531 lines
29 KiB
C#
531 lines
29 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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// Sci-Fi Ship Controller. Copyright (c) 2018-2023 SCSM Pty Ltd. All rights reserved.
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namespace SciFiShipController
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{
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/// <summary>
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/// Class used for AI states.
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/// </summary>
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public class AIState
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{
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#region Public Enumerations
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public enum BehaviourCombiner
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{
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/// <summary>
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/// Chooses the first non-zero behaviour in the list.
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/// </summary>
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PriorityOnly = 10,
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/// <summary>
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/// Loops through the non-zero behaviours in the list (in order) and has a probability specified by weighting
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/// of choosing each one.
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/// </summary>
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PrioritisedDithering = 20,
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/// <summary>
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/// Uses a weighted combination of all the non-zero behaviours in the list.
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/// </summary>
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WeightedAverage = 30
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}
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#endregion
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#region Public Non-Static Variables
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/// <summary>
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/// The name of the state.
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/// </summary>
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public string name;
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/// <summary>
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/// The ID number of the state.
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/// </summary>
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public int id;
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/// <summary>
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/// The method called by the state when it is the current state for a ship.
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/// </summary>
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public ShipAIInputModule.CallbackStateMethod callbackStateMethod;
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/// <summary>
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/// The method used by the state for combining behaviours.
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/// </summary>
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public BehaviourCombiner behaviourCombiner;
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#endregion
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#region Private Static Variables
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private static bool isInitialising = false;
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private static bool isInitialised = false;
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private static List<AIState> aiStatesList;
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#endregion
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#region Public Static Readonly Variables
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/// <summary>
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/// The state ID number for the Idle state. The Idle state has no required inputs.
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/// While in the Idle state, the AI ship will remain stationary.
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/// </summary>
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public static readonly int idleStateID = 0;
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/// <summary>
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/// The state ID number for the Move To state. The Move To state takes the following required inputs:
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/// TargetPath / TargetLocation / TargetPosition. It also takes the following optional inputs: ShipsToEvade.
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/// While in the Move To state, the AI ship will either follow TargetPath, or if that is null, move towards
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/// TargetLocation, or if that is null, move towards TargetPosition. It will also evade the targeting regions
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/// of up to 5 ships in the ShipsToEvade list. The state action is set as completed when the ship is within
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/// the ship radius of TargetPosition / TargetLocation or it if reaches the end of TargetPath.
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/// </summary>
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public static readonly int moveToStateID = 1;
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/// <summary>
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/// The state ID number for the Dogfight state. The Dogfight state takes the following required inputs: TargetShip.
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/// While in the Dogfight state, the AI ship will attack TargetShip, whilst also trying to evade TargetShip if
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/// TargetShip ends up behind it. The state action is set as completed when TargetShip is destroyed.
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/// </summary>
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public static readonly int dogfightStateID = 2;
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/// <summary>
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/// The state ID number for the Docking state. The Docking state takes the following required inputs:
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/// TargetPosition, TargetRotation, TargetRadius, TargetDistance, TargetAngularDistance, TargetVelocity.
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/// While in the Docking state, the AI ship will move directly towards TargetPosition (a position moving with velocity
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/// TargetVelocity) and (when it gets within TargetRadius) attempt to match TargetRotation. The state action is set as
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/// completed once the ship is within TargetDistance of TargetPosition and TargetAngularDistance of TargetRotation.
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/// </summary>
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public static readonly int dockingStateID = 3;
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/// <summary>
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/// The state ID number for the Strafing Run state. The Strafing Run state takes the following required inputs:
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/// TargetLocation / TargetPosition, TargetRadius. It also takes the following optional inputs: SurfaceTurretsToEvade.
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/// While in the Strafing Run state, the AI ship will move directly towards TargetLocation / TargetPosition until it gets
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/// within TargetRadius. Then it will move past and away from TargetLocation / TargetPosition until it escapes the
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/// TargetRadius, at which point it will set the state action as completed.
