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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"
This commit is contained in:
mushgunAX 2022-11-25 20:16:31 +08:00
parent 7499011ea2
commit 5b41e832c6
7 changed files with 219 additions and 57 deletions
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5
Assets/Scenes/MainGameWithAIFixed.shade
View File

@ -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

1
Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs
View File

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

15
Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs
View File

@ -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());
List<GameObject> wpTemp = (List<GameObject>)GetData("waypoints");
Debug.Log(wpTemp.Count.ToString());
else
Debug.LogError("No waypoints, no AI");
}
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;
}
}

36
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs
View File

@ -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("Success: Caught");
//Debug.Log("Running: About to capture in " + captureTimeLeft);
status = BehaviourTreeNodeStatus.RUNNING;
onExit(BehaviourTreeNodeStatus.RUNNING);
return status;

66
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafChase.cs
View File

@ -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");
}
/*
* transform = t;
this.rb = rb;
chaseSpeed = cSpd;
turnSpeed = tSpd;
captureDistance = capDist;
captureTime = capTime;
*/
//Helper, find which waypoint player is closest to
private void determinePlayerWaypoint()
{
List<GameObject> waypoints = (List<GameObject>)GetNodeData("waypoints");
Transform target = (Transform)GetNodeData("target");
if (waypoints == null || target == null)
{
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
rb.LinearVelocity = normalisedDifference * chaseSpeed;
//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);

102
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs
View File

@ -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)
{
waitCounter = 0.0f;
//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
++currentWaypointIndex;
if (currentWaypointIndex >= waypoints.Count())
currentWaypointIndex = 0;
if (goingForwards)
{
++currentWaypointIndex;
if (currentWaypointIndex >= waypoints.Count())
currentWaypointIndex = 0;
}
else
{
--currentWaypointIndex;
if (currentWaypointIndex < 0)
currentWaypointIndex = waypoints.Count() - 1;
}
//Write to blackboard
SetNodeData("currentWaypointIndex", currentWaypointIndex);
waitCounter = 0.0f;
//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*/)
@ -159,8 +220,30 @@ 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?");
rb.LinearVelocity = normalisedDifference * patrolSpeed;
//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)
{
@ -176,7 +259,6 @@ public partial class LeafPatrol : BehaviourTreeNode
private void DelayAtWaypoint()
{
Debug.Log("DelayAtWaypoint");
waitCounter += Time.DeltaTimeF;
if (waitCounter >= waitDuration)
isWaiting = false;

51
Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs
View File

@ -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");
handleChaseStop();
//Debug.Log("Failure: Too far");
//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");
handleChaseStop();
//Debug.Log("Failure: Out of FOV");
//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);
handleChaseStop();
//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???
//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 && (bool)GetNodeData("isAlert") == false)
if (GetNodeData("isAlert") == null)
{
SetNodeData("isAlert", true);
Audio.PlaySFXOnce2D("event:/Homeowner/homeowner_detect_raccoon");
}
SetNodeData("isAlert", true);
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);