Enhanced AI with better chase logic

- AI now keeps track of last waypoint he has seen player at and heads there in an attempt to chase him down
- AI can be made to reverse his chase/patrol path by running around him
- The scene with the AI fix is called "MainGameWithAIFixed"

Assets/Scenes/MainGameWithAIFixed.shade

@@ -8599,6 +8599,7 @@
       Arm Length: 1
       Look At Camera Origin: true
       Target Offset: {x: 0, y: 0, z: 0}
+      Camera Collision: false
       IsActive: true
   Scripts:
     - Type: SHADE_Scripting.ThirdPersonCamera
@@ -8640,7 +8641,7 @@
   Components:
     Transform Component:
       Translate: {x: 2.70000005, y: 0.100000001, z: -2}
-      Rotate: {x: -0, y: 0, z: -0}
+      Rotate: {x: -0, y: -2.09439516, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
     Renderable Component:
@@ -8665,7 +8666,7 @@
       Colliders:
         - Is Trigger: false
           Type: Box
-          Half Extents: {x: 0.200000003, y: 0.899999976, z: 0.200000003}
+          Half Extents: {x: 0.400000006, y: 1.79999995, z: 0.400000006}
           Friction: 0.400000006
           Bounciness: 0
           Density: 1

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

@@ -74,6 +74,7 @@ namespace SHADE_Scripting.AIBehaviour.BehaviourTree
       }
       else
       {
+        //Debug.LogError("Cannot retrieve data " + key);
         return outData;
       }
     }

Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs

@@ -104,15 +104,14 @@ public partial class Homeowner1 : BehaviourTree
   //Called every tick
   protected override void Tick()
   {
-    Debug.Log("Ticking");
+    //Debug.Log("Ticking");
     //Update data
     if (GetData("waypoints") == null)
     {
-      if (waypointsPool)
+      if (waypointsPool != GameObject.Null)
         SetData("waypoints", (List<GameObject>)waypointsPool.GetChildren());
-
+      else
-      List<GameObject> wpTemp = (List<GameObject>)GetData("waypoints");
+        Debug.LogError("No waypoints, no AI");
-      Debug.Log(wpTemp.Count.ToString());
     }
     if (GetData("transform") == null)
       SetData("transform", GetComponent<Transform>());
@@ -145,7 +144,7 @@ public partial class Homeowner1 : BehaviourTree
       Audio.PlaySFXOnce2D("event:/Homeowner/homeowner_footsteps");
       footstepTimeRemaining = footstepSFXIntervalMultiplier;
     }
-    Debug.Log("Ticked");
+    //Debug.Log("Ticked");
   }
 
   //Define the behaviour tree here
@@ -153,7 +152,7 @@ public partial class Homeowner1 : BehaviourTree
   //The tree is called from the root every tick
   protected override BehaviourTreeNode CreateTree()
   {
-    Debug.Log("Creating Tree");
+    //Debug.Log("Creating Tree");
     //Start from the root, structure it like this to make it look like a tree
     BehaviourTreeNode root = new BehaviourTreeSelector("Root", new List<BehaviourTreeNode>
     {
@@ -168,7 +167,7 @@ public partial class Homeowner1 : BehaviourTree
       }),
       new LeafPatrol("Patrol")
     });
-    Debug.Log("Tree Created");
+    //Debug.Log("Tree Created");
     return root;
   }
 }

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

@@ -21,7 +21,7 @@ using System.Threading.Tasks;
 //VARIABLES
 public partial class LeafAttack : BehaviourTreeNode
 {
-  //Holds the player game object
+  //Holds the player game object that is to be targeted
   private GameObject player;
 }
 
@@ -30,12 +30,36 @@ public partial class LeafAttack : BehaviourTreeNode
 {
   public LeafAttack(string name) : base (name)
   {
-    Debug.Log("LeafAttack ctor");
+    //Debug.Log("LeafAttack ctor");
+  }
+
+  //Helper, find the nearest unobstructed waypoint to return to when chase is over
+  public void reevaluateWaypoint()
+  {
+    List<GameObject> waypoints = (List<GameObject>)GetNodeData("waypoints");
+    Transform transform = (Transform)GetNodeData("transform");
+
+    if (waypoints == null || transform == 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()
   {
-    Debug.LogWarning("LeafAttack");
+    //Debug.LogWarning("LeafAttack");
     //Fail if no target in blackboard?
 
