private void Update()
{
if (Time.time > changeDirectiontime)
{
changeDirectiontime = Time.time + Random.Range(10.0f, 20.0f);
float rotationAngleInDeg = Random.Range(-90.0f, 90.0f);
windDirection = AIHelperFunctions.GetRotatedVector(windDirection, rotationAngleInDeg * degToRad);
arrow.transform.eulerAngles = new Vector3(0, Vector3.SignedAngle(Vector3.forward, windDirection, Vector3.up), 0);;
}
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_MoveRandomly()
{
if (obstacle1)
{
activeState = state_AvoidingObstacle;
return;
}
if (enemyShip)
{
Vector3 playerShipDirection = enemyShip.transform.forward;
playerShipDirection.y = 0;
Vector3 ourShipDirection = transform.forward;
ourShipDirection.y = 0;
float angleBetweenPlayerShipDirectionAndOurShipDirection = Vector3.Angle(playerShipDirection, ourShipDirection);
if (angleBetweenPlayerShipDirectionAndOurShipDirection > 90)
{
angleBetweenPlayerShipDirectionAndOurShipDirection = 180 - angleBetweenPlayerShipDirectionAndOurShipDirection;
}
if ((angleBetweenPlayerShipDirectionAndOurShipDirection <= 5) &&
(AIHelperFunctions.GetDistanceBetweenPerpendicular(this.gameObject, enemyShip) <= 3))
{
activeState = state_Battle;
return;
}
}
//change ship direction periodically
if (Time.time > changeDirectionTime)
{
changeDirectionTime = Time.time + RandomPeriodOfTime();
float currentShipToWindAngle = angleBetweenShipAndWind.GetCurrentShipToWindAngle();
float angle = Random.Range(-45.0f, 45.0f);
Vector3 rotatedVector;
if (currentShipToWindAngle - angle > 150)
{
rotatedVector = AIHelperFunctions.GetRotatedVector(windArea.windDirection, -150 * Mathf.Deg2Rad);
}
else if (currentShipToWindAngle - angle < -150)
{
rotatedVector = AIHelperFunctions.GetRotatedVector(windArea.windDirection, 150 * Mathf.Deg2Rad);
}
else
{
rotatedVector = AIHelperFunctions.GetRotatedVector(transform.forward, angle * Mathf.Deg2Rad);
}
enemyBoatController.SetNewShipDirection(rotatedVector);
}
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_GoToLastKnownPlayerShipPosition()
{
// START of checking the state change conditions ---------------------
if (obstacle1)
{
activeState = state_AvoidObstacles;
return;
}
if (playerShip)
{
lostPlayerLastKnownPosition = doesNotExist;
activeState = state_GoToPlayerShip;
return;
}
Vector3 towardsLostPlayerLastKnownPositionDirection = lostPlayerLastKnownPosition - transform.position;
towardsLostPlayerLastKnownPositionDirection.y = 0;
// if player not found near lostPlayerLastKnownPosition
if (towardsLostPlayerLastKnownPositionDirection.magnitude < 20)
{
lostPlayerLastKnownPosition = doesNotExist;
activeState = state_PlayerSearch;
return;
}
// END of checking the state change conditions---------------
Debug.DrawLine(transform.position, lostPlayerLastKnownPosition, Color.magenta, 0.0f, true);
// float angleBetweenOurShipDirectionAndTowardsLostPlayerLastKnownPositionDirection =
// Vector3.SignedAngle(ourShipDirection, towardsLostPlayerLastKnownPositionDirection, Vector3.up);
// Taking wind into account
float angleBetweenTowardsLostPlayerLastKnownPositionDirectionAndWindDirection =
Vector3.SignedAngle(towardsLostPlayerLastKnownPositionDirection, windArea.windDirection, Vector3.up);
if (angleBetweenTowardsLostPlayerLastKnownPositionDirectionAndWindDirection > 150)
{
towardsLostPlayerLastKnownPositionDirection = AIHelperFunctions.GetRotatedVector(windArea.windDirection, -150 * Mathf.Deg2Rad);
