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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,262 @@ | ||
| using AI.Blackboard; | ||
| using AI.SensorSystem; | ||
| using Main; | ||
| using UnityEngine; | ||
|
|
||
| namespace SensorAI | ||
| { | ||
| class SightingSensor : Sensor | ||
| { | ||
| private float m_SightDistance = 10f; | ||
| private float m_SightAngle = 45f; | ||
| public override ESensorType GetSensorType() | ||
| { | ||
| return ESensorType.Sighting; | ||
| } | ||
| public SightingSensor(float dist, float angle) | ||
| { | ||
| m_SightDistance = dist; | ||
| m_SightAngle = angle; | ||
| } | ||
| public override void Update(BlackboardMemory sensorMemory) | ||
| { | ||
| Tank t = (Tank)Agent; | ||
| //check if can see other tank | ||
| int targetOppKey = (int)EBBKey.TargetOppTank; | ||
| Tank oppTank = Match.instance.GetOppositeTank(t.Team); | ||
| if (oppTank != null && oppTank.IsDead == false && TrySightingTest(oppTank.Position)) | ||
| { | ||
| sensorMemory.SetValue(targetOppKey, oppTank); | ||
| } | ||
| else | ||
| { | ||
| sensorMemory.SetValue(targetOppKey, null); | ||
| } | ||
| //check if star still exists | ||
| int cachedStarID = sensorMemory.GetValue<int>((int)EBBKey.CaredStar, -1); | ||
| if (cachedStarID >= 0) //has star | ||
| { | ||
| //move to star position it heard | ||
| Vector3 starPos = sensorMemory.GetValue<Vector3>((int)EBBKey.TargetStarPos, default(Vector3)); | ||
| if(TrySightingTest(starPos)) | ||
| { | ||
| Star cachedStar = Match.instance.GetStarByID(cachedStarID); | ||
| if(cachedStar == null) | ||
| { | ||
| sensorMemory.DelValue((int)EBBKey.CaredStar); | ||
| sensorMemory.DelValue((int)EBBKey.TargetStarPos); | ||
| } | ||
| } | ||
| } | ||
| } | ||
| private bool TrySightingTest(Vector3 pos) | ||
| { | ||
| if (IsInSightingCone(pos) == false) | ||
| { | ||
| return false; | ||
| } | ||
| Tank t = (Tank)Agent; | ||
| if (t.CanSeeOthers(pos) == false) | ||
| { | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
| private bool IsInSightingCone(Vector3 pos) | ||
| { | ||
| Tank t = (Tank)Agent; | ||
| Vector3 toTarget = pos - t.FirePos; | ||
| //sighting dist | ||
| if(toTarget.sqrMagnitude > m_SightDistance * m_SightDistance) | ||
| { | ||
| return false; | ||
| } | ||
| //sighting angle | ||
| if(Vector3.Angle(t.TurretAiming, toTarget) > m_SightAngle) | ||
| { | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
| } | ||
| class HearingSensor : Sensor | ||
| { | ||
| private float m_HearingRadius = 10f; | ||
| public override ESensorType GetSensorType() | ||
| { | ||
| return ESensorType.Hearing; | ||
| } | ||
| public HearingSensor(float radius) | ||
| { | ||
| m_HearingRadius = radius; | ||
| } | ||
| public override void StimulusReceived(Stimulus stim, BlackboardMemory sensorMemory) | ||
| { | ||
| Tank t = (Tank)Agent; | ||
| Vector3 toTarget = stim.EmitterPos - t.Position; | ||
| if(toTarget.sqrMagnitude > m_HearingRadius * m_HearingRadius) | ||
| { | ||
| return; | ||
| } | ||
| if(stim.StimulusType == (int)EStimulusType.StarPopup) | ||
| { | ||
| bool needUpdateCachedStar = false; | ||
| int cachedStarKey = (int)EBBKey.CaredStar; | ||
| Star star = (Star)stim.TargetObject; | ||
| int cachedStarID = sensorMemory.GetValue<int>(cachedStarKey, -1); | ||
| if(cachedStarID < 0) | ||
| { | ||
| needUpdateCachedStar = true; | ||
| } | ||
| else | ||
| { | ||
| Star cachedStar = Match.instance.GetStarByID(cachedStarID); | ||
| if (cachedStar == null) //no star found, use current | ||
| { | ||
| needUpdateCachedStar = true; | ||
| } | ||
| else | ||
| { | ||
| //check if need update cached star | ||
| if((cachedStar.Position - t.Position).sqrMagnitude > toTarget.sqrMagnitude) | ||
| { | ||
| needUpdateCachedStar = true; | ||
| } | ||
| } | ||
| } | ||
| if(needUpdateCachedStar) | ||
| { | ||
| sensorMemory.SetValue(cachedStarKey, star.ID); | ||
| sensorMemory.SetValue((int)EBBKey.TargetStarPos, star.Position); | ||
| } | ||
| } | ||
| else if(stim.StimulusType == (int)EStimulusType.StarTaken) | ||
| { | ||
| int cachedStarKey = (int)EBBKey.CaredStar; | ||
| Star star = (Star)stim.TargetObject; | ||