     onEnter(BehaviourTreeNodeStatus.RUNNING);
@@ -49,7 +73,7 @@ public partial class LeafAttack : BehaviourTreeNode
       return status;
     }
     else
-      captureTime = (float)GetNodeData("captureTime");
+      captureTime = (float)GetNodeData("captureTimeLeft");
 
     if (GameObject.Find("Player") == null)
     {
@@ -69,6 +93,7 @@ public partial class LeafAttack : BehaviourTreeNode
     if (captureTime <= 0.0f)
     {
       //Catch player when in range for long enough
+      //Debug.Log("Success: Caught");
       player.GetScript<PlayerController>().currentState = PlayerController.RaccoonStates.CAUGHT;
       status = BehaviourTreeNodeStatus.SUCCESS;
       onExit(BehaviourTreeNodeStatus.SUCCESS);
@@ -76,8 +101,7 @@ public partial class LeafAttack : BehaviourTreeNode
     }
     
     //Return running if not success
-
+    //Debug.Log("Running: About to capture in " + captureTimeLeft);
-    Debug.Log("Success: Caught");
     status = BehaviourTreeNodeStatus.RUNNING;
     onExit(BehaviourTreeNodeStatus.RUNNING);
     return status;

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

@@ -36,21 +36,36 @@ public partial class LeafChase : BehaviourTreeNode
   //and hence we don't need to inherit its constructors
   public LeafChase(string name) : base (name)
   {
-    Debug.Log("LeafChase ctor");
+    //Debug.Log("LeafChase ctor");
   }
 
-  /*
+  //Helper, find which waypoint player is closest to
-   * transform = t;
+  private void determinePlayerWaypoint()
-    this.rb = rb;
+  {
-    chaseSpeed = cSpd;
+    List<GameObject> waypoints = (List<GameObject>)GetNodeData("waypoints");
-    turnSpeed = tSpd;
+    Transform target = (Transform)GetNodeData("target");
-    captureDistance = capDist;
+    if (waypoints == null || target == null)
-    captureTime = capTime;
+    {
-   */
+      return;
+    }
+
+    int nearestWaypointIndex = 0;
+    for (int i = 0; i < waypoints.Count; ++i)
+    {
+      if ((target.GlobalPosition - waypoints[i].GetComponent<Transform>().GlobalPosition).GetSqrMagnitude() <
+        (target.GlobalPosition - waypoints[nearestWaypointIndex].GetComponent<Transform>().GlobalPosition).GetSqrMagnitude())
+      {
+        nearestWaypointIndex = i;
+      }
+    }
+    //Debug.Log("Player is nearest " + nearestWaypointIndex);
+    //Debug.Log("I'm at " + (int)GetNodeData("currentWaypointIndex"));
+    SetNodeData("playerLastSightedWaypointIndex", nearestWaypointIndex);
+  }
 
   public override BehaviourTreeNodeStatus Evaluate()
   {
-    Debug.LogWarning("LeafChase");
+    //Debug.LogWarning("LeafChase");
 
     onEnter(BehaviourTreeNodeStatus.RUNNING);
 
@@ -79,7 +94,7 @@ public partial class LeafChase : BehaviourTreeNode
     //Fail if no target in blackboard
     if (GetNodeData("target") == null)
     {
-      Debug.Log("Failure: No target in blackboard");
+      //Debug.Log("Failure: No target in blackboard");
       return BehaviourTreeNodeStatus.FAILURE;
     }
     Transform target = (Transform)GetNodeData("target");
@@ -91,7 +106,7 @@ public partial class LeafChase : BehaviourTreeNode
     //Over maximum distance, stop chase
     if ((transform.GlobalPosition - target.GlobalPosition).GetMagnitude() > 1000.0f)
     {
-      Debug.Log("Failure: Over maximum distance");
+      //Debug.Log("Failure: Over maximum distance");
       ClearNodeData("target");
 
       if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true)
@@ -106,7 +121,7 @@ public partial class LeafChase : BehaviourTreeNode
     }
     else if (false) //TODO If collided against a wall
     {
-      Debug.Log("Running: Collided against wall");
+      //Debug.Log("Running: Collided against wall");
       SetNodeData("isPathfinding", true);
 
       status = BehaviourTreeNodeStatus.RUNNING;
@@ -116,12 +131,31 @@ public partial class LeafChase : BehaviourTreeNode
     //Keep chasing
     else if ((transform.GlobalPosition - target.GlobalPosition).GetMagnitude() > captureDistance)
     {
-      Debug.Log("Running: Chasing");
+      //Debug.Log("Running: Chasing");
       Quaternion targetRotation = Quaternion.LookRotation(normalisedDifference, new Vector3(0.0f, 1.0f, 0.0f));
       transform.LocalRotation = Quaternion.Slerp(transform.LocalRotation, targetRotation, turningSpeed * Time.DeltaTimeF);
 