}
else if (angleBetweenTowardsLostPlayerLastKnownPositionDirectionAndWindDirection < -150)
{
towardsLostPlayerLastKnownPositionDirection = AIHelperFunctions.GetRotatedVector(windArea.windDirection, 150 * Mathf.Deg2Rad);
}
enemyBoatController.SetNewShipDirection(towardsLostPlayerLastKnownPositionDirection);
}
private void DetermineInWhichZoneIsOurShip()
{
distanceBetweenParallel = AIHelperFunctions.GetDistanceBetweenParallel(ourShip, playerShip);
if (distanceBetweenParallel > maxDistBetweenParallel)
{
ourShipIsInParallelZone = false;
ourShipIsInZoneBetweenParallelZones = false;
}
else if (distanceBetweenParallel >= minDistBetweenParallel && distanceBetweenParallel <= maxDistBetweenParallel)
{
ourShipIsInParallelZone = true;
ourShipIsInZoneBetweenParallelZones = false;
}
else //distance < minDistBetweenParallel
{
ourShipIsInParallelZone = false;
ourShipIsInZoneBetweenParallelZones = true;
}
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_PlayerSearch()
{
if (obstacle1)
{
activeState = state_AvoidObstacles;
return;
}
if (playerShip)
{
activeState = state_GoToPlayerShip;
return;
}
//change ship direction periodically
if (Time.time > changeDirectionTime)
{
changeDirectionTime = Time.time + RandomPeriodOfTime();
float currentShipToWindAngle = angleBetweenShipAndWind.GetCurrentShipToWindAngle();
float angle = Random.Range(-45.0f, 45.0f);
Vector3 rotatedVector;
if (currentShipToWindAngle - angle > 150)
{
rotatedVector = AIHelperFunctions.GetRotatedVector(windArea.windDirection, -150 * Mathf.Deg2Rad);
}
else if (currentShipToWindAngle - angle < -150)
{
rotatedVector = AIHelperFunctions.GetRotatedVector(windArea.windDirection, 150 * Mathf.Deg2Rad);
}
else
{
rotatedVector = AIHelperFunctions.GetRotatedVector(transform.forward, angle * Mathf.Deg2Rad);
}
enemyBoatController.SetNewShipDirection(rotatedVector);
}
}
// =========================================================
// FSM STATES
// =========================================================
// STATE start ---------------------------------------------
void state_AvoidObstacles()
{
// START of checking the state change conditions ---------------------
if (!obstacle1)
{
if (!playerShip)
{
ChangeStateTo_PlayerSearch_Or_GoToLastKnownPlayerShipPosition();
return;
}
if (playerShip)
{
activeState = state_GoToPlayerShip;
return;
}
}
// END of checking the state change conditions---------------
Vector3 ourShipDirection = transform.forward;
ourShipDirection.y = 0;
float angleInDegToAvoidObstacle;
// if there is only one obstacle
if (obstacle1 && !obstacle2)
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else // if there are two obstacles
{
float angleBetweenShortestShiptToObstacle1VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle1, transform);
float angleBetweenShortestShiptToObstacle2VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle2, transform);
if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle1, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle2, additionalRandomAngle);
}
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = 90 + additionalRandomAngle;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = -90 - additionalRandomAngle;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle2, windArea, additionalRandomAngle);
}
}
else //such situation should not exist!!!