| int cachedStarID = sensorMemory.GetValue<int>(cachedStarKey, -1); | ||
| if(star.ID == cachedStarID) | ||
| { | ||
| sensorMemory.DelValue(cachedStarKey); | ||
| sensorMemory.DelValue((int)EBBKey.TargetStarPos); | ||
| } | ||
| } | ||
| } | ||
| } | ||
| enum EBBKey | ||
| { | ||
| CaredStar, TargetStarPos, TargetOppTank | ||
| } | ||
| public class MyTank : Tank | ||
| { | ||
| const float SightDist = 40f; | ||
| const float SightAngle = 60f; | ||
| const float HearingRadius = 50f; | ||
|
|
||
| private float m_LastTime; | ||
| private SensorManager m_SensorManager; | ||
| protected override void OnStart() | ||
| { | ||
| base.OnStart(); | ||
| m_SensorManager = new SensorManager(this); | ||
| m_SensorManager.AddSensor(new SightingSensor(30, 60)); | ||
| m_SensorManager.AddSensor(new HearingSensor(HearingRadius)); | ||
| } | ||
| protected override void OnUpdate() | ||
| { | ||
| m_SensorManager.Update(); | ||
| Tank oppTank = m_SensorManager.GetSensorMemory().GetValue<Tank>((int)EBBKey.TargetOppTank, null); | ||
| if (oppTank != null) | ||
| { | ||
| TurretTurnTo(oppTank.Position); | ||
| Vector3 toTarget = oppTank.Position - FirePos; | ||
| toTarget.y = 0; | ||
| toTarget.Normalize(); | ||
| if (Vector3.Dot(TurretAiming, toTarget) > 0.98f) | ||
| { | ||
| Fire(); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| TurretTurnTo(Position + Forward); | ||
| } | ||
| int targetStarID = m_SensorManager.GetSensorMemory().GetValue<int>((int)EBBKey.CaredStar, -1); | ||
| if (targetStarID >= 0) //has star | ||
| { | ||
| //move to star position it heard | ||
| Vector3 starPos = m_SensorManager.GetSensorMemory().GetValue<Vector3>((int)EBBKey.TargetStarPos, default(Vector3)); | ||
| Move(starPos); | ||
| } | ||
| else | ||
| { | ||
| if (Time.time > m_LastTime && ApproachNextDestination()) | ||
| { | ||
| m_LastTime = Time.time + Random.Range(3, 8); | ||
| } | ||
| } | ||
| } | ||
| protected override void OnReborn() | ||
| { | ||
| base.OnReborn(); | ||
| m_LastTime = 0; | ||
| m_SensorManager.ClearSensorMemory(); | ||
| } | ||
| private bool ApproachNextDestination() | ||
| { | ||
| float halfSize = PhysicsUtils.MaxFieldSize * 0.5f; | ||
| return Move(new Vector3(Random.Range(-halfSize, halfSize), 0, Random.Range(-halfSize, halfSize))); | ||
| } | ||
| protected override void OnStimulusReceived(Stimulus stim) | ||
| { | ||
| m_SensorManager.StimulusReceived(stim); | ||
| } | ||
| protected override void OnOnDrawGizmos() | ||
| { | ||
| base.OnOnDrawGizmos(); | ||
| Matrix4x4 defaultMatrix = Gizmos.matrix; | ||
| Gizmos.matrix = transform.localToWorldMatrix; | ||
| Gizmos.color = Match.instance.GetTeamColor(Team); | ||
| // 绘制圆环 | ||
| Vector3 beginPoint = Vector3.zero; | ||
| Vector3 firstPoint = Vector3.zero; | ||
| for (float theta = 0; theta < 2 * Mathf.PI; theta += 2 * Mathf.PI / 32f) | ||
| { | ||
| float x = HearingRadius * Mathf.Cos(theta); | ||
| float z = HearingRadius * Mathf.Sin(theta); | ||
| Vector3 endPoint = new Vector3(x, 0.5f, z); | ||
| if (theta == 0) | ||
| { | ||
| firstPoint = endPoint; | ||
| } | ||
| else | ||
| { | ||
| Gizmos.DrawLine(beginPoint, endPoint); | ||
| } | ||
| beginPoint = endPoint; | ||
| } | ||
| Gizmos.DrawLine(firstPoint, beginPoint); | ||
| Gizmos.matrix = defaultMatrix; | ||
|
|
||
| RaycastHit hitInfo; | ||
| Vector3 v1 = Quaternion.AngleAxis(SightAngle, Vector3.up) * TurretAiming; | ||
| Vector3 v1EndPos = FirePos + v1 * SightDist; | ||
| if (Physics.Linecast(FirePos, v1EndPos, out hitInfo, PhysicsUtils.LayerMaskCollsion)) | ||
| { | ||
| v1EndPos = hitInfo.point; | ||
| } | ||
| Vector3 v2 = Quaternion.AngleAxis(-SightAngle, Vector3.up) * TurretAiming; | ||
| Vector3 v2EndPos = FirePos + v2 * SightDist; | ||
| if (Physics.Linecast(FirePos, v2EndPos, out hitInfo, PhysicsUtils.LayerMaskCollsion)) | ||
| { | ||
| v2EndPos = hitInfo.point; | ||
| } | ||
| Gizmos.DrawLine(FirePos, v1EndPos); | ||
| Gizmos.DrawLine(FirePos, v2EndPos); | ||
| } | ||
| public override string GetName() | ||
| { | ||
| return "SensorTank"; | ||
| } | ||
| } | ||
| } |
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