+
+      //Determine the player's nearest waypoint as long as the AI can see the player
+      //Head towards that waypoint in an attempt to chase the player
+      determinePlayerWaypoint();
+
       //TODO delete this when original intendd code above works with velocity being limited correctly
+      //Only chase the player directly if the player's waypoint matches the AI's own
+      if (GetNodeData("currentWaypointIndex") != null && GetNodeData("playerLastSightedWaypointIndex") != null)
+      {
+        if ((int)GetNodeData("currentWaypointIndex") == (int)GetNodeData("playerLastSightedWaypointIndex"))
+        {
+          //Debug.Log("Waypoint indicees matching. Chasing directly");
           rb.LinearVelocity = normalisedDifference * chaseSpeed;
+        }
+        else
+        {
+          status = BehaviourTreeNodeStatus.FAILURE;
+          onExit(BehaviourTreeNodeStatus.FAILURE);
+          return BehaviourTreeNodeStatus.FAILURE;
+        }
+      }
 
       //Reset capture timing to base
       SetNodeData("captureTimeLeft", baseCaptureTime);
@@ -136,7 +170,7 @@ public partial class LeafChase : BehaviourTreeNode
     //Once player is close enough, perform attack
     else
     {
-      Debug.Log("Success: Near enough. Begin attack");
+      //Debug.Log("Success: Near enough. Begin attack");
       //Look at the correct direction
       Quaternion targetRotation = Quaternion.LookRotation(normalisedDifference, new Vector3(0.0f, 1.0f, 0.0f));
       transform.LocalRotation = Quaternion.Slerp(transform.LocalRotation, targetRotation, turningSpeed * Time.DeltaTimeF);

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

@@ -25,10 +25,12 @@ public partial class LeafPatrol : BehaviourTreeNode
   private List<GameObject>? waypoints;
   private RigidBody rb;
   private float patrolSpeed;
+  private float chaseSpeed;
   private float turningSpeed;
   private float retreatTimer = 0.0f;
   private int currentWaypointIndex = 0;
   private bool retreatState = false;
+  private bool goingForwards = true;
 
   //Small delays between waypoints
   private bool isWaiting = false;
@@ -51,12 +53,13 @@ public partial class LeafPatrol : BehaviourTreeNode
   //le this node keep returning RUNNING as it is the last fallback node on tree
   public override BehaviourTreeNodeStatus Evaluate()
   {
-    Debug.LogWarning("LeafPatrol");
+    //Debug.LogWarning("LeafPatrol");
     onEnter(BehaviourTreeNodeStatus.RUNNING);
 