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/// </summary>
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public static readonly int strafingRunStateID = 4;
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#endregion
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#region Constructors
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// Class constructor
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public AIState (string stateName, int stateID, ShipAIInputModule.CallbackStateMethod stateMethod, BehaviourCombiner stateBehaviourCombiner)
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{
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this.name = stateName;
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this.id = stateID;
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this.callbackStateMethod = stateMethod;
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this.behaviourCombiner = stateBehaviourCombiner;
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}
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#endregion
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#region Private Static Methods
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/// <summary>
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/// The state method for the Idle state.
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/// </summary>
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/// <param name="stateMethodParameters"></param>
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private static void IdleState(AIStateMethodParameters stateMethodParameters)
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{
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stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomIdle;
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stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
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}
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/// <summary>
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/// The state method for the Move To state.
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/// </summary>
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/// <param name="stateMethodParameters"></param>
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private static void MoveToState (AIStateMethodParameters stateMethodParameters)
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{
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// Priority #1: Obstacle avoidance
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stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomObstacleAvoidance;
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stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
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// Priority #2: Evade the targeting regions of a list of ships
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int shipsToEvadeCount = 0;
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if (stateMethodParameters.shipsToEvade != null)
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{
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shipsToEvadeCount = stateMethodParameters.shipsToEvade.Count;
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// Limit ships to evade to a maximum of 5
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if (shipsToEvadeCount > 5) { shipsToEvadeCount = 5; }
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// Loop over all the ships to evade
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Ship shipToEvade;
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for (int i = 0; i < shipsToEvadeCount; i++)
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{
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shipToEvade = stateMethodParameters.shipsToEvade[i];
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if (shipToEvade != null && !shipToEvade.Destroyed())
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{
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stateMethodParameters.aiBehaviourInputsList[1 + i].behaviourType = AIBehaviourInput.AIBehaviourType.CustomUnblockCone;
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stateMethodParameters.aiBehaviourInputsList[1 + i].targetPosition = stateMethodParameters.shipsToEvade[i].TransformPosition;
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stateMethodParameters.aiBehaviourInputsList[1 + i].targetForwards = stateMethodParameters.shipsToEvade[i].TransformForward;
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stateMethodParameters.aiBehaviourInputsList[1 + i].targetFOVAngle = 5f;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].weighting = 0.2f;
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stateMethodParameters.aiBehaviourInputsList[1 + i].weighting = 1f / shipsToEvadeCount;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].behaviourType = AIBehaviourInput.AIBehaviourType.CustomUnblockCylinder;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].targetPosition = shipToEvade.TransformPosition;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].targetForwards = shipToEvade.TransformForward;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].targetRadius = stateMethodParameters.shipAIInputModule.shipRadius;
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//stateMethodParameters.aiBehaviourInputsList[1 + i].weighting = 0.2f;
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}
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}
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}
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// Priority #3: Follow a path / move to a location / move to a position
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if (stateMethodParameters.targetPath != null)
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{
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomFollowPath;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].targetPath = stateMethodParameters.targetPath;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].weighting = 1f;
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}
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else if (stateMethodParameters.targetLocation != null)
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{
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeekArrival;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].targetPosition = stateMethodParameters.targetLocation.position;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].weighting = 1f;
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// If distance to target location is less than ship radius, set the state action as completed
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if ((stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetLocation.position).sqrMagnitude
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< stateMethodParameters.shipAIInputModule.shipRadius)
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{
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stateMethodParameters.shipAIInputModule.SetHasCompletedStateAction(true);
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}
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}
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else
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{
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeekArrival;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].targetPosition = stateMethodParameters.targetPosition;
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stateMethodParameters.aiBehaviourInputsList[shipsToEvadeCount + 1].weighting = 1f;
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// If distance to target position is less than ship radius, set the state action as completed
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if ((stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetPosition).sqrMagnitude
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< stateMethodParameters.shipAIInputModule.shipRadius)
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{
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stateMethodParameters.shipAIInputModule.SetHasCompletedStateAction(true);
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}
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}
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}
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/// <summary>
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/// The state method for the Dogfight state.
