Merge pull request #275 from SHADE-DP/ScriptingAI

Fixed AI for the Gameplay Scene

Assets/Scenes/MainGameWithAIFixed.shade.shmeta

@@ -0,0 +1,3 @@
+Name: MainGameWithAIFixed
+ID: 89830755
+Type: 5

Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs

@@ -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();
   }

Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs

@@ -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 LeafChase("Chasing", GetComponent<Transform>(), GetComponent<RigidBody>(), chaseSpeed, turningSpeed, distanceToCapture, captureTime),
-          new LeafAttack("Attacking")
+          new LeafAttack("Attacking", GameObject.Find("Player").GetValueOrDefault())
         })
-      }),*/
+      }),
-      leafPatrol
+      new LeafPatrol("Patrol", GetComponent<Transform>(), patrolSpeed, turningSpeed, GetComponent<RigidBody>())
     });
-
     return root;
   }
 }

Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs

@@ -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?
 

Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs

@@ -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 patrolSpeed;
-  private float turningSpeed = 5.0f;
+  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;
+    waypoints = (List<GameObject>)GetNodeData("waypoints");
-    Debug.Log($"{waypoints.Count}");
+    Vector3 targetPosition = waypoints[currentWaypointIndex].GetComponent<Transform>().GlobalPosition;
-    if (currentWaypointIndex > 0)
-    {
 
-      Vector3 targetPosition = waypoints[currentWaypointIndex];
+    //Reach waypoint by X and Z being near enough
-
+    //Do not consider Y of waypoints yet
-      //Reach waypoint by X and Z being near enough
+    Vector3 remainingDistance = targetPosition - transform.GlobalPosition;
-      //Do not consider Y of waypoints yet
+    remainingDistance.y = 0.0f;
-      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());

Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs

@@ -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
+    //Search for player
-    //Get player's transform
+    player = GameObject.Find("Player");
-    Transform plrT = player.GetComponent<Transform>();
 
-    //DELETE THIS
+    //Automatically fail if no player is found
-    //Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString());
+    if (player == null)
-    //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("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;
     }
-
+    else
-    //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");
+      //Fail if unable to find a player
-      if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
+      //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;
+      //Fail if player is out of FOV
-      onExit(BehaviourTreeNodeStatus.FAILURE);
+      //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;
   }
 }