     //Get data
     if (GetNodeData("transform") == null ||
         GetNodeData("patrolSpeed") == null ||
+        GetNodeData("chaseSpeed") == null ||
         GetNodeData("turningSpeed") == null ||
         GetNodeData("rigidBody") == null)
     {
@@ -68,6 +71,7 @@ public partial class LeafPatrol : BehaviourTreeNode
     {
       transform = (Transform)GetNodeData("transform");
       patrolSpeed = (float)GetNodeData("patrolSpeed");
+      chaseSpeed = (float)GetNodeData("chaseSpeed");
       turningSpeed = (float)GetNodeData("turningSpeed");
       rb = (RigidBody)GetNodeData("rigidBody");
     }
@@ -87,11 +91,14 @@ public partial class LeafPatrol : BehaviourTreeNode
   //Move and cycle between waypoints
   private void MoveToWaypoint()
   {
-    Debug.Log("MoveToWaypoint");
+    //Debug.Log("MoveToWaypoint");
     //Waiting, do not move
     if (GetNodeData("isWaiting") != null)
     {
+      //Only wait to change waypoints if not alert
+      if (GetNodeData("isAlert") != null && !(bool)GetNodeData("isAlert"))
         waitCounter = 0.0f;
+
       isWaiting = true;
       ClearNodeData("isWaiting");
       return;
@@ -109,15 +116,69 @@ public partial class LeafPatrol : BehaviourTreeNode
     //Reached waypoint, cycle
     if (remainingDistance.GetSqrMagnitude() < 0.1f)
     {
+      //If alert, may reverse
+      if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert"))
+      {
+        //If alert, may reverse if it's closer to the player
+        if (GetNodeData("playerLastSightedWaypointIndex") != null)
+        {
+          int playerWaypoint = (int)GetNodeData("playerLastSightedWaypointIndex");
+          int forwardDistance = 0;
+          int backDistance = 0;
+          if (playerWaypoint < currentWaypointIndex)
+          {
+            //Player waypoint is behind current waypoint
+            forwardDistance = playerWaypoint + waypoints.Count() - currentWaypointIndex;
+            backDistance = currentWaypointIndex - playerWaypoint;
+          }
+          else
+          {
+            //Player waypoint is ahead of current waypoint (or same)
+            forwardDistance = playerWaypoint - currentWaypointIndex;
+            backDistance = currentWaypointIndex + waypoints.Count() - playerWaypoint;
+          }
+          
+          if (backDistance < forwardDistance)
+          {
+            //Go backwards
+            goingForwards = false;
+            
+          }
+          else
+          {
+            //Go forward
+            goingForwards = true;
+          }
+        }
+        else
+        {
+          //Fallback if no player waypoint data, go forward
+          goingForwards = true;
+        }
+      }
+
       //Cycle waypoints
+      if (goingForwards)
+      {
         ++currentWaypointIndex;
         if (currentWaypointIndex >= waypoints.Count())
           currentWaypointIndex = 0;
+      }
+      else
+      {
+        --currentWaypointIndex;
+        if (currentWaypointIndex < 0)
+          currentWaypointIndex = waypoints.Count() - 1;
+      }
+        
 
       //Write to blackboard
       SetNodeData("currentWaypointIndex", currentWaypointIndex);
 
+      //Only wait to change waypoints if not alert
+      if (GetNodeData("isAlert") != null && !(bool)GetNodeData("isAlert"))
         waitCounter = 0.0f;
+
       isWaiting = true;
     }
     else if (false /*Physics.OverlapSphere(_selfTransform.position, 0.3f, 1 << 8).Length > 0 && retreatState == false*/)
@@ -159,9 +220,31 @@ public partial class LeafPatrol : BehaviourTreeNode
       //TODO delete this when original intended code above works with velocity being limited correctly
       if (rb != null)
       {
-        //Debug.Log("Null check passed?");
+        //Move quickly if alert
+        if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert"))
+        {
+          //Debug.Log("Fast Patrol");
+          rb.LinearVelocity = normalisedDifference * chaseSpeed;
+        }  
+        else
+        {
           rb.LinearVelocity = normalisedDifference * patrolSpeed;
         }
+
+        //Unalert if AI reaches player nearest
+        if (GetNodeData("currentWaypointIndex") != null && GetNodeData("playerLastSightedWaypointIndex") != null)
+        {
+          if ((int)GetNodeData("currentWaypointIndex") == (int)GetNodeData("playerLastSightedWaypointIndex"))
+          {
+            if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert"))
+            {
+              //Debug.Log("Unalert");
+              Audio.PlaySFXOnce2D("event:/Homeowner/humming");
+            }
+            SetNodeData("isAlert", false);
+          }
+        }
+      }
       if (retreatState)
       {
         if (retreatTimer < 1.0f) retreatTimer += Time.DeltaTimeF;
@@ -176,7 +259,6 @@ public partial class LeafPatrol : BehaviourTreeNode
 
   private void DelayAtWaypoint()
   {
-    Debug.Log("DelayAtWaypoint");
     waitCounter += Time.DeltaTimeF;
     if (waitCounter >= waitDuration)
       isWaiting = false;

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

@@ -32,11 +32,11 @@ public partial class LeafSearch : BehaviourTreeNode
 {
   public LeafSearch(string name) : base(name)
   {
-    Debug.Log("LeafSearch ctor");
+    //Debug.Log("LeafSearch ctor");
   }
 
   //Helper, find the nearest unobstructed waypoint to return to when chase is over
-  private void reevaluateWaypoint()
+  public void reevaluateWaypoint()
   {
     List<GameObject> waypoints = (List<GameObject>)GetNodeData("waypoints");
 
@@ -58,6 +58,8 @@ public partial class LeafSearch : BehaviourTreeNode
     SetNodeData("currentWaypointIndex", nearestWaypointIndex);
   }
 