{
angleInDegToAvoidObstacle = 0;
Debug.Log("Such situation should not exist!!!");
}
}
Vector3 rotatedVector = AIHelperFunctions.GetRotatedVector(ourShipDirection, angleInDegToAvoidObstacle * Mathf.Deg2Rad);
enemyBoatController.SetNewShipDirection(rotatedVector);
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_Battle()
{
// START of checking the state change conditions ---------------------
if (obstacle1)
{
activeState = state_AvoidObstacles;
return;
}
if (!playerShip)
{
activeState = state_PlayerSearch;
return;
}
Vector3 playerShipDirection = playerShip.transform.forward;
playerShipDirection.y = 0;
Vector3 ourShipDirection = transform.forward;
ourShipDirection.y = 0;
float angleBetweenPlayerShipDirectionAndOurShipDirection = Vector3.Angle(playerShipDirection, ourShipDirection);
if (angleBetweenPlayerShipDirectionAndOurShipDirection > 90)
{
angleBetweenPlayerShipDirectionAndOurShipDirection = 180 - angleBetweenPlayerShipDirectionAndOurShipDirection;
}
if ((angleBetweenPlayerShipDirectionAndOurShipDirection > 10) ||
(AIHelperFunctions.GetDistanceBetweenPerpendicular(this.gameObject, playerShip) > 3))
{
activeState = state_SailParallelToPlayerShip;
return;
}
// END of checking the state change conditions---------------
Debug.DrawLine(transform.position, playerShip.transform.position, Color.yellow, 0.0f, true);
for (int i = 0; i < cannonsTimeOfNextFire.Length; i++)
{
if (Time.time < cannonsTimeOfNextFire[i])
{
continue;
}
cannonsTimeOfNextFire[i] = Time.time + 4 + Random.Range(0.0f, 1.0f);
Transform cannonTransform = cannons[i].GetComponent <Transform>();
Ray cannonRay = new Ray(cannonTransform.position, cannonTransform.forward);
float fireDistance = maxDistBetweenParallel;
RaycastHit hit;
if (Physics.Raycast(cannonRay, out hit, fireDistance))
{
if (hit.collider.tag == "PlayerShip")
{
StartCoroutine(cannons[i].GetComponent <CannonActions>().FireToOpponentShip(hit.collider.gameObject));
}
}
}
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_SailParallelToPlayerShip()
{
// START of checking the state change conditions ---------------------
if (obstacle1)
{
activeState = state_AvoidObstacles;
return;
}
if (!playerShip)
{
Debug.Log("SailParallelToPlayerShip ------> ChangeStateTo_PlayerSearch_Or_GoToLastKnownPosition");
ChangeStateTo_PlayerSearch_Or_GoToLastKnownPlayerShipPosition();
return;
}
// This check can be performed only if playerShip != null
DetermineInWhichZoneIsOurShip();
if (!ourShipIsInParallelZone && !ourShipIsInZoneBetweenParallelZones)
{
activeState = state_GoToPlayerShip;
return;
}
if (!ourShipIsInParallelZone && ourShipIsInZoneBetweenParallelZones)
{
activeState = state_GoToParallelZone;
return;
}
// END of checking the state change conditions---------------
Vector3 towardsPlayerShipDirection = playerShip.transform.position - transform.position;
Vector3 playerShipDirection = playerShip.transform.forward;
playerShipDirection.y = 0;
Vector3 ourShipDirection = transform.forward;
ourShipDirection.y = 0;
Debug.DrawLine(transform.position, playerShip.transform.position, Color.red, 0.0f, true);
float angleBetweenPlayerShipDirectionAndOurShipDirection = Vector3.Angle(playerShipDirection, ourShipDirection);
if (angleBetweenPlayerShipDirectionAndOurShipDirection > 90)
{
angleBetweenPlayerShipDirectionAndOurShipDirection = 180 - angleBetweenPlayerShipDirectionAndOurShipDirection;
}
if ((angleBetweenPlayerShipDirectionAndOurShipDirection <= 10) &&
(AIHelperFunctions.GetDistanceBetweenPerpendicular(this.gameObject, playerShip) <= 3))
{
activeState = state_Battle;
return;
}
if (closeToPlayerShip)
{
if (angleBetweenPlayerShipDirectionAndOurShipDirection > 0.5)
{
AIHelperFunctions.SetShipsParallel(ourShip, playerShip, enemyBoatController);
}
}
else //not closeToPlayerShip
{
if (AIHelperFunctions.IsOurShipDirectionConsistentWithTowardsOtherShipDirection(ourShipDirection, towardsPlayerShipDirection))
{
if (angleBetweenPlayerShipDirectionAndOurShipDirection > 0.5)
{
AIHelperFunctions.SetShipsParallel(ourShip, playerShip, enemyBoatController);
}
}
else
{
activeState = state_GoToPlayerShip;
}
}
}
// STATE end -----------------------------------------------
// STATE start ---------------------------------------------
void state_GoToPlayerShip()
{
