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Merge pull request #275 from SHADE-DP/ScriptingAI 

Fixed AI for the Gameplay Scene
This commit is contained in:
XiaoQiDigipen 2022-11-24 21:44:38 +08:00 committed by GitHub
parent a182f9a8fb c0f3720fd2
commit 49b66e5c26
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 8928 additions and 158 deletions
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8769
Assets/Scenes/MainGameWithAIFixed.shade Normal file
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3
Assets/Scenes/MainGameWithAIFixed.shade.shmeta Normal file
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@ -0,0 +1,3 @@
Name: MainGameWithAIFixed
ID: 89830755
Type: 5

10
Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs
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@ -40,15 +40,7 @@ namespace SHADE_Scripting.AIBehaviour.BehaviourTree
//awake and update functions
//the only segment in the entire AI that is dependent on the engine
private bool test = false;
protected override void awake()
{
AwakeCall();
}
protected override void start()
{
_root = CreateTree();
_root.InitialiseNode(this);
@ -59,7 +51,7 @@ namespace SHADE_Scripting.AIBehaviour.BehaviourTree
_root?.Evaluate();
Tick();
}
protected abstract void AwakeCall();
protected abstract void Initialise();
protected abstract void Tick();
}

51
Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs
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@ -28,14 +28,13 @@ public partial class Homeowner1 : BehaviourTree
private BehaviourTreeEvents _events { get; set; }
public override BehaviourTreeEvents events { get => _events; }
[Tooltip("The player the AI should chase and attempt to capture")]
public GameObject player;
//PATROL FIELDS///////////////////////////////////////////////////////////////
[SerializeField]
[Tooltip("The list of waypoints for the AI to cycle around")]
private List<Vector3> waypoints = new List<Vector3>();
private GameObject waypointsPool;
private List<GameObject> waypoints;
[SerializeField]
[Tooltip("The AI will patrol at this speed")]
@ -79,32 +78,18 @@ public partial class Homeowner1 : BehaviourTree
//AI tree
public partial class Homeowner1 : BehaviourTree
{
Transform _thisTransform = null;
RigidBody _thisRigidbody = null;
GameObject _playerObject;
private LeafPatrol leafPatrol;
protected override void AwakeCall()
{
_thisTransform = GetComponent<Transform>();
if (!_thisTransform)
Debug.LogError("EMPTY TRANSFORM");
_thisRigidbody = GetComponent<RigidBody>();
if (!_thisRigidbody)
Debug.LogError("EMPTY RIGIDBODY");
if (!player)
Debug.Log("PLAYER MISSING!");
//_playerObject = GameObject.Find("Player").GetValueOrDefault();
}
//Called at the start
protected override void Initialise()
{
_events = new Homeowner1Events(this);
events.Initialise();
//Initialise the waypoints here
if (waypointsPool)
{
waypoints = (List<GameObject>)waypointsPool.GetChildren();
SetData("waypoints", waypoints);
}
}
//Called every tick
@ -112,8 +97,8 @@ public partial class Homeowner1 : BehaviourTree
{
events.Tick();
//Footsteps SFX, move them somewhere else soon
float velocity = GetComponent<RigidBody>().LinearVelocity.GetMagnitude();
leafPatrol.waypoints = waypoints;
footstepTimeRemaining -= velocity * Time.DeltaTimeF;
if (footstepTimeRemaining < 0.0f)
@ -128,22 +113,20 @@ public partial class Homeowner1 : BehaviourTree
//The tree is called from the root every tick
protected override BehaviourTreeNode CreateTree()
{
leafPatrol = new LeafPatrol("Patrol", _thisTransform, waypoints, patrolSpeed, turningSpeed, _thisRigidbody);
//Start from the root, structure it like this to make it look like a tree
BehaviourTreeNode root = new BehaviourTreeSelector("Root", new List<BehaviourTreeNode>
{
/* new BehaviourTreeSequence("Alerted", new List<BehaviourTreeNode>
new BehaviourTreeSequence("Alerted", new List<BehaviourTreeNode>
{
new LeafSearch("SearchFOV", _thisTransform, eyeOffset, sightDistance),
new LeafSearch("SearchFOV", GetComponent<Transform>(), eyeOffset, sightDistance),
new BehaviourTreeSequence("CatchPlayer", new List<BehaviourTreeNode>
{
new LeafChase("Chasing", _thisTransform, _thisRigidbody, chaseSpeed, turningSpeed, distanceToCapture, captureTime),
new LeafAttack("Attacking")
new LeafChase("Chasing", GetComponent<Transform>(), GetComponent<RigidBody>(), chaseSpeed, turningSpeed, distanceToCapture, captureTime),
new LeafAttack("Attacking", GameObject.Find("Player").GetValueOrDefault())
})
}),*/
leafPatrol
}),
new LeafPatrol("Patrol", GetComponent<Transform>(), patrolSpeed, turningSpeed, GetComponent<RigidBody>())
});
return root;
}
}

13
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs
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@ -28,22 +28,13 @@ public partial class LeafAttack : BehaviourTreeNode
//FUNCTIONS
public partial class LeafAttack : BehaviourTreeNode
{
public LeafAttack(string name) : base (name)
public LeafAttack(string name, GameObject p) : base (name)
{
//player = p;
player = p;
}
public override BehaviourTreeNodeStatus Evaluate()
{
{
if (!player)
{
player = GameObject.Find("Player").GetValueOrDefault();
Debug.Log("HERE2");
if (!player) { return BehaviourTreeNodeStatus.FAILURE; }
}
}
//Debug.LogWarning("LeafAttack");
//Fail if no target in blackboard?