+  //Helper for handling being alert
+
   //Helper for handling stopping of chases
   private void handleChaseStop()
   {
@@ -71,7 +73,7 @@ public partial class LeafSearch : BehaviourTreeNode
 
   public override BehaviourTreeNodeStatus Evaluate()
   {
-    Debug.LogWarning("LeafSearch");
+    //Debug.LogWarning("LeafSearch");
     onEnter(BehaviourTreeNodeStatus.RUNNING);
 
     //Get data
@@ -86,7 +88,6 @@ public partial class LeafSearch : BehaviourTreeNode
     else
     {
       transform = (Transform)GetNodeData("transform");
-      Debug.Log("Transform position: " + transform.GlobalPosition.x + " " + transform.GlobalPosition.y + " " + transform.GlobalPosition.z);
       eyeOffset = (Vector3)GetNodeData("eyeOffset");
       sightDistance = (float)GetNodeData("sightDistance");
     }
@@ -117,8 +118,8 @@ public partial class LeafSearch : BehaviourTreeNode
       //Fail if too far from vision range
       if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance)
       {
-        Debug.Log("Failure: Too far");
+        //Debug.Log("Failure: Too far");
-        handleChaseStop();
+        //handleChaseStop();
         status = BehaviourTreeNodeStatus.FAILURE;
         onExit(BehaviourTreeNodeStatus.FAILURE);
         return status;
@@ -132,8 +133,8 @@ public partial class LeafSearch : BehaviourTreeNode
       //Debug.Log("Dot: " + Vector3.Dot(difference, lookDirection));
       if (Vector3.Dot(difference, lookDirection) < 0.0f)
       {
-        Debug.Log("Failure: Out of FOV");
+        //Debug.Log("Failure: Out of FOV");
-        handleChaseStop();
+        //handleChaseStop();
         status = BehaviourTreeNodeStatus.FAILURE;
         onExit(BehaviourTreeNodeStatus.FAILURE);
         return status;
@@ -146,34 +147,54 @@ public partial class LeafSearch : BehaviourTreeNode
 
       //Draw a ray, succeed if ray is unobstructed
       Vector3 eyePosition = transform.GlobalPosition + eyeOffset;
-      Ray sightRay = new Ray(eyePosition, plrT.GlobalPosition - eyePosition);
+      BoxCollider playerCollider = player.GetValueOrDefault().GetComponent<Collider>().GetCollisionShape<BoxCollider>(0);
+      if (playerCollider == null)
+      {
+        //Debug.Log("Failure: Player has no collider");
+        status = BehaviourTreeNodeStatus.FAILURE;
+        onExit(BehaviourTreeNodeStatus.FAILURE);
+        return status;
+      }
+      //Ray destination to target the centre of the player's collider instead of transform position
+      //Since transform position is often the raccoon's base and the ray needs to hit somewhere higher to be more reliable
+      Vector3 rayDestination = plrT.GlobalPosition + plrT.GlobalScale * playerCollider.PositionOffset;
+      Ray sightRay = new Ray(eyePosition, rayDestination - 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);
+        //TODO sometimes the ray doesn't hit the player even if he's in plain sight because the ray hits the floor the player is on instead???
-        handleChaseStop();
+        //Debug.Log("Failure: Ray hit obstacle named " + sightRayHit.Other.GetValueOrDefault().Name + " ID" + sightRayHit.Other.GetValueOrDefault().EntityId);
+        //handleChaseStop();
         status = BehaviourTreeNodeStatus.FAILURE;
         onExit(BehaviourTreeNodeStatus.FAILURE);
         return status;
       }
       else if (sightRayHit.Hit && sightRayHit.Other == player)
       {
-        Debug.Log("Ray hit player");
+        //Debug.Log("Ray hit player");
       }
 
       //All checks for now succeeded
-      Debug.Log("Success: Homeowner has sighted player");
+      //Debug.Log("Success: Homeowner has sighted player");
       //Write player's transform into the blackboard
       SetNodeData("target", plrT);
 
+      if (GetNodeData("isAlert") == null)
+      {
+        SetNodeData("isAlert", true);
+        Audio.PlaySFXOnce2D("event:/Homeowner/homeowner_detect_raccoon");
+      }
+      else
+      {
         if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == false)
         {
           Audio.PlaySFXOnce2D("event:/Homeowner/homeowner_detect_raccoon");
         }
         SetNodeData("isAlert", true);
+      }
 
       status = BehaviourTreeNodeStatus.SUCCESS;
       onExit(BehaviourTreeNodeStatus.SUCCESS);