From b32dba06947788bcd0e4a523dfadbe6175e65f12 Mon Sep 17 00:00:00 2001 From: maverickdgg Date: Fri, 24 Mar 2023 13:26:18 +0800 Subject: [PATCH] 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 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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: 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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 + Components: + Transform Component: + Translate: {x: 0.662652433, y: 1.31857622, z: 2.67310381} + 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: 471 + Name: Mesh_Apple + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0.00604016334, y: 1.34554219, z: -4.45292473} + 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: 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--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); + }; }