37
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs
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@ -22,10 +22,10 @@ public partial class LeafPatrol : BehaviourTreeNode
{
//Waypoints and movement
private Transform transform;
public List<Vector3> waypoints;
private List<GameObject> waypoints;
private RigidBody rb;
private float patrolSpeed = 1.0f;
private float turningSpeed = 5.0f;
private float patrolSpeed;
private float turningSpeed;
private float retreatTimer = 0.0f;
private int currentWaypointIndex = 0;
private bool retreatState = false;
@ -42,10 +42,9 @@ public partial class LeafPatrol : BehaviourTreeNode
//Constructor, establish values here
//Despite inheriting from BehaviourTreeNode, we don't have children to this
//node, and hence we do not need to inherit its constructors
public LeafPatrol(string name, Transform t, List<Vector3> wps, float patrolSpeed, float turnSpeed, RigidBody rb) : base(name)
public LeafPatrol(string name, Transform t, float patrolSpeed, float turnSpeed, RigidBody rb) : base(name)
{
transform = t;
waypoints = wps;
this.patrolSpeed = patrolSpeed;
turningSpeed = turnSpeed;
this.rb = rb;
@ -59,6 +58,10 @@ public partial class LeafPatrol : BehaviourTreeNode
{
//Debug.LogWarning("LeafPatrol");
onEnter(BehaviourTreeNodeStatus.RUNNING);
if(GetNodeData("currentWaypointIndex") == null)
{
SetNodeData("currentWaypointIndex", 0);
}
if (isWaiting) DelayAtWaypoint();
else MoveToWaypoint();
@ -80,27 +83,25 @@ public partial class LeafPatrol : BehaviourTreeNode
return;
}
Vector3 remainingDistance = Vector3.Zero;
Debug.Log($"{waypoints.Count}");
if (currentWaypointIndex > 0)
{
waypoints = (List<GameObject>)GetNodeData("waypoints");
Vector3 targetPosition = waypoints[currentWaypointIndex].GetComponent<Transform>().GlobalPosition;
Vector3 targetPosition = waypoints[currentWaypointIndex];
//Reach waypoint by X and Z being near enough
//Do not consider Y of waypoints yet
remainingDistance = targetPosition - transform.GlobalPosition;
remainingDistance.y = 0.0f;
}
//Reach waypoint by X and Z being near enough
//Do not consider Y of waypoints yet
Vector3 remainingDistance = targetPosition - transform.GlobalPosition;
remainingDistance.y = 0.0f;
//Reached waypoint, cycle
if (remainingDistance.GetSqrMagnitude() < 0.1f)
{
//Cycle waypoints
++currentWaypointIndex;
if (currentWaypointIndex >= waypoints.Count)
if (currentWaypointIndex >= waypoints.Count())
currentWaypointIndex = 0;
//Write to blackboard
SetNodeData("currentWaypointIndex", currentWaypointIndex);
waitCounter = 0.0f;
isWaiting = true;
}
@ -115,7 +116,7 @@ public partial class LeafPatrol : BehaviourTreeNode
//Get the difference vector to the waypoint
//Debug.Log("Current Waypoint " + waypoints[currentWaypointIndex].x.ToString() + " " + waypoints[currentWaypointIndex].y.ToString() + " " + waypoints[currentWaypointIndex].z.ToString());
//Debug.Log("AI is at " + transform.GlobalPosition.x.ToString() + " " + transform.GlobalPosition.y.ToString() + " " + transform.GlobalPosition.z.ToString());
Vector3 normalisedDifference = waypoints[currentWaypointIndex] - transform.GlobalPosition;
Vector3 normalisedDifference = targetPosition - transform.GlobalPosition;
normalisedDifference.y = 0.0f; //Do not move vertically
normalisedDifference /= normalisedDifference.GetMagnitude();
//Debug.Log("Normalised Difference x " + normalisedDifference.x.ToString() + " z " + normalisedDifference.z.ToString());

203
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs
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@ -21,11 +21,10 @@ using System.Threading.Tasks;
//VARIABLES HERE
public partial class LeafSearch : BehaviourTreeNode
{
private GameObject player;
private Transform transform;
private Vector3 eyeOffset;
private float sightDistance;
private GameObject? player; //To be searched for and marked
}
//FUNCTIONS HERE
@ -33,111 +32,143 @@ public partial class LeafSearch : BehaviourTreeNode
{
public LeafSearch(string name, Transform t, Vector3 eo, float sDist) : base(name)
{
Debug.Log($"===============================PLAYER: {t}");
// player = p;
transform = t;
eyeOffset = eo;
sightDistance = sDist;
player = null;