// START of checking the state change conditions ---------------------
if (obstacle1)
{
activeState = state_AvoidObstacles;
return;
}
if (!playerShip)
{
Debug.Log("GoToPlayerShip ------> ChangeStateTo_PlayerSearch_Or_GoToLastKnownPosition");
ChangeStateTo_PlayerSearch_Or_GoToLastKnownPlayerShipPosition();
return;
}
Vector3 towardsPlayerShipDirection = playerShip.transform.position - transform.position;
towardsPlayerShipDirection.y = 0;
Vector3 playerShipDirection = playerShip.transform.forward;
playerShipDirection.y = 0;
Vector3 shipDirection = transform.forward;
shipDirection.y = 0;
// This check can be performed only if playerShip != null
DetermineInWhichZoneIsOurShip();
ourShipDirectionIsConsistentWithTowardsPlayerShipDirection =
AIHelperFunctions.IsOurShipDirectionConsistentWithTowardsOtherShipDirection(shipDirection, towardsPlayerShipDirection);
if (ourShipIsInParallelZone)
{
if (closeToPlayerShip)
{
activeState = state_SailParallelToPlayerShip;
return;
}
if (!closeToPlayerShip)
{
if (ourShipDirectionIsConsistentWithTowardsPlayerShipDirection)
{
activeState = state_SailParallelToPlayerShip;
return;
}
}
}
if (ourShipIsInZoneBetweenParallelZones)
{
activeState = state_GoToParallelZone;
return;
}
// END of checking the state change conditions---------------
Debug.DrawLine(transform.position, playerShip.transform.position, Color.white, 0.0f, true);
// Taking wind into account
float angleBetweenTowardsPlayerShipDirectionAndWindDirection = Vector3.SignedAngle(towardsPlayerShipDirection, windArea.windDirection, Vector3.up);
if (angleBetweenTowardsPlayerShipDirectionAndWindDirection > 150)
{
towardsPlayerShipDirection = AIHelperFunctions.GetRotatedVector(windArea.windDirection, -150 * Mathf.Deg2Rad);
}
else if (angleBetweenTowardsPlayerShipDirectionAndWindDirection < -150)
{
towardsPlayerShipDirection = AIHelperFunctions.GetRotatedVector(windArea.windDirection, 150 * Mathf.Deg2Rad);
}
enemyBoatController.SetNewShipDirection(towardsPlayerShipDirection);
}
// =========================================================
// FSM STATES
// =========================================================
// STATE start ---------------------------------------------
void state_AvoidingObstacle()
{
if (!obstacle1)
{
activeState = state_MoveRandomly;
return;
}
// if (!obstacle1) {
// if (!playerShip) {
// activeState = state_PlayerSearching;
// return;
// } else {
// activeState = state_GoToPlayerShip;
// return;
// }
// }
// Vector3 shipPosition = transform.position;
Vector3 shipDirection = transform.forward;
float angleInDegToAvoidObstacle;
if (obstacle1 && !obstacle2)
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
float angleBetweenShortestShiptToObstacle1VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle1, transform);
float angleBetweenShortestShiptToObstacle2VectorAndShipDirection =
AIHelperFunctions.GetAngleBetweenShortestShiptToObstacleVectorAndShipDirection(obstacle2, transform);
if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle1, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetGreaterAngleInDegToAvoidObstacle(ourShip, obstacle2, additionalRandomAngle);
}
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = 90 + 20;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection == 0)
||
(angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle1VectorAndShipDirection == 0))
{
angleInDegToAvoidObstacle = -90 - 20;
}
else if ((angleBetweenShortestShiptToObstacle1VectorAndShipDirection > 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection > 0)
||
(angleBetweenShortestShiptToObstacle1VectorAndShipDirection < 0 &&
angleBetweenShortestShiptToObstacle2VectorAndShipDirection < 0))
{
if (Mathf.Abs(angleBetweenShortestShiptToObstacle1VectorAndShipDirection) <
Mathf.Abs(angleBetweenShortestShiptToObstacle2VectorAndShipDirection))
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle1, windArea, additionalRandomAngle);
}
else
{
angleInDegToAvoidObstacle = AIHelperFunctions.GetAngleInDegToAvoidObstacle(ourShip, obstacle2, windArea, additionalRandomAngle);
}
}
else
{
angleInDegToAvoidObstacle = 0;
Debug.Log("Such situation should not exist!!!");
}
}
Vector3 rotatedVector = AIHelperFunctions.GetRotatedVector(shipDirection, angleInDegToAvoidObstacle * Mathf.Deg2Rad);
enemