocity = nav.GetForward() * ai.patrolSpeed; + } + + if(nav.ReachedTarget()) + { + giveUpTimer -= Time.DeltaTimeF; + + ai.RotateToPlayer(); + + + } + + } + + } + + public override void fixedUpdate() + { + + } + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs.shmeta new file mode 100644 index 00000000..63a87708 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/ChaseState.cs.shmeta @@ -0,0 +1,3 @@ +Name: ChaseState +ID: 166357249 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs index 438a585c..027192b7 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/IdleState.cs @@ -7,18 +7,38 @@ using SHADE; namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States { - public class IdleState: BaseState + public class IdleState: AIBaseState { - float idleDuration = 1.0f; + float timer = 0.0f; - public IdleState(StateMachine machine, float idleDuration): base(machine) + + + public IdleState(StateMachine machine): base(machine) { - stateName = "Idle State"; + stateName = "Idle"; } - public override void Update() + public override void OnEnter() + { + timer = 0.0f; + } + + public override void update() + { + timer += Time.DeltaTimeF; + if(timer >= ai.idleDuration) + { + machine.SetState(typeof(PatrolState)); + } + if(ai.ShouldTransitAlert()) + { + machine.SetState(typeof(AlertState)); + } + } + + public override void fixedUpdate() { } diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs new file mode 100644 index 00000000..5724b5eb --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs @@ -0,0 +1,88 @@ +using SHADE; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public class PatrolState: AIBaseState + { + + Random rand; + Vector3 lastFramePos; + + float stuckTimer ; + + + public PatrolState(StateMachine machine) : base(machine) + { + stateName = "Patrol"; + rand = new Random(); + } + + public override void OnEnter() + { + Navigation nav = machine.GetComponent(); + Transform transform = machine.GetComponent(); + if (nav && transform) + { + + int index = rand.Next(0, ai.patrolPointPool.Count() - 1); + Transform dest = ai.patrolPointPool.ElementAt(index); + if (dest) + { + nav.MoveTo(dest.GlobalPosition); + Debug.Log("Moving to" + dest.GlobalPosition.ToString()); + } + + lastFramePos = transform.GlobalPosition; + + stuckTimer = 0.0f; + + } + } + + public override void update() + { + Navigation nav = machine.GetComponent(); + Transform transform = machine.GetComponent(); + RigidBody rigid = machine.GetComponent(); + if(nav && transform && rigid) + { + rigid.LinearVelocity = nav.GetForward() * ai.patrolSpeed; + Vector3 d = lastFramePos - transform.GlobalPosition; + if (d.GetSqrMagnitude() < 0.001f) + { + stuckTimer += Time.DeltaTimeF; + } + + + if (nav.ReachedTarget()) + { + machine.SetState(typeof(IdleState)); + } + lastFramePos = transform.GlobalPosition; + + } + if(stuckTimer >= 0.5f) + { + machine.SetState(typeof(IdleState)); + } + + if (ai.ShouldTransitAlert()) + { + machine.SetState(typeof(AlertState)); + } + + + } + + public override void fixedUpdate() + { + } + + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs.shmeta new file mode 100644 index 00000000..90467f52 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/PatrolState.cs.shmeta @@ -0,0 +1,3 @@ +Name: PatrolState +ID: 155844701 +Type: 9 diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs new file mode 100644 index 00000000..fd3d1516 --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs @@ -0,0 +1,47 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using SHADE; + +namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework.States +{ + public class TimeoutState : AIBaseState + { + float timer = 0.0f; + float alertCooldown = 10.0f; + + public TimeoutState(StateMachine machine) : base(machine) + { + stateName = "Timeout"; + } + + + public override void OnEnter() + { + timer = 0.0f; + } + + public override void update() + { + timer += Time.DeltaTimeF; + if (timer >= ai.timeoutDuration) + { + machine.SetState(typeof(PatrolState)); + } + + } + + public override void fixedUpdate() + { + + } + + public override void OnExit() + { + ai.alertCooldown = alertCooldown; + } + + } +} diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs.shmeta b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs.shmeta new file mode 100644 index 00000000..c971fd5c --- /dev/null +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/States/TimeoutState.cs.shmeta @@ -0,0 +1,3 @@ +Name: TimeoutState +ID: 167077719 +Type: 9 diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp index c50949ec..1d33057c 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.cpp @@ -8,7 +8,7 @@ namespace SHADE SHNavigationComponent::SHNavigationComponent() - :target{ 0.0f }, path{}, threshold{ 0.1f }, recalculatePath{ false }, unreachableTarget{ false }, forward{0.0f} + :target{ 0.0f }, path{}, threshold{ 0.1f }, recalculatePath{ false }, unreachableTarget{ false }, forward{0.0f}, tolerance{0} { } @@ -34,6 +34,11 @@ namespace SHADE return unreachableTarget; } + bool SHNavigationComponent::ReachedTarget() const noexcept + { + return path.empty(); + } + void SHNavigationComponent::SetTarget(SHVec3 value) noexcept { @@ -66,6 +71,7 @@ RTTR_REGISTRATION .property("Forward", &SHNavigationComponent::GetForward, &SHNavigationComponent::EmptySetForward) .property("Recalculate Path", &SHNavigationComponent::GetRecalculatePath, &SHNavigationComponent::EmptySetBool) .property("Unreachable Target", &SHNavigationComponent::GetUnreachableTarget, &SHNavigationComponent::EmptySetBool) + .property("Tolerance", &SHNavigationComponent::tolerance) .property("Acceptance threshold", &SHNavigationComponent::threshold) ; diff --git a/SHADE_Engine/src/Navigation/SHNavigationComponent.h b/SHADE_Engine/src/Navigation/SHNavigationComponent.h index be23521d..6b4ff6da 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationComponent.h +++ b/SHADE_Engine/src/Navigation/SHNavigationComponent.h @@ -61,6 +61,8 @@ namespace SHADE //The distance threshold that indicates when the entity has reached the navigation grid. float threshold; + //Number of grid cells surrounding colliding cells to also mark as colliding. + uint16_t tolerance; SHNavigationComponent(); virtual ~SHNavigationComponent() = default; @@ -86,7 +88,7 @@ namespace SHADE bool GetUnreachableTarget() const noexcept; - + bool ReachedTarget() const noexcept; /******************************************************************** * \brief @@ -111,6 +113,8 @@ namespace SHADE void EmptySetBool(bool value) noexcept; + + RTTR_ENABLE() protected: diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp index 38457ba5..1d7d6612 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.cpp @@ -137,7 +137,7 @@ namespace SHADE SHAABB aabb{ topleft,halfExtents }; - if (physics->TestAABBOverlap(aabb)) + if (physics->TestAABBOverlap(aabb, (uint16_t)(SHCollisionTagMatrix::GetTag("Navigation")->GetMask()))) { temp |= bitmask; } @@ -169,13 +169,15 @@ namespace SHADE void SHNavigationSystem::NavigationSystemGenerateRoutine::Execute(double dt) noexcept { #ifdef SHEDITOR + SHVec3 navigationAreaSize{ 10.5f, 1.0f, 10.5f }; + auto editor = SHSystemManager::GetSystem(); if (editor->editorState != SHEditor::State::PLAY) { SHNavigationSystem* system = static_cast(GetSystem()); if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::H)) { - system->GenerateNavigationGridData(SHVec3{ 0.0f }, SHVec3{ 25.6f, 1.0f, 25.6f }, 128, 128); + system->GenerateNavigationGridData(SHVec3{ 0.0f }, navigationAreaSize, 80, 80); } auto debugDrawSystem = SHSystemManager::GetSystem(); @@ -183,9 +185,9 @@ namespace SHADE { SHTransform trans; trans.position = SHVec3{ 0.0f }; - trans.scale = SHVec3{ 25.6f, 1.0f, 25.6f }; + trans.scale = navigationAreaSize; trans.ComputeTRS(); - debugDrawSystem->DrawWireCube(trans.trs, SHColour::YELLOW, true); + debugDrawSystem->DrawWireCube(trans.trs, SHColour::YELLOW, false); #ifdef DRAW_NAVIGATION_DATA for (uint16_t r = 0; r < system->numRows; ++r) @@ -410,7 +412,7 @@ namespace SHADE topNode.g = currNode.g + 10; topNode.h = HCostCalculation(topNode.index, endIndex); topNode.f = topNode.g + topNode.h; - AddNodeToOpenList(topNode, openList, closedList); + AddNodeToOpenList(topNode, openList, closedList, comp.tolerance); //TopLeft if (currNode.index.row > 0) @@ -423,7 +425,7 @@ namespace SHADE newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); newNode.f = newNode.g + newNode.h; - AddNodeToOpenList(newNode, openList, closedList); + AddNodeToOpenList(newNode, openList, closedList, comp.tolerance); } } @@ -437,7 +439,7 @@ namespace SHADE btmNode.g = currNode.g + 10; btmNode.h = HCostCalculation(btmNode.index, endIndex); btmNode.f = btmNode.g + btmNode.h; - AddNodeToOpenList(btmNode, openList, closedList); + AddNodeToOpenList(btmNode, openList, closedList, comp.tolerance); //BottomRight if (currNode.index.row < numRows - 1) @@ -450,7 +452,7 @@ namespace SHADE newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); newNode.f = newNode.g + newNode.h; - AddNodeToOpenList(newNode, openList, closedList); + AddNodeToOpenList(newNode, openList, closedList, comp.tolerance); } } @@ -464,7 +466,7 @@ namespace SHADE leftNode.g = currNode.g + 10; leftNode.h = HCostCalculation(leftNode.index, endIndex); leftNode.f = leftNode.g + leftNode.h; - AddNodeToOpenList(leftNode, openList, closedList); + AddNodeToOpenList(leftNode, openList, closedList, comp.tolerance); //BottomLeft @@ -478,7 +480,7 @@ namespace SHADE newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); newNode.f = newNode.g + newNode.h; - AddNodeToOpenList(newNode, openList, closedList); + AddNodeToOpenList(newNode, openList, closedList, comp.tolerance); } @@ -493,7 +495,7 @@ namespace SHADE rightNode.g = currNode.g + 10; rightNode.h = HCostCalculation(rightNode.index, endIndex); rightNode.f = rightNode.g + rightNode.h; - AddNodeToOpenList(rightNode, openList, closedList); + AddNodeToOpenList(rightNode, openList, closedList, comp.tolerance); //TopRight if (currNode.index.column > 0) @@ -506,7 +508,7 @@ namespace SHADE newNode.g = currNode.g + 14; newNode.h = HCostCalculation(newNode.index, endIndex); newNode.f = newNode.g + newNode.h; - AddNodeToOpenList(newNode, openList, closedList); + AddNodeToOpenList(newNode, openList, closedList, comp.tolerance); } } @@ -566,7 +568,7 @@ namespace SHADE }//End GeneratePath - bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList) noexcept + bool SHNavigationSystem::AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList, uint16_t tolerance) noexcept { if (closedList.find(node.index) != closedList.end()) { @@ -580,6 +582,58 @@ namespace SHADE return false; } + //Check that node surrounding this is also movable. (Controlled by tolerance). + for (uint16_t i = 0; i < tolerance; ++i) + { + NavigationGridIndex tolCheckIndex = node.index; + tolCheckIndex.row += i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.row -= i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.column += i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.column -= i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.row += i; + tolCheckIndex.column += i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.row -= i; + tolCheckIndex.column -= i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.row -= i; + tolCheckIndex.column += i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + tolCheckIndex = node.index; + tolCheckIndex.row += i; + tolCheckIndex.column -= i; + if (GetNavigationData(tolCheckIndex) == true) + return false; + + + } + + + //Check if node exist in open list already for (auto& n : openList) { diff --git a/SHADE_Engine/src/Navigation/SHNavigationSystem.h b/SHADE_Engine/src/Navigation/SHNavigationSystem.h index 83273236..d9a5209f 100644 --- a/SHADE_Engine/src/Navigation/SHNavigationSystem.h +++ b/SHADE_Engine/src/Navigation/SHNavigationSystem.h @@ -50,7 +50,7 @@ namespace SHADE uint32_t HCostCalculation(NavigationGridIndex first, NavigationGridIndex second) noexcept; //TO DO - bool AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList) noexcept; + bool AddNodeToOpenList(NavigationNode node, std::list& openList, std::map& closedList, uint16_t tolerance) noexcept; void UpdateNavigationComponent(SHNavigationComponent& comp) noexcept; SHVec3 GetGridWorldPos(NavigationGridIndex index) noexcept; diff --git a/SHADE_Engine/src/Scene/SHSceneGraph.cpp b/SHADE_Engine/src/Scene/SHSceneGraph.cpp index