}
//Helper, find the nearest unobstructed waypoint to return to when chase is over
private void reevaluateWaypoint()
{
Debug.Log("Reevaluating Waypoints");
List<GameObject> waypoints = (List<GameObject>)GetNodeData("waypoints");
if (waypoints == null)
{
SetNodeData("currentWaypointIndex", 0);
return;
}
int nearestWaypointIndex = 0;
for (int i = 0; i < waypoints.Count; ++i)
{
if ((transform.GlobalPosition - waypoints[i].GetComponent<Transform>().GlobalPosition).GetSqrMagnitude() <
(transform.GlobalPosition - waypoints[nearestWaypointIndex].GetComponent<Transform>().GlobalPosition).GetSqrMagnitude())
{
nearestWaypointIndex = i;
}
}
SetNodeData("currentWaypointIndex", nearestWaypointIndex);
}
public override BehaviourTreeNodeStatus Evaluate()
{
{
if (!player)
{
player = GameObject.Find("Player").GetValueOrDefault();
if (!player) { Debug.Log("HERE1"); return BehaviourTreeNodeStatus.FAILURE; }
}
}
//Debug.LogWarning("LeafSearch");
onEnter(BehaviourTreeNodeStatus.RUNNING);
//Fail if unable to find a player
//Get player's transform
Transform plrT = player.GetComponent<Transform>();
//Search for player
player = GameObject.Find("Player");
//DELETE THIS
//Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString());
//Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + temporary.ToString());
//Debug.Log("Look difference is: " + (transform.LocalRotation.y - differenceDirection.y).ToString());
//Debug.Log("Dot: " + Quaternion.Dot(differenceDirection, transform.GlobalRotation));
//Fail if too far from vision range
if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance)
//Automatically fail if no player is found
if (player == null)
{
//Debug.Log("Failure: Too far");
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
{
Debug.Log("AI play unalert hmm");
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
return status;
}
//Fail if player is out of FOV
//TODO currently a simple dot product against negative is done, this makes it essentially be a semicircle in front at which AI can see
Vector3 difference = plrT.GlobalPosition - transform.GlobalPosition;
difference.y = 0.0f; //Disregard Y axis
Vector3 lookDirection = new Vector3(MathF.Sin(transform.LocalEulerAngles.y), 0.0f, MathF.Cos(transform.LocalEulerAngles.y));
//Debug.Log("Dot: " + Vector3.Dot(difference, lookDirection));
if (Vector3.Dot(difference, lookDirection) < 0.0f)
else
{
//Debug.Log("Failure: Out of FOV");
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
//Fail if unable to find a player
//Get player's transform
Transform plrT = player.GetValueOrDefault().GetComponent<Transform>();
//DELETE THIS
//Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString());
//Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + temporary.ToString());
//Debug.Log("Look difference is: " + (transform.LocalRotation.y - differenceDirection.y).ToString());
//Debug.Log("Dot: " + Quaternion.Dot(differenceDirection, transform.GlobalRotation));
//Fail if too far from vision range
if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance)
{
Debug.Log("AI play unalert hmm");
//Debug.Log("Failure: Too far");
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
{
Debug.Log("AI play unalert hmm");
reevaluateWaypoint();
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
return status;
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
//Fail if player is out of FOV
//TODO currently a simple dot product against negative is done, this makes it essentially be a semicircle in front at which AI can see
Vector3 difference = plrT.GlobalPosition - transform.GlobalPosition;
difference.y = 0.0f; //Disregard Y axis
Vector3 lookDirection = new Vector3(MathF.Sin(transform.LocalEulerAngles.y), 0.0f, MathF.Cos(transform.LocalEulerAngles.y));
//Debug.Log("Dot: " + Vector3.Dot(difference, lookDirection));
if (Vector3.Dot(difference, lookDirection) < 0.0f)
{
//Debug.Log("Failure: Out of FOV");
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
{
Debug.Log("AI play unalert hmm");
reevaluateWaypoint();
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
return status;
}
//LocalRotation is between -1 and 1, which are essentially the same.
