From 7d7d40ba8e6402895a61259f00485010ecc7f3ab Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 12:02:08 +0800 Subject: [PATCH 1/8] Debug draw is always enabled. --- .../System/SHPhysicsDebugDrawSystem.cpp | 45 +++++++++++++++---- .../src/Physics/System/SHPhysicsSystem.cpp | 14 +----- .../System/SHPhysicsSystemRoutines.cpp | 6 +-- 3 files changed, 40 insertions(+), 25 deletions(-) diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp index 3c80883c..1ca7ae39 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp @@ -120,21 +120,25 @@ namespace SHADE } rp3d::DebugRenderer* rp3dRenderer = nullptr; - #ifdef SHEDITOR - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - { + if (system->physicsSystem->worldState.world) rp3dRenderer = &system->physicsSystem->worldState.world->getDebugRenderer(); - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, false); - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false); - } - #endif for (int i = 0; i < SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); ++i) { const bool DRAW = (system->debugDrawFlags & (1U << i)) > 0; if (DRAW) + { drawFunctions[i](debugDrawSystem, rp3dRenderer); + } + else + { + if (rp3dRenderer && (i == 3 || i == 4)) + { + rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_POINT, false); + rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false); + } + } + } // Automatically clear the container of raycasts despite debug drawing state @@ -180,6 +184,7 @@ namespace SHADE void SHPhysicsDebugDrawSystem::drawContactPoints(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept { #ifdef SHEDITOR + const auto* EDITOR = SHSystemManager::GetSystem(); if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) { @@ -192,6 +197,18 @@ namespace SHADE for (int i = 0; i < NUM_TRIS; ++i) debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3); } + + #else + + rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); + const int NUM_TRIS = static_cast(rp3dRenderer->getNbTriangles()); + if (NUM_TRIS == 0) + return; + + const auto& TRI_ARRAY = rp3dRenderer->getTrianglesArray(); + for (int i = 0; i < NUM_TRIS; ++i) + debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3); + #endif } @@ -210,6 +227,18 @@ namespace SHADE for (int i = 0; i < NUM_LINES; ++i) debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2); } + + #else + + rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true); + const int NUM_LINES = static_cast(rp3dRenderer->getNbLines()); + if (NUM_LINES == 0) + return; + + const auto& LINE_ARRAY = rp3dRenderer->getLinesArray(); + for (int i = 0; i < NUM_LINES; ++i) + debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2); + #endif } diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp index a9e5a9e9..dd2cc091 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp @@ -163,8 +163,6 @@ namespace SHADE // Destroy an existing world if (worldState.world != nullptr) { - - objectManager.RemoveAllObjects(); objectManager.SetWorld(nullptr); @@ -174,12 +172,8 @@ namespace SHADE worldState.DestroyWorld(factory); } - worldState.CreateWorld(factory); - #ifdef _PUBLISH - worldState.world->setIsDebugRenderingEnabled(false); - #else - worldState.world->setIsDebugRenderingEnabled(true); - #endif + worldState.CreateWorld(factory); + worldState.world->setIsDebugRenderingEnabled(true); // Link Collision Listener & Raycaster collisionListener.BindToWorld(worldState.world); @@ -444,11 +438,7 @@ namespace SHADE return onPlayEvent->handle; worldState.CreateWorld(factory); - #ifdef _PUBLISH - worldState.world->setIsDebugRenderingEnabled(false); - #else worldState.world->setIsDebugRenderingEnabled(true); - #endif // Link Collision Listener & Raycaster collisionListener.BindToWorld(worldState.world); diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp index be1d968e..d133f562 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp @@ -334,10 +334,6 @@ namespace SHADE if (physicsObject.GetRigidBody()->isActive()) physicsObject.prevTransform = CURRENT_TF; - // Skip sleeping objects - if (physicsObject.GetRigidBody()->isSleeping()) - return; - // Sync with rigid bodies if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) { @@ -369,7 +365,7 @@ namespace SHADE colliderComponent->orientation = CURRENT_TF.getOrientation(); } - // Set transform for rendering + // Set transform for rendering if (transformComponent) { transformComponent->SetWorldPosition(renderPos); From 9e7d7afe3354ab04c68a1be5fe0d8a6d1d4e3eba Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 12:02:26 +0800 Subject: [PATCH 2/8] Added proper Vector3 Rotate functions to Managed code. --- SHADE_Managed/src/Math/Vector3.cxx | 27 +++++++++++---------- SHADE_Managed/src/Math/Vector3.hxx | 34 ++++++++++++++++++++++----- SHADE_Managed/src/Utility/Convert.hxx | 3 ++- 3 files changed, 45 insertions(+), 19 deletions(-) diff --git a/SHADE_Managed/src/Math/Vector3.cxx b/SHADE_Managed/src/Math/Vector3.cxx index edd78f6b..d2862ac7 100644 --- a/SHADE_Managed/src/Math/Vector3.cxx +++ b/SHADE_Managed/src/Math/Vector3.cxx @@ -21,6 +21,9 @@ of DigiPen Institute of Technology is prohibited. #include // Project Headers #include "Math.hxx" +#include "Quaternion.hxx" +#include "Math/Vector/SHVec3.h" +#include "Utility/Convert.hxx" namespace SHADE { @@ -148,21 +151,21 @@ namespace SHADE { return vec - (Project(vec, normal.GetNormalised()) * 2.0f); } - Vector3 Vector3::RotateRadians(Vector3 vec, float radians) + Vector3 Vector3::RotateX(Vector3 vec, float radians) { - const float SINE = sin(radians); - const float COSINE = cos(radians); - - return Vector3 - ( - vec.x * COSINE - vec.y * SINE, - vec.x * SINE + vec.y * COSINE, - vec.z - ); + return Convert::ToCLI(SHVec3::RotateX(Convert::ToNative(vec), radians)); } - Vector3 Vector3::RotateDegrees(Vector3 vec, float degrees) + Vector3 Vector3::RotateY(Vector3 vec, float radians) { - return RotateRadians(vec, Math::DegreesToRadians(degrees)); + return Convert::ToCLI(SHVec3::RotateY(Convert::ToNative(vec), radians)); + } + Vector3 Vector3::RotateZ(Vector3 vec, float radians) + { + return Convert::ToCLI(SHVec3::RotateZ(Convert::ToNative(vec), radians)); + } + Vector3 Vector3::Rotate(Vector3 vec, Vector3 axis, float radians) + { + return Convert::ToCLI(SHVec3::Rotate(Convert::ToNative(vec), Convert::ToNative(axis), radians)); } Vector3 Vector3::Min(Vector3 lhs, Vector3 rhs) { diff --git a/SHADE_Managed/src/Math/Vector3.hxx b/SHADE_Managed/src/Math/Vector3.hxx index 189f2930..76b11420 100644 --- a/SHADE_Managed/src/Math/Vector3.hxx +++ b/SHADE_Managed/src/Math/Vector3.hxx @@ -19,6 +19,8 @@ of DigiPen Institute of Technology is prohibited. // Project Includes #include "Vector2.hxx" +value struct Quaternion; + namespace SHADE { /// @@ -266,7 +268,7 @@ namespace SHADE /// The Vector3 that represents vec reflected across normal. static Vector3 Reflect(Vector3 vec, Vector3 normal); /// - /// Rotates a Vector3 on the Z-axis by a specified angle in an anti-clockwise + /// Rotates a Vector3 about the X-axis by a specified angle in an anti-clockwise /// direction. /// /// A Vector3 to rotate. @@ -274,17 +276,37 @@ namespace SHADE /// Angle to rotate the vector by in an anti-clockwise direction in radians. /// /// The Vector3 that represents the rotated vector. - static Vector3 RotateRadians(Vector3 vec, float radians); + static Vector3 RotateX(Vector3 vec, float radians); /// - /// Rotates a Vector3 on the Z-axis by a specified angle in an anti-clockwise + /// Rotates a Vector3 about the Y-axis by a specified angle in an anti-clockwise /// direction. /// /// A Vector3 to rotate. - /// - /// Angle to rotate the vector by in an anti-clockwise direction in degrees. + /// + /// Angle to rotate the vector by in an anti-clockwise direction in radians. /// /// The Vector3 that represents the rotated vector. - static Vector3 RotateDegrees(Vector3 vec, float degrees); + static Vector3 RotateY(Vector3 vec, float radians); + /// + /// Rotates a Vector3 about the Z-axis by a specified angle in an anti-clockwise + /// direction. + /// + /// A Vector3 to rotate. + /// + /// Angle to rotate the vector by in an anti-clockwise direction in radians. + /// + /// The Vector3 that represents the rotated vector. + static Vector3 RotateZ(Vector3 vec, float radians); + /// + /// Rotates a Vector3 about an arbitrary axis by a specified angle in an anti-clockwise + /// direction. + /// + /// A Vector3 to rotate. + /// + /// Angle to rotate the vector by in an anti-clockwise direction in radians. + /// + /// The Vector3 that represents the rotated vector. + static Vector3 Rotate(Vector3 vec, Vector3 axis, float radians); /// /// Computes and returns a Vector3 that is made from the smallest components of /// the two specified Vector3s. diff --git a/SHADE_Managed/src/Utility/Convert.hxx b/SHADE_Managed/src/Utility/Convert.hxx index 04407f77..fb373c51 100644 --- a/SHADE_Managed/src/Utility/Convert.hxx +++ b/SHADE_Managed/src/Utility/Convert.hxx @@ -25,7 +25,6 @@ of DigiPen Institute of Technology is prohibited. // Project Includes #include "Engine/Entity.hxx" #include "Math/Vector2.hxx" -#include "Math/Vector3.hxx" #include "Math/Quaternion.hxx" #include "Math/Ray.hxx" #include "Physics/RaycastHit.hxx" @@ -34,6 +33,8 @@ of DigiPen Institute of Technology is prohibited. #include "Graphics/Color.hxx" #include "Physics/Collision/SHPhysicsRaycastResult.h" +value struct Vector3; + namespace SHADE { /// From f6c74ad3d2ea9074d6d36dc314c4a09d45fd72c3 Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 14:41:52 +0800 Subject: [PATCH 3/8] Fixed recurring bug with collision listener --- .../Physics/Collision/SHCollisionListener.cpp | 23 +++++++++++++++---- 1 file changed, 18 insertions(+), 5 deletions(-) diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp b/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp index 11a3f754..3e485153 100644 --- a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp +++ b/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp @@ -84,14 +84,27 @@ namespace SHADE { const SHCollisionInfo& C_INFO = *eventIter; - const bool CLEAR_EVENT = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT || C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID; const bool INVALID_ENTITY = !SHEntityManager::IsValidEID(C_INFO.GetEntityA()) || !SHEntityManager::IsValidEID(C_INFO.GetEntityB()); - const bool INACTIVE_OBJECT = !SHSceneManager::CheckNodeAndComponentsActive(C_INFO.GetEntityA()) || !SHSceneManager::CheckNodeAndComponentsActive(C_INFO.GetEntityB()); - - if (CLEAR_EVENT || INVALID_ENTITY || INACTIVE_OBJECT) + if (INVALID_ENTITY) + { eventIter = container.erase(eventIter); + continue; + } else - ++eventIter; + { + const bool CLEAR_EVENT = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT || C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID; + + const bool INACTIVE_OBJECT = !SHSceneManager::CheckNodeAndComponentsActive(C_INFO.GetEntityA()) + || !SHSceneManager::CheckNodeAndComponentsActive(C_INFO.GetEntityB()); + + if (CLEAR_EVENT || INACTIVE_OBJECT) + { + eventIter = container.erase(eventIter); + continue; + } + } + + ++eventIter; } }; From a9bacc9e48798d7d6ec7e1ede98b32f67d67a946 Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 14:42:34 +0800 Subject: [PATCH 4/8] Fixed incorrect storing of world extents --- SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp index f597077f..43906c22 100644 --- a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp +++ b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp @@ -206,7 +206,7 @@ namespace SHADE } // Set the half extents relative to world scale - const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale() * 0.5f; + const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale(); if (type != Type::BOX) { From 438a597a25730845de5b06974b096944700e7d3f Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 14:43:11 +0800 Subject: [PATCH 5/8] Fixed managed Transform returning the wrong forward --- SHADE_Managed/src/Components/Transform.cxx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SHADE_Managed/src/Components/Transform.cxx b/SHADE_Managed/src/Components/Transform.cxx index bd564010..bc61eff3 100644 --- a/SHADE_Managed/src/Components/Transform.cxx +++ b/SHADE_Managed/src/Components/Transform.cxx @@ -107,7 +107,7 @@ namespace SHADE Vector3 Transform::Forward::get() { - const SHVec3 DIRECTION = SHVec3::Rotate(SHVec3::UnitZ, Convert::ToNative(GlobalRotation)); + const SHVec3 DIRECTION = SHVec3::Rotate(-SHVec3::UnitZ, Convert::ToNative(GlobalRotation)); return Convert::ToCLI(DIRECTION); } From 3775df23a4ae0cbe3a43d42b4c019a3ea1852c8c Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 14:43:41 +0800 Subject: [PATCH 6/8] Debug draw is disabled on publish builds. --- .../src/Application/SBApplication.cpp | 19 ++++++++++++------- .../src/Physics/System/SHPhysicsSystem.cpp | 8 ++++++++ 2 files changed, 20 insertions(+), 7 deletions(-) diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp index 06c42d2d..5aa1eb00 100644 --- a/SHADE_Application/src/Application/SBApplication.cpp +++ b/SHADE_Application/src/Application/SBApplication.cpp @@ -74,7 +74,9 @@ namespace Sandbox SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); +#ifndef _PUBLISH SHSystemManager::CreateSystem(); +#endif SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); @@ -114,7 +116,9 @@ namespace Sandbox SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); +#ifndef _PUBLISH SHSystemManager::RegisterRoutine(); +#endif SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); @@ -189,6 +193,13 @@ namespace Sandbox SHSystemManager::RunRoutines(false, SHFrameRateController::GetRawDeltaTime()); #endif // TODO: Move into an Editor menu + static bool drawContacts = false; + if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9)) + { + drawContacts = !drawContacts; + SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts); + SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts); + } static bool drawColliders = false; if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10)) { @@ -201,13 +212,7 @@ namespace Sandbox drawRays = !drawRays; SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays); } - static bool drawContacts = false; - if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9)) - { - drawContacts = !drawContacts; - SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts); - SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts); - } + } // Finish all graphics jobs first graphicsSystem->AwaitGraphicsExecution(); diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp index dd2cc091..79757867 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp @@ -173,7 +173,11 @@ namespace SHADE } worldState.CreateWorld(factory); +#ifdef _PUBLISH + worldState.world->setIsDebugRenderingEnabled(false); +#else worldState.world->setIsDebugRenderingEnabled(true); +#endif // Link Collision Listener & Raycaster collisionListener.BindToWorld(worldState.world); @@ -438,7 +442,11 @@ namespace SHADE return onPlayEvent->handle; worldState.CreateWorld(factory); +#ifdef _PUBLISH + worldState.world->setIsDebugRenderingEnabled(false); +#else worldState.world->setIsDebugRenderingEnabled(true); +#endif // Link Collision Listener & Raycaster collisionListener.BindToWorld(worldState.world); From 6525a39df266cda47fa0a4a4c03c7c9af349b0b3 Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Thu, 24 Nov 2022 15:11:07 +0800 Subject: [PATCH 7/8] Added collision tags for raycasting. Does not apply to collider raycasting --- .../Physics/Collision/SHPhysicsRaycaster.cpp | 10 ++--- .../Physics/Collision/SHPhysicsRaycaster.h | 39 ++++++++++--------- .../src/Physics/System/SHPhysicsSystem.cpp | 8 ++-- .../src/Physics/System/SHPhysicsSystem.h | 8 +++- .../System/SHPhysicsSystemRoutines.cpp | 10 +++++ 5 files changed, 46 insertions(+), 29 deletions(-) diff --git a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp index 11b9fcab..cab5c93b 100644 --- a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp +++ b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp @@ -63,7 +63,7 @@ namespace SHADE raycasts.clear(); } - SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance) noexcept + SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept { // Reset temp temp = SHPhysicsRaycastResult{}; @@ -78,13 +78,13 @@ namespace SHADE // If distance in infinity, cast to the default max distance of 2 km. if (distance == std::numeric_limits::infinity()) { - world->raycast(ray, this); + world->raycast(ray, this, collisionTag); } else { const SHVec3 END_POINT = ray.position + ray.direction * distance; const rp3d::Ray RP3D_RAY{ ray.position, END_POINT }; - world->raycast(RP3D_RAY, this); + world->raycast(RP3D_RAY, this, collisionTag); } // If a hit was found, populate temp info for return. @@ -98,7 +98,7 @@ namespace SHADE return temp; } - SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end) noexcept + SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept { temp = SHPhysicsRaycastResult{}; temp.distance = SHVec3::Distance(start, end); @@ -110,7 +110,7 @@ namespace SHADE } const rp3d::Ray RP3D_RAY{ start, end }; - world->raycast(RP3D_RAY, this); + world->raycast(RP3D_RAY, this, collisionTag); if (temp.hit) { diff --git a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h index 81165b56..447207c7 100644 --- a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h +++ b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h @@ -19,6 +19,7 @@ #include "Physics/PhysicsObject/SHPhysicsObjectManager.h" #include "Physics/SHPhysicsWorld.h" #include "SH_API.h" +#include "SHCollisionTags.h" #include "SHPhysicsRaycastResult.h" namespace SHADE @@ -67,44 +68,46 @@ namespace SHADE SHPhysicsRaycastResult Raycast ( - const SHRay& ray - , float distance = std::numeric_limits::infinity() + const SHRay& ray + , float distance = std::numeric_limits::infinity() + , const SHCollisionTag& collisionTag = SHCollisionTag{} ) noexcept; SHPhysicsRaycastResult Linecast ( - const SHVec3& start - , const SHVec3& end + const SHVec3& start + , const SHVec3& end + , const SHCollisionTag& collisionTag = SHCollisionTag{} ) noexcept; SHPhysicsRaycastResult ColliderRaycast ( - EntityID eid - , const SHRay& ray - , float distance = std::numeric_limits::infinity() + EntityID eid + , const SHRay& ray + , float distance = std::numeric_limits::infinity() ) noexcept; SHPhysicsRaycastResult ColliderRaycast ( - EntityID eid - , int shapeIndex - , const SHRay& ray - , float distance = std::numeric_limits::infinity() + EntityID eid + , int shapeIndex + , const SHRay& ray + , float distance = std::numeric_limits::infinity() ) noexcept; SHPhysicsRaycastResult ColliderLinecast ( - EntityID eid - , const SHVec3& start - , const SHVec3& end + EntityID eid + , const SHVec3& start + , const SHVec3& end ) noexcept; SHPhysicsRaycastResult ColliderLinecast ( - EntityID eid - , int shapeIndex - , const SHVec3& start - , const SHVec3& end + EntityID eid + , int shapeIndex + , const SHVec3& start + , const SHVec3& end ) noexcept; rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override; diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp index 79757867..768c9b77 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp @@ -258,14 +258,14 @@ namespace SHADE } } - SHPhysicsRaycastResult SHPhysicsSystem::Raycast(const SHRay& ray, float distance) noexcept + SHPhysicsRaycastResult SHPhysicsSystem::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept { - return raycaster.Raycast(ray, distance); + return raycaster.Raycast(ray, distance, collisionTag); } - SHPhysicsRaycastResult SHPhysicsSystem::Linecast(const SHVec3& start, const SHVec3& end) noexcept + SHPhysicsRaycastResult SHPhysicsSystem::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept { - return raycaster.Linecast(start, end); + return raycaster.Linecast(start, end, collisionTag); } SHPhysicsRaycastResult SHPhysicsSystem::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h index 8d49450d..99db493e 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h @@ -85,24 +85,28 @@ namespace SHADE * @brief Casts a ray into the world. * @param ray The ray to cast. * @param distance The distance to cast the ray. Defaults to infinity. + * @param collisionTag The collision tag to use for filtering the raycast. * @return The result of the raycast. */ SHPhysicsRaycastResult Raycast ( - const SHRay& ray - , float distance = std::numeric_limits::infinity() + const SHRay& ray + , float distance = std::numeric_limits::infinity() + , const SHCollisionTag& collisionTag = SHCollisionTag{} ) noexcept; /** * @brief Casts a bounded ray into the world. * @param start The starting point of the ray. * @param end The end point of the ray. + * @param collisionTag The collision tag to use for filtering the bounded raycast. * @return The result of the raycast. */ SHPhysicsRaycastResult Linecast ( const SHVec3& start , const SHVec3& end + , const SHCollisionTag& collisionTag = SHCollisionTag{} ) noexcept; /** diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp index d133f562..6168d673 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp @@ -20,6 +20,7 @@ #include "Scripting/SHScriptEngine.h" #include "Input/SHInputManager.h" +#include "Physics/Collision/SHCollisionTagMatrix.h" /*-------------------------------------------------------------------------------------*/ /* Local Functions */ @@ -403,4 +404,13 @@ void testFunction() rb->AddForce(SHVec3::UnitX * forceModifier); } } + + // Cast rays + auto* tag = SHCollisionTagMatrix::GetTag(1); + tag->SetLayerState(SHCollisionTag::Layer::_1, false); + tag->SetLayerState(SHCollisionTag::Layer::_2, true); + + SHRay ray { SHVec3{3.0f, 3.5f, 0.0f}, -SHVec3::UnitX }; + auto* physicsSystem = SHSystemManager::GetSystem(); + physicsSystem->Raycast(ray, std::numeric_limits::infinity(), *tag); } From c0f3720fd2f447603b54aedcac865343658a218d Mon Sep 17 00:00:00 2001 From: mushgunAX Date: Thu, 24 Nov 2022 21:26:05 +0800 Subject: [PATCH 8/8] AI expected to work with the scene. To Verify. --- Assets/Scenes/MainGameWithAIFixed.shade | 8769 +++++++++++++++++ .../Scenes/MainGameWithAIFixed.shade.shmeta | 3 + .../BehaviourTree/Core/BehaviourTree.cs | 10 +- .../AIBehaviour/Implemented/Homeowner1.cs | 51 +- .../Implemented/LeafNodes/LeafAttack.cs | 13 +- .../Implemented/LeafNodes/LeafPatrol.cs | 37 +- .../Implemented/LeafNodes/LeafSearch.cs | 203 +- 7 files changed, 8928 insertions(+), 158 deletions(-) create mode 100644 Assets/Scenes/MainGameWithAIFixed.shade create mode 100644 Assets/Scenes/MainGameWithAIFixed.shade.shmeta diff --git a/Assets/Scenes/MainGameWithAIFixed.shade b/Assets/Scenes/MainGameWithAIFixed.shade new file mode 100644 index 00000000..2ec3155e --- /dev/null +++ b/Assets/Scenes/MainGameWithAIFixed.shade @@ -0,0 +1,8769 @@ +- EID: 19 + Name: ===== Environment ===== + IsActive: true + NumberOfChildren: 4 + 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 + Scripts: ~ +- EID: 136 + Name: Main_Room + IsActive: true + NumberOfChildren: 3 + 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 + Scripts: ~ +- EID: 51 + Name: Floor_Master + IsActive: true + NumberOfChildren: 6 + 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 + Scripts: ~ +- EID: 26 + Name: Floor_Row_1 + IsActive: true + NumberOfChildren: 5 + 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 + Scripts: ~ +- EID: 21 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 22 + Name: Floor_Large + 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 + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 23 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 24 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 25 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 27 + Name: Floor_Row_2 + IsActive: true + NumberOfChildren: 5 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: -2} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 28 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 29 + Name: Floor_Large + 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 + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 30 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 31 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 32 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 33 + Name: Floor_Row_3 + IsActive: true + NumberOfChildren: 5 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 2} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 34 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 35 + Name: Floor_Large + 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 + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 36 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 37 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 38 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 39 + Name: Floor_Row_4 + IsActive: true + NumberOfChildren: 5 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: -4} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 40 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 41 + Name: Floor_Large + 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 + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 42 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 43 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 44 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 45 + Name: Floor_Row_5 + IsActive: true + NumberOfChildren: 5 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 4} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 46 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 47 + Name: Floor_Large + 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 + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 48 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 49 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 50 + Name: Floor_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 4, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 142812576 + Material: 127069936 + IsActive: true + Scripts: ~ +- EID: 65779 + Name: Floor_Collider + 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 + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 10, y: 0.0500000007, z: 18} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: -0.00999999978, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 82 + Name: Walls_Master + IsActive: true + NumberOfChildren: 25 + Components: + Transform Component: + Translate: {x: 0, y: 0, z: 0} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1.10000002, z: 1} + IsActive: true + Scripts: ~ +- EID: 53 + Name: Window_O_Small + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -0.5, y: 0, z: -5} + Rotate: {x: 0, y: -3.1415925, z: 0} + Scale: {x: 0.999988258, y: 1, z: 0.999988258} + IsActive: true + Renderable Component: + Mesh: 149786048 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 1, y: 0.200000003, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 2.0999999, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + - Is Trigger: false + Type: Box + Half Extents: {x: 1, y: 0.899999976, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0.449999988, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + - Is Trigger: false + Type: Box + Half Extents: {x: 0.100000001, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: -0.449999988, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + - Is Trigger: false + Type: Box + Half Extents: {x: 0.100000001, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0.449999988, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 65591 + Name: Wall_Corner + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 5, y: 0, z: 5} + Rotate: {x: -0, y: 1.57079649, z: 0} + Scale: {x: 0.999999523, y: 1, z: 0.999999523} + IsActive: true + Renderable Component: + Mesh: 134714737 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 1.10000002, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0.449999988, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + - Is Trigger: false + Type: Box + Half Extents: {x: 0.25, y: 2.20000005, z: 1.10000002} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 1.10000002, z: -0.449999988} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 56 + Name: Wall_Default + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2.12474632, y: 0, z: -5} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 0.24999325, y: 1, z: 0.999946237} + IsActive: true + Renderable Component: + Mesh: 140834166 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 1, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 57 + Name: Wall_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 5, y: 0, z: -3} + Rotate: {x: -0, y: 1.57079601, z: 0} + Scale: {x: 0.999992847, y: 1, z: 0.999992847} + IsActive: true + Renderable Component: + Mesh: 142689599 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 2, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 58 + Name: Wall_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 5, y: 0, z: 3} + Rotate: {x: -0, y: 1.57079601, z: 0} + Scale: {x: 0.99996388, y: 1, z: 0.99996388} + IsActive: true + Renderable Component: + Mesh: 142689599 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 2, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 59 + Name: Wall_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 5, y: 0, z: -1} + Rotate: {x: -0, y: 1.57079601, z: 0} + Scale: {x: 0.999984503, y: 1, z: 0.999984503} + IsActive: true + Renderable Component: + Mesh: 142689599 + Material: 127069936 + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 2, y: 2.20000005, z: 0.25} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 1.10000002, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: ~ +- EID: 60 + Name: Wall_Large + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 1, y: 0, z: 5} + Rotate: {x: -0, y: 0, z: 0} + Scale: {x: 0.999947786, y: 1, z: 0.999947786} + IsActive: true + Renderable Component: + Mesh: 142689599 + 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+- EID: 199 + Name: =====Text==== + IsActive: true + NumberOfChildren: 2 + Components: ~ + Scripts: ~ +- EID: 237 + Name: Score + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -800, y: 400, z: 0} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 60, y: 60, z: 60} + IsActive: true + Text Renderer Component: + Text: My name is Brandon. + Font: 176667660 + IsActive: true + Scripts: ~ +- EID: 206 + Name: Timer + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 500, y: 400, z: 0} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 60, y: 60, z: 60} + IsActive: true + Text Renderer Component: + Text: My name is Brandon. + Font: 176667660 + IsActive: true + Scripts: ~ +- EID: 198 + Name: ====Raccoon==== + IsActive: true + NumberOfChildren: 2 + Components: ~ + Scripts: ~ +- EID: 2 + Name: Player + IsActive: true + NumberOfChildren: 3 + Components: + Transform Component: + Translate: {x: 2.12735963, y: 0.362327814, z: 6.98932981} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 0.999999881, y: 1, z: 0.999999881} + IsActive: true + Renderable Component: + Mesh: 149697411 + Material: 126974645 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 1 + Angular Drag: 0.100000001 + Use Gravity: false + Interpolate: true + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: true + Freeze Position Z: false + Freeze Rotation X: true + Freeze Rotation Y: true + Freeze Rotation Z: true + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 0.400000006, y: 0.5, z: 0.300000012} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0.25, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: PlayerController + Enabled: true + respawnPoint: 239 + currentState: 0 + maxMoveVel: 3 + moveForce: 50 + sprintMultiplier: 1.5 + rotationFactorPerFrame: 5 + maxJumpHeight: 1 + maxJumpTime: 0.5 + fallMultipler: 3 + lightMultiper: 0.75 + mediumMultiper: 0.5 + heavyMultiper: 0.25 + - Type: PickAndThrow + Enabled: true + throwForce: [50, 50, 50] + delayTimer: 1 + aimingLength: 0.5 +- EID: 3 + Name: HoldingPoint + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: 0.700000048, z: 0.200000286} + Rotate: {x: 0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 4 + Name: PlayerCamera + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: -2.98023224e-08, z: 4.76837158e-07} + Rotate: {x: 0, y: 6.28318548, z: 2.23517329e-08} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Camera Component: + Position: {x: 2.12735963, y: 0.362327784, z: 7.98933029} + Pitch: 0 + Yaw: 360 + Roll: 1.28065994e-06 + Width: 1920 + Height: 1080 + Near: 0.00999999978 + Far: 10000 + Perspective: true + IsActive: true + Camera Arm Component: + Arm Pitch: 0 + Arm Yaw: 0 + Arm Length: 1 + Look At Camera Origin: true + Target Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: SHADE_Scripting.ThirdPersonCamera + Enabled: true + armLength: 1 + turnSpeedPitch: 0.300000012 + turnSpeedYaw: 0.5 + pitchClamp: 45 +- EID: 9 + Name: PlayerBag + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 0, y: -2.98023224e-08, z: 4.76837158e-07} + Rotate: {x: 0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 144838771 + Material: 123745521 + IsActive: true + Scripts: ~ +- EID: 239 + Name: RespawnPoint + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2.5, y: 0.660660267, z: 7} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 196 + Name: ====AI===== + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2.70000005, y: 0.100000001, z: -2} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Renderable Component: + Mesh: 140697366 + Material: 129495479 + IsActive: true + RigidBody Component: + Type: Dynamic + Drag: 0.00999999978 + Angular Drag: 0.00999999978 + Use Gravity: true + Interpolate: false + Sleeping Enabled: true + Freeze Position X: false + Freeze Position Y: false + Freeze Position Z: false + Freeze Rotation X: true + Freeze Rotation Y: false + Freeze Rotation Z: true + IsActive: true + Collider Component: + Colliders: + - Is Trigger: false + Type: Box + Half Extents: {x: 1, y: 1.79999995, z: 0.400000006} + Friction: 0.400000006 + Bounciness: 0 + Density: 1 + Position Offset: {x: 0, y: 0.899999976, z: 0} + Rotation Offset: {x: 0, y: 0, z: 0} + IsActive: true + Scripts: + - Type: Homeowner1 + Enabled: true + waypointsPool: 195 + patrolSpeed: 1 + chaseSpeed: 2 + turningSpeed: 5 + sightDistance: 8 + eyeOffset: [0, 1.64999998, 0] + distanceToCapture: 0.5 + captureTime: 0.5 + footstepSFXIntervalMultiplier: 0.5 +- EID: 195 + Name: ====WaypointPool==== + IsActive: true + NumberOfChildren: 7 + Components: ~ + Scripts: ~ +- EID: 176 + Name: 1 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2.75, y: 0, z: -2} + Rotate: {x: 0, y: 0, z: 0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 177 + Name: 2 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -0.25, y: 0, z: -3} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 175 + Name: 3 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2, y: 0, z: -3.75} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 174 + Name: 4 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -3.75, y: 0, z: -2.25} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 173 + Name: 5 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -2.75, y: 0, z: 2.75} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 172 + Name: 6 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: -1.5, y: 0, z: 4} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ +- EID: 171 + Name: 7 + IsActive: true + NumberOfChildren: 0 + Components: + Transform Component: + Translate: {x: 2.75, y: 0, z: 4} + Rotate: {x: -0, y: 0, z: -0} + Scale: {x: 1, y: 1, z: 1} + IsActive: true + Scripts: ~ \ No newline at end of file diff --git a/Assets/Scenes/MainGameWithAIFixed.shade.shmeta b/Assets/Scenes/MainGameWithAIFixed.shade.shmeta new file mode 100644 index 00000000..a256aab8 --- /dev/null +++ b/Assets/Scenes/MainGameWithAIFixed.shade.shmeta @@ -0,0 +1,3 @@ +Name: MainGameWithAIFixed +ID: 89830755 +Type: 5 diff --git a/Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs b/Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs index 094f7e93..404e3df8 100644 --- a/Assets/Scripts/AIBehaviour/BehaviourTree/Core/BehaviourTree.cs +++ b/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(); } diff --git a/Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs b/Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs index b556ad38..a90a3157 100644 --- a/Assets/Scripts/AIBehaviour/Implemented/Homeowner1.cs +++ b/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 waypoints = new List(); + private GameObject waypointsPool; + + private List 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(); - if (!_thisTransform) - Debug.LogError("EMPTY TRANSFORM"); - - _thisRigidbody = GetComponent(); - 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)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().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 { -/* new BehaviourTreeSequence("Alerted", new List + new BehaviourTreeSequence("Alerted", new List { - new LeafSearch("SearchFOV", _thisTransform, eyeOffset, sightDistance), + new LeafSearch("SearchFOV", GetComponent(), eyeOffset, sightDistance), new BehaviourTreeSequence("CatchPlayer", new List { - new LeafChase("Chasing", _thisTransform, _thisRigidbody, chaseSpeed, turningSpeed, distanceToCapture, captureTime), - new LeafAttack("Attacking") + new LeafChase("Chasing", GetComponent(), GetComponent(), chaseSpeed, turningSpeed, distanceToCapture, captureTime), + new LeafAttack("Attacking", GameObject.Find("Player").GetValueOrDefault()) }) - }),*/ - leafPatrol + }), + new LeafPatrol("Patrol", GetComponent(), patrolSpeed, turningSpeed, GetComponent()) }); - return root; } } \ No newline at end of file diff --git a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs b/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs index 2a08e764..e64b63ad 100644 --- a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs +++ b/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? diff --git a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs b/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs index 1e68a7f2..248fa8b9 100644 --- a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs +++ b/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafPatrol.cs @@ -22,10 +22,10 @@ public partial class LeafPatrol : BehaviourTreeNode { //Waypoints and movement private Transform transform; - public List waypoints; + private List waypoints; private RigidBody rb; - private float patrolSpeed = 1.0f; - private float turningSpeed = 5.0f; + private float patrolSpeed; + private float turningSpeed; private float retreatTimer = 0.0f; private int currentWaypointIndex = 0; private bool retreatState = false; @@ -42,10 +42,9 @@ public partial class LeafPatrol : BehaviourTreeNode //Constructor, establish values here //Despite inheriting from BehaviourTreeNode, we don't have children to this //node, and hence we do not need to inherit its constructors - public LeafPatrol(string name, Transform t, List wps, float patrolSpeed, float turnSpeed, RigidBody rb) : base(name) + public LeafPatrol(string name, Transform t, float patrolSpeed, float turnSpeed, RigidBody rb) : base(name) { transform = t; - waypoints = wps; this.patrolSpeed = patrolSpeed; turningSpeed = turnSpeed; this.rb = rb; @@ -59,6 +58,10 @@ public partial class LeafPatrol : BehaviourTreeNode { //Debug.LogWarning("LeafPatrol"); onEnter(BehaviourTreeNodeStatus.RUNNING); + if(GetNodeData("currentWaypointIndex") == null) + { + SetNodeData("currentWaypointIndex", 0); + } if (isWaiting) DelayAtWaypoint(); else MoveToWaypoint(); @@ -80,27 +83,25 @@ public partial class LeafPatrol : BehaviourTreeNode return; } - Vector3 remainingDistance = Vector3.Zero; - Debug.Log($"{waypoints.Count}"); - if (currentWaypointIndex > 0) - { + waypoints = (List)GetNodeData("waypoints"); + Vector3 targetPosition = waypoints[currentWaypointIndex].GetComponent().GlobalPosition; - Vector3 targetPosition = waypoints[currentWaypointIndex]; - - //Reach waypoint by X and Z being near enough - //Do not consider Y of waypoints yet - remainingDistance = targetPosition - transform.GlobalPosition; - remainingDistance.y = 0.0f; - } + //Reach waypoint by X and Z being near enough + //Do not consider Y of waypoints yet + Vector3 remainingDistance = targetPosition - transform.GlobalPosition; + remainingDistance.y = 0.0f; //Reached waypoint, cycle if (remainingDistance.GetSqrMagnitude() < 0.1f) { //Cycle waypoints ++currentWaypointIndex; - if (currentWaypointIndex >= waypoints.Count) + if (currentWaypointIndex >= waypoints.Count()) currentWaypointIndex = 0; + //Write to blackboard + SetNodeData("currentWaypointIndex", currentWaypointIndex); + waitCounter = 0.0f; isWaiting = true; } @@ -115,7 +116,7 @@ public partial class LeafPatrol : BehaviourTreeNode //Get the difference vector to the waypoint //Debug.Log("Current Waypoint " + waypoints[currentWaypointIndex].x.ToString() + " " + waypoints[currentWaypointIndex].y.ToString() + " " + waypoints[currentWaypointIndex].z.ToString()); //Debug.Log("AI is at " + transform.GlobalPosition.x.ToString() + " " + transform.GlobalPosition.y.ToString() + " " + transform.GlobalPosition.z.ToString()); - Vector3 normalisedDifference = waypoints[currentWaypointIndex] - transform.GlobalPosition; + Vector3 normalisedDifference = targetPosition - transform.GlobalPosition; normalisedDifference.y = 0.0f; //Do not move vertically normalisedDifference /= normalisedDifference.GetMagnitude(); //Debug.Log("Normalised Difference x " + normalisedDifference.x.ToString() + " z " + normalisedDifference.z.ToString()); diff --git a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs b/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs index 01c7bd66..056b5a4a 100644 --- a/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs +++ b/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 waypoints = (List)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().GlobalPosition).GetSqrMagnitude() < + (transform.GlobalPosition - waypoints[nearestWaypointIndex].GetComponent().GlobalPosition).GetSqrMagnitude()) + { + nearestWaypointIndex = i; + } + } + SetNodeData("currentWaypointIndex", nearestWaypointIndex); } public override BehaviourTreeNodeStatus Evaluate() { - { - if (!player) - { - player = GameObject.Find("Player").GetValueOrDefault(); - if (!player) { Debug.Log("HERE1"); return BehaviourTreeNodeStatus.FAILURE; } - } - } - //Debug.LogWarning("LeafSearch"); onEnter(BehaviourTreeNodeStatus.RUNNING); - //Fail if unable to find a player - //Get player's transform - Transform plrT = player.GetComponent(); + //Search for player + player = GameObject.Find("Player"); - //DELETE THIS - //Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString()); - //Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + temporary.ToString()); - //Debug.Log("Look difference is: " + (transform.LocalRotation.y - differenceDirection.y).ToString()); - //Debug.Log("Dot: " + Quaternion.Dot(differenceDirection, transform.GlobalRotation)); - - //Fail if too far from vision range - if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance) + //Automatically fail if no player is found + if (player == null) { - //Debug.Log("Failure: Too far"); - if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) - { - Debug.Log("AI play unalert hmm"); - } SetNodeData("isAlert", false); status = BehaviourTreeNodeStatus.FAILURE; onExit(BehaviourTreeNodeStatus.FAILURE); return status; } - - //Fail if player is out of FOV - //TODO currently a simple dot product against negative is done, this makes it essentially be a semicircle in front at which AI can see - Vector3 difference = plrT.GlobalPosition - transform.GlobalPosition; - difference.y = 0.0f; //Disregard Y axis - Vector3 lookDirection = new Vector3(MathF.Sin(transform.LocalEulerAngles.y), 0.0f, MathF.Cos(transform.LocalEulerAngles.y)); - //Debug.Log("Dot: " + Vector3.Dot(difference, lookDirection)); - if (Vector3.Dot(difference, lookDirection) < 0.0f) + else { - //Debug.Log("Failure: Out of FOV"); - if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) + //Fail if unable to find a player + //Get player's transform + Transform plrT = player.GetValueOrDefault().GetComponent(); + + //DELETE THIS + //Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString()); + //Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + temporary.ToString()); + //Debug.Log("Look difference is: " + (transform.LocalRotation.y - differenceDirection.y).ToString()); + //Debug.Log("Dot: " + Quaternion.Dot(differenceDirection, transform.GlobalRotation)); + + //Fail if too far from vision range + if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance) { - Debug.Log("AI play unalert hmm"); + //Debug.Log("Failure: Too far"); + if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) + { + Debug.Log("AI play unalert hmm"); + reevaluateWaypoint(); + } + SetNodeData("isAlert", false); + status = BehaviourTreeNodeStatus.FAILURE; + onExit(BehaviourTreeNodeStatus.FAILURE); + return status; } - SetNodeData("isAlert", false); - status = BehaviourTreeNodeStatus.FAILURE; - onExit(BehaviourTreeNodeStatus.FAILURE); + + //Fail if player is out of FOV + //TODO currently a simple dot product against negative is done, this makes it essentially be a semicircle in front at which AI can see + Vector3 difference = plrT.GlobalPosition - transform.GlobalPosition; + difference.y = 0.0f; //Disregard Y axis + Vector3 lookDirection = new Vector3(MathF.Sin(transform.LocalEulerAngles.y), 0.0f, MathF.Cos(transform.LocalEulerAngles.y)); + //Debug.Log("Dot: " + Vector3.Dot(difference, lookDirection)); + if (Vector3.Dot(difference, lookDirection) < 0.0f) + { + //Debug.Log("Failure: Out of FOV"); + if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) + { + Debug.Log("AI play unalert hmm"); + reevaluateWaypoint(); + } + SetNodeData("isAlert", false); + status = BehaviourTreeNodeStatus.FAILURE; + onExit(BehaviourTreeNodeStatus.FAILURE); + return status; + } + + //LocalRotation is between -1 and 1, which are essentially the same. + //0 and -1/1 are 180 deg apart + //Quaternion differenceDirection = Quaternion.FromToRotation(Vector3.Forward, plrT.GlobalPosition - transform.GlobalPosition); + //Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + differenceDirection.y.ToString()); + + //Draw a ray, succeed if ray is unobstructed + Vector3 eyePosition = transform.GlobalPosition + eyeOffset; + Ray sightRay = new Ray(eyePosition, plrT.GlobalPosition - eyePosition); + RaycastHit sightRayHit = Physics.Raycast(sightRay); + //As of November 2022, RaycastHit contains only the FIRST object hit by + //the ray in the Other GameObject data member + //Diren may likely add ALL objects hit by the ray over December + if (sightRayHit.Hit && sightRayHit.Other != player) + { + //Debug.Log("Failure: Ray hit obstacle named " + sightRayHit.Other.GetValueOrDefault().Name + " ID" + sightRayHit.Other.GetValueOrDefault().EntityId); + if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) + { + Debug.Log("AI play unalert hmm"); + reevaluateWaypoint(); + } + SetNodeData("isAlert", false); + status = BehaviourTreeNodeStatus.FAILURE; + onExit(BehaviourTreeNodeStatus.FAILURE); + return status; + } + else if (sightRayHit.Hit && sightRayHit.Other == player) + { + //Debug.Log("Ray hit player"); + } + + //All checks for now succeeded + //Debug.Log("Success: Homeowner has sighted player"); + //Write player's transform into the blackboard + SetNodeData("target", plrT); + + if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == false) + { + Debug.Log("AI Play Alerted Yell here"); + } + SetNodeData("isAlert", true); + + status = BehaviourTreeNodeStatus.SUCCESS; + onExit(BehaviourTreeNodeStatus.SUCCESS); return status; } - - //LocalRotation is between -1 and 1, which are essentially the same. - //0 and -1/1 are 180 deg apart - //Quaternion differenceDirection = Quaternion.FromToRotation(Vector3.Forward, plrT.GlobalPosition - transform.GlobalPosition); - //Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + differenceDirection.y.ToString()); - - //Draw a ray, succeed if ray is unobstructed - Vector3 eyePosition = transform.GlobalPosition + eyeOffset; - Ray sightRay = new Ray(eyePosition, plrT.GlobalPosition - eyePosition); - RaycastHit sightRayHit = Physics.Raycast(sightRay); - //As of November 2022, RaycastHit contains only the FIRST object hit by - //the ray in the Other GameObject data member - //Diren may likely add ALL objects hit by the ray over December - if (sightRayHit.Hit && sightRayHit.Other != player) - { - //Debug.Log("Failure: Ray hit obstacle named " + sightRayHit.Other.GetValueOrDefault().Name + " ID" + sightRayHit.Other.GetValueOrDefault().EntityId); - if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == true) - { - Debug.Log("AI play unalert hmm"); - } - SetNodeData("isAlert", false); - status = BehaviourTreeNodeStatus.FAILURE; - onExit(BehaviourTreeNodeStatus.FAILURE); - return status; - } - else if (sightRayHit.Hit && sightRayHit.Other == player) - { - //Debug.Log("Ray hit player"); - } - - //All checks for now succeeded - //Debug.Log("Success: Homeowner has sighted player"); - //Write player's transform into the blackboard - SetNodeData("target", plrT); - - if (GetNodeData("isAlert") != null && (bool)GetNodeData("isAlert") == false) - { - Debug.Log("AI Play Alerted Yell here"); - } - SetNodeData("isAlert", true); - - status = BehaviourTreeNodeStatus.SUCCESS; - onExit(BehaviourTreeNodeStatus.SUCCESS); - return status; } } \ No newline at end of file