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/// </summary>
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/// <param name="stateMethodParameters"></param>
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private static void DogfightState (AIStateMethodParameters stateMethodParameters)
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{
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if (stateMethodParameters.targetShip != null)
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{
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// Pre-calculation
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Vector3 fromTargetShipVector = stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetShip.TransformPosition;
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float distToTargetShip = fromTargetShipVector.magnitude;
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float approxPursueInterceptionTime = stateMethodParameters.shipControlModule.shipInstance.WorldVelocity.sqrMagnitude > 0.01f ?
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distToTargetShip / stateMethodParameters.shipControlModule.shipInstance.WorldVelocity.magnitude : 1000f;
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float approxEvadeInterceptionTime = stateMethodParameters.targetShip.WorldVelocity.sqrMagnitude > 0.01f ?
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distToTargetShip / stateMethodParameters.targetShip.WorldVelocity.magnitude : 1000f;
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// Priority #1: Obstacle avoidance
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stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomObstacleAvoidance;
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stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
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// Priority #2: Evade target ship's targeting region
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stateMethodParameters.aiBehaviourInputsList[1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomUnblockCone;
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stateMethodParameters.aiBehaviourInputsList[1].targetPosition = stateMethodParameters.targetShip.TransformPosition;
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stateMethodParameters.aiBehaviourInputsList[1].targetForwards = stateMethodParameters.targetShip.TransformForward;
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stateMethodParameters.aiBehaviourInputsList[1].targetFOVAngle = 5f;
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stateMethodParameters.aiBehaviourInputsList[1].weighting = 1f;
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// Priority #3: Evade target ship (if we are "in front" of the target ship and within 3 seconds evade interception time)
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if (Vector3.Dot(fromTargetShipVector, stateMethodParameters.targetShip.TransformForward) > 0f &&
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Vector3.Dot(fromTargetShipVector, stateMethodParameters.shipControlModule.shipInstance.TransformForward) > 0f &&
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approxEvadeInterceptionTime < 3f)
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{
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stateMethodParameters.aiBehaviourInputsList[2].behaviourType = AIBehaviourInput.AIBehaviourType.CustomFlee;
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stateMethodParameters.aiBehaviourInputsList[2].targetPosition = stateMethodParameters.targetShip.TransformPosition;
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stateMethodParameters.aiBehaviourInputsList[2].targetVelocity = stateMethodParameters.targetShip.WorldVelocity;
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stateMethodParameters.aiBehaviourInputsList[2].weighting = 1f;
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}
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// Priority #4: Pursue/seek target ship
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if (approxPursueInterceptionTime > 3f && approxPursueInterceptionTime < 10f)
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{
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stateMethodParameters.aiBehaviourInputsList[3].behaviourType = AIBehaviourInput.AIBehaviourType.CustomPursuitArrival;
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}
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else
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{
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stateMethodParameters.aiBehaviourInputsList[3].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeekMovingArrival;
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}
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stateMethodParameters.aiBehaviourInputsList[3].targetPosition = stateMethodParameters.targetShip.TransformPosition;
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stateMethodParameters.aiBehaviourInputsList[3].targetVelocity = stateMethodParameters.targetShip.WorldVelocity;
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stateMethodParameters.aiBehaviourInputsList[3].useTargetingAccuracy = true;
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stateMethodParameters.aiBehaviourInputsList[3].weighting = 1f;
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// Set the state action as completed once the target ship is destroyed
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// TODO: should possibly choose different action if the target ship is destroyed?
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if (stateMethodParameters.targetShip.Destroyed())
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{
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stateMethodParameters.shipAIInputModule.SetHasCompletedStateAction(true);
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}
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}
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else
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{
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// Fallback: If the target ship is null (which it shouldn't be) simply seek the target position with obstacle avoidance
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// Priority #1: Obstacle avoidance
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stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomObstacleAvoidance;
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stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
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// Priority #2: Seek target position
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stateMethodParameters.aiBehaviourInputsList[1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeek;
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stateMethodParameters.aiBehaviourInputsList[1].targetPosition = stateMethodParameters.targetPosition;
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stateMethodParameters.aiBehaviourInputsList[1].weighting = 1f;
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}
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}
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/// <summary>
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/// The state method for the Docking state.
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/// </summary>
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/// <param name="stateMethodParameters"></param>
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private static void DockingState(AIStateMethodParameters stateMethodParameters)
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{
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float sqrPosDelta = (stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetPosition).sqrMagnitude;
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float sqrRadius = stateMethodParameters.targetRadius * stateMethodParameters.targetRadius;
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// Priority #1: Obstacle avoidance
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// Only activates when outside of the target radius
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if (sqrPosDelta > sqrRadius)
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{
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stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomObstacleAvoidance;
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//stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
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}
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// Priority #2: Docking
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stateMethodParameters.aiBehaviourInputsList[1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomDock;
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stateMethodParameters.aiBehaviourInputsList[1].targetPosition = stateMethodParameters.targetPosition;
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stateMethodParameters.aiBehaviourInputsList[1].targetForwards = stateMethodParameters.targetRotation * Vector3.forward;
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stateMethodParameters.aiBehaviourInputsList[1].targetUp = stateMethodParameters.targetRotation * Vector3.up;
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stateMethodParameters.aiBehaviourInputsList[1].targetRadius = stateMethodParameters.targetRadius;
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stateMethodParameters.aiBehaviourInputsList[1].targetVelocity = stateMethodParameters.targetVelocity;
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stateMethodParameters.aiBehaviourInputsList[1].targetTime = stateMethodParameters.targetTime;
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stateMethodParameters.aiBehaviourInputsList[1].weighting = 1f;
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|
|
// If we reach the following conditions, set the state action as completed:
|
|||
|
|
// - Within target distance metres of target position
|
|||
|
|
// - Within target angular distance degrees of the target rotation
|
|||
|
|
float angleDelta = Quaternion.Angle(stateMethodParameters.shipControlModule.shipInstance.TransformRotation, stateMethodParameters.targetRotation);
|
|||
|
|
if (sqrPosDelta <= stateMethodParameters.targetDistance * stateMethodParameters.targetDistance &&
|
|||
|
|
angleDelta <= stateMethodParameters.targetAngularDistance)
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.shipAIInputModule.SetHasCompletedStateAction(true);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// The state method for the Strafing Run state.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="stateMethodParameters"></param>
|
|||
|
|
private static void StrafingRunState(AIStateMethodParameters stateMethodParameters)
|
|||
|
|
{
|
|||
|
|
// Priority #1: Obstacle avoidance
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[0].behaviourType = AIBehaviourInput.AIBehaviourType.CustomObstacleAvoidance;
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[0].weighting = 1f;
|
|||
|
|
|
|||
|
|
// Priority #2: Evade the targeting regions of a list of ships
|
|||
|
|
int surfaceTurretsToEvadeCount = 0;
|
|||
|
|
if (stateMethodParameters.surfaceTurretsToEvade != null)
|
|||
|
|
{
|
|||
|
|
surfaceTurretsToEvadeCount = stateMethodParameters.surfaceTurretsToEvade.Count;
|
|||
|
|
// Limit surface turrets to evade to a maximum of 5
|
|||
|
|
if (surfaceTurretsToEvadeCount > 5) { surfaceTurretsToEvadeCount = 5; }
|
|||
|
|
// Loop over all the ships to evade
|
|||
|
|
SurfaceTurretModule surfaceTurretToEvade;
|
|||
|
|
for (int i = 0; i < surfaceTurretsToEvadeCount; i++)
|
|||
|
|
{
|
|||
|
|
surfaceTurretToEvade = stateMethodParameters.surfaceTurretsToEvade[i];
|
|||
|
|
if (surfaceTurretToEvade != null && (surfaceTurretToEvade.weapon.Health > 0f || !surfaceTurretToEvade.isDestroyOnNoHealth))
|
|||
|
|
{
|
|||
|
|
// CURRENT VERSION: TODO FIX TRANSFORM FORWARD
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].behaviourType = AIBehaviourInput.AIBehaviourType.CustomUnblockCone;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetPosition = stateMethodParameters.surfaceTurretsToEvade[i].TransformPosition;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetForwards = stateMethodParameters.surfaceTurretsToEvade[i].TransformForward;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetFOVAngle = 5f;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].weighting = 0.2f;
|
|||
|
|
|
|||
|
|
// What is this?