//0 and -1/1 are 180 deg apart
//Quaternion differenceDirection = Quaternion.FromToRotation(Vector3.Forward, plrT.GlobalPosition - transform.GlobalPosition);
//Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + differenceDirection.y.ToString());
//Draw a ray, succeed if ray is unobstructed
Vector3 eyePosition = transform.GlobalPosition + eyeOffset;
Ray sightRay = new Ray(eyePosition, plrT.GlobalPosition - eyePosition);
RaycastHit sightRayHit = Physics.Raycast(sightRay);
//As of November 2022, RaycastHit contains only the FIRST object hit by
//the ray in the Other GameObject data member
//Diren may likely add ALL objects hit by the ray over December
if (sightRayHit.Hit && sightRayHit.Other != player)
{
//Debug.Log("Failure: Ray hit obstacle named " + sightRayHit.Other.GetValueOrDefault().Name + " ID" + sightRayHit.Other.GetValueOrDefault().EntityId);
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
{
Debug.Log("AI play unalert hmm");
reevaluateWaypoint();
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
return status;
}
else if (sightRayHit.Hit && sightRayHit.Other == player)
{
//Debug.Log("Ray hit player");
}
//All checks for now succeeded
//Debug.Log("Success: Homeowner has sighted player");
//Write player's transform into the blackboard
SetNodeData("target", plrT);
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == false)
{
Debug.Log("AI Play Alerted Yell here");
}
SetNodeData("isAlert", true);
status = BehaviourTreeNodeStatus.SUCCESS;
onExit(BehaviourTreeNodeStatus.SUCCESS);
return status;
}
//LocalRotation is between -1 and 1, which are essentially the same.
//0 and -1/1 are 180 deg apart
//Quaternion differenceDirection = Quaternion.FromToRotation(Vector3.Forward, plrT.GlobalPosition - transform.GlobalPosition);
//Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + differenceDirection.y.ToString());
//Draw a ray, succeed if ray is unobstructed
Vector3 eyePosition = transform.GlobalPosition + eyeOffset;
Ray sightRay = new Ray(eyePosition, plrT.GlobalPosition - eyePosition);
RaycastHit sightRayHit = Physics.Raycast(sightRay);
//As of November 2022, RaycastHit contains only the FIRST object hit by
//the ray in the Other GameObject data member
//Diren may likely add ALL objects hit by the ray over December
if (sightRayHit.Hit && sightRayHit.Other != player)
{
//Debug.Log("Failure: Ray hit obstacle named " + sightRayHit.Other.GetValueOrDefault().Name + " ID" + sightRayHit.Other.GetValueOrDefault().EntityId);
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
{
Debug.Log("AI play unalert hmm");
}
SetNodeData("isAlert", false);
status = BehaviourTreeNodeStatus.FAILURE;
onExit(BehaviourTreeNodeStatus.FAILURE);
return status;
}
else if (sightRayHit.Hit && sightRayHit.Other == player)
{
//Debug.Log("Ray hit player");
}
//All checks for now succeeded
//Debug.Log("Success: Homeowner has sighted player");
//Write player's transform into the blackboard
SetNodeData("target", plrT);
if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == false)
{
Debug.Log("AI Play Alerted Yell here");
}
SetNodeData("isAlert", true);
status = BehaviourTreeNodeStatus.SUCCESS;
onExit(BehaviourTreeNodeStatus.SUCCESS);
return status;
}
}