b876f5b0..fdc18e10 100644 --- a/SHADE_Engine/src/Scene/SHSceneGraph.cpp +++ b/SHADE_Engine/src/Scene/SHSceneGraph.cpp @@ -316,7 +316,7 @@ namespace SHADE // Error handling if (!SHEntityManager::IsValidEID(entityID)) { - SHLOG_ERROR("Entity {} is invalid!", entityID) + //SHLOG_ERROR("Entity {} is invalid!", entityID) return; } diff --git a/SHADE_Managed/src/Components/Navigation.cxx b/SHADE_Managed/src/Components/Navigation.cxx index 3bc3200d..1123afcd 100644 --- a/SHADE_Managed/src/Components/Navigation.cxx +++ b/SHADE_Managed/src/Components/Navigation.cxx @@ -54,5 +54,10 @@ namespace SHADE } + bool Navigation::ReachedTarget() + { + return GetNativeComponent()->ReachedTarget(); + } + } diff --git a/SHADE_Managed/src/Components/Navigation.hxx b/SHADE_Managed/src/Components/Navigation.hxx index eccf93dc..d8f36a34 100644 --- a/SHADE_Managed/src/Components/Navigation.hxx +++ b/SHADE_Managed/src/Components/Navigation.hxx @@ -27,9 +27,10 @@ namespace SHADE Vector3 GetForward(); bool GetUnreachableTarget(); - - void MoveTo(Vector3 val); + bool ReachedTarget(); + void MoveTo(Vector3 val); + }; } From 78d30cb051f6e09bef54d22a6958f2558ba58dd2 Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Fri, 24 Mar 2023 16:06:35 +0800 Subject: [PATCH 6/6] fix rotation --- Assets/Scenes/MainMenu.shade | 3 -- .../AIBehaviour/AIRework/HomeOwnerAI.cs | 28 ++++++++++++------- .../AIBehaviour/AIRework/RotateToVelocity.cs | 2 +- 3 files changed, 19 insertions(+), 14 deletions(-) diff --git a/Assets/Scenes/MainMenu.shade b/Assets/Scenes/MainMenu.shade index 9de5cb3d..a4f98e50 100644 --- a/Assets/Scenes/MainMenu.shade +++ b/Assets/Scenes/MainMenu.shade @@ -530,7 +530,6 @@ Scripts: - Type: SHADE_Scripting.UI.FadeInOnActive Enabled: true - alpha: 0 - EID: 19 Name: Options Canvas IsActive: false @@ -1236,7 +1235,6 @@ Scripts: - Type: SHADE_Scripting.UI.FadeInOnActive Enabled: true - alpha: 0 - EID: 46 Name: Credits Canvas IsActive: false @@ -1461,7 +1459,6 @@ Scripts: - Type: SHADE_Scripting.UI.FadeInOnActive Enabled: true - alpha: 0 - EID: 441 Name: Level Select Buttons IsActive: true diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs index 02c00e03..08bafb88 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/HomeOwnerAI.cs @@ -60,6 +60,14 @@ namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework { alertCooldown = 0.0f; } + + RigidBody rigid = GetComponent(); + if(rigid) + { + rigid.AngularVelocity = Vector3.Zero; + } + + } public bool ShouldTransitAlert() @@ -78,17 +86,17 @@ namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework public void RotateToPlayer() { - Transform playerTransform = player.GetComponent(); + //Transform playerTransform = player.GetComponent(); - //Rotate to face player. - Transform aiTransform = GetComponent(); - if(playerTransform && aiTransform) - { - Vector3 direction = playerTransform.GlobalPosition - aiTransform.GlobalPosition; - Quaternion currentRotation = aiTransform.LocalRotation; - Quaternion targetRotation = Quaternion.Euler(0.0f, MathF.Atan2(direction.x, direction.z), 0.0f); - aiTransform.LocalRotation = Quaternion.Slerp(currentRotation, targetRotation, 5.0f * (float)Time.FixedDeltaTime); - } + ////Rotate to face player. + //Transform aiTransform = GetComponent(); + //if(playerTransform && aiTransform) + //{ + // Vector3 direction = playerTransform.GlobalPosition - aiTransform.GlobalPosition; + // Quaternion currentRotation = aiTransform.LocalRotation; + // Quaternion targetRotation = Quaternion.Euler(0.0f, MathF.Atan2(direction.x, direction.z), 0.0f); + // aiTransform.LocalRotation = Quaternion.Slerp(currentRotation, targetRotation, 5.0f * (float)Time.FixedDeltaTime); + //} } diff --git a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs index a8e37d1e..4b0fc8d0 100644 --- a/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs +++ b/Assets/Scripts/Gameplay/AIBehaviour/AIRework/RotateToVelocity.cs @@ -9,7 +9,7 @@ namespace SHADE_Scripting.Gameplay.AIBehaviour.AIRework { public class RotateToVelocity : Script { - public float rotationPerSecond = 5.0f; + public float rotationPerSecond = 2.0f; protected override void update() {