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].behaviourType = AIBehaviourInput.AIBehaviourType.CustomUnblockCylinder;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetPosition = shipToEvade.TransformPosition;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetForwards = shipToEvade.TransformForward;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].targetRadius = stateMethodParameters.shipAIInputModule.shipRadius;
|
|||
|
|
//stateMethodParameters.aiBehaviourInputsList[1 + i].weighting = 0.2f;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Get the direction and distance to the target position
|
|||
|
|
Vector3 fromTargetPositionVector = Vector3.zero;
|
|||
|
|
if (stateMethodParameters.targetLocation != null)
|
|||
|
|
{
|
|||
|
|
fromTargetPositionVector = stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetLocation.position;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
fromTargetPositionVector = stateMethodParameters.shipControlModule.shipInstance.TransformPosition - stateMethodParameters.targetPosition;
|
|||
|
|
}
|
|||
|
|
float distToTargetPosition = fromTargetPositionVector.magnitude;
|
|||
|
|
|
|||
|
|
// Get the current state stage index
|
|||
|
|
int currentStateStageIndex = stateMethodParameters.shipAIInputModule.GetCurrentStateStageIndex();
|
|||
|
|
|
|||
|
|
if (currentStateStageIndex == 0)
|
|||
|
|
{
|
|||
|
|
// Stage 1: Going towards the target position
|
|||
|
|
|
|||
|
|
// Priority #3: Move to a location / move to a position
|
|||
|
|
if (stateMethodParameters.targetLocation != null)
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeek;
|
|||
|
|
// Target position is moved towards our ship by the target radius, to prevent obstacle
|
|||
|
|
// avoidance from picking up the target object
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].targetPosition =
|
|||
|
|
stateMethodParameters.targetLocation.position + (fromTargetPositionVector / distToTargetPosition * stateMethodParameters.targetRadius);
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].useTargetingAccuracy = true;
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].weighting = 1f;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeek;
|
|||
|
|
// Target position is moved towards our ship by the target radius, to prevent obstacle
|
|||
|
|
// avoidance from picking up the target object
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].targetPosition =
|
|||
|
|
stateMethodParameters.targetPosition + (fromTargetPositionVector / distToTargetPosition * stateMethodParameters.targetRadius);
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].useTargetingAccuracy = true;
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].weighting = 1f;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// If we get within the target radius, go to stage 2
|
|||
|
|
if (distToTargetPosition < stateMethodParameters.targetRadius)
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.shipAIInputModule.SetCurrentStateStageIndex(1);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else if (currentStateStageIndex == 1)
|
|||
|
|
{
|
|||
|
|
// Stage 2: Going away from the target position
|
|||
|
|
|
|||
|
|
// Priority #3: Move away from a location / move away from a position
|
|||
|
|
if (stateMethodParameters.targetLocation != null)
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomSeek;
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].targetPosition =
|
|||
|
|
stateMethodParameters.targetLocation.position + Vector3.Reflect(-fromTargetPositionVector / distToTargetPosition * stateMethodParameters.targetRadius * 2f, Vector3.up);
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].weighting = 1f;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].behaviourType = AIBehaviourInput.AIBehaviourType.CustomFlee;
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].targetPosition =
|
|||
|
|
stateMethodParameters.targetPosition + Vector3.Reflect(-fromTargetPositionVector / distToTargetPosition * stateMethodParameters.targetRadius * 2f, Vector3.up);
|
|||
|
