SHADE_Y3/Assets/Scripts/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs

/*********************************************************************
 * \file   LeafSearch.cs
 * \author Ryan Wang Nian Jing
 * \brief  Leaf node implementation for AI searching for player
 *         
 *
 * \copyright Copyright (c) 2022 DigiPen Institute of Technology. Reproduction
   or disclosure of this file or its contents without the prior written
   consent of DigiPen Institute of Technology is prohibited.
 *********************************************************************/

using SHADE;
using SHADE_Scripting.AIBehaviour.BehaviourTree;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;

//VARIABLES HERE
public partial class LeafSearch : BehaviourTreeNode
{
  private GameObject player;
  private Transform transform;
  private Vector3 eyeOffset;
  private float sightDistance;

}

//FUNCTIONS HERE
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;
  }

  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<Transform>();

    //DELETE THIS
    //Debug.Log("X " + MathF.Sin(transform.LocalEulerAngles.y).ToString() + " Z " + MathF.Cos(transform.LocalEulerAngles.y).ToString());
    //Debug.Log("Looking at: " + transform.LocalRotation.y.ToString() + " To player is: " + temporary.ToString());
    //Debug.Log("Look difference is: " + (transform.LocalRotation.y - differenceDirection.y).ToString());
    //Debug.Log("Dot: " + Quaternion.Dot(differenceDirection, transform.GlobalRotation));

    //Fail if too far from vision range
    if ((plrT.GlobalPosition - transform.GlobalPosition).GetMagnitude() > sightDistance)
    {
      //Debug.Log("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)
    {
      //Debug.Log("Failure: Out of FOV");
      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;
    }

    //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;
  }
}