|
stateMethodParameters.aiBehaviourInputsList[surfaceTurretsToEvadeCount + 1].weighting = 1f;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// If we get outside the target radius, set the state action as completed
|
|||
|
|
if (distToTargetPosition > stateMethodParameters.targetRadius)
|
|||
|
|
{
|
|||
|
|
stateMethodParameters.shipAIInputModule.SetHasCompletedStateAction(true);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
|
|||
|
|
#region Public Static API Methods
|
|||
|
|
|
|||
|
|
public static void Initialise ()
|
|||
|
|
{
|
|||
|
|
if (isInitialised || isInitialising) { return; }
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
isInitialising = true;
|
|||
|
|
|
|||
|
|
// Create the AI States List with the number of elements equal to the number of predefined states
|
|||
|
|
aiStatesList = new List<AIState>(5);
|
|||
|
|
// Add the predefined states
|
|||
|
|
AddState("Idle", IdleState, BehaviourCombiner.PriorityOnly);
|
|||
|
|
AddState("Move To", MoveToState, BehaviourCombiner.PrioritisedDithering);
|
|||
|
|
AddState("Dogfight", DogfightState, BehaviourCombiner.PriorityOnly);
|
|||
|
|
AddState("Docking", DockingState, BehaviourCombiner.PriorityOnly);
|
|||
|
|
AddState("Strafing Run", StrafingRunState, BehaviourCombiner.PrioritisedDithering);
|
|||
|
|
|
|||
|
|
isInitialising = false;
|
|||
|
|
isInitialised = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Adds a new AI state with a given name and state method. Returns the ID of the new state.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="newStateName"></param>
|
|||
|
|
/// <param name="newStateMethod"></param>
|
|||
|
|
/// <returns></returns>
|
|||
|
|
public static int AddState (string newStateName, ShipAIInputModule.CallbackStateMethod newStateMethod, BehaviourCombiner newStateBehaviourCombiner = BehaviourCombiner.PriorityOnly)
|
|||
|
|
{
|
|||
|
|
// Allow AddState to be called during Initialise()
|
|||
|
|
if (isInitialised || isInitialising)
|
|||
|
|
{
|
|||
|
|
// Create a new state with the given name and method
|
|||
|
|
// The ID is set to what its index in the list is going to be
|
|||
|
|
AIState newAIState = new AIState(newStateName, aiStatesList.Count, newStateMethod, newStateBehaviourCombiner);
|
|||
|
|
// Add the state to the list
|
|||
|
|
aiStatesList.Add(newAIState);
|
|||
|
|
// Return the ID of the newly created state
|
|||
|
|
return newAIState.id;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
#if UNITY_EDITOR
|
|||
|
|
Debug.LogWarning("AIState.AddState - AIState is not initialised. Please call AIState.Initialise() first.");
|
|||
|
|
#endif
|
|||
|
|
return -1;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Returns the AI state with the corresponding state ID.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="stateID"></param>
|
|||
|
|
/// <returns></returns>
|
|||
|
|
public static AIState GetState (int stateID)
|
|||
|
|
{
|
|||
|
|
// First check that the supplied ID is valid
|
|||
|
|
if (stateID >= 0 && stateID < aiStatesList.Count)
|
|||
|
|
{
|
|||
|
|
return aiStatesList[stateID];
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
return null;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Attempts to return the state name. Use with caution as this
|
|||
|
|
/// will generate GC. When comparing in code, use:
|
|||
|
|
/// if (stateID == AIState.moveToState) etc instead to avoid GC.
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="stateID"></param>
|
|||
|
|
/// <returns></returns>
|
|||
|
|
public static string GetStateName (int stateID)
|
|||
|
|
{
|
|||
|
|
AIState aiState = GetState(stateID);
|
|||
|
|
|
|||
|
|
if (aiState != null) { return string.IsNullOrEmpty(aiState.name) ? "Unnamed State" : aiState.name; }
|
|||
|
|
else { return "State is null"; }
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
|
|||
|
|
#region Public Member API Methods
|
|||
|
|
|
|||
|
|
public override string ToString()
|
|||
|
|
{
|
|||
|
|
return name + " id: " + id.ToString();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
}
|
|||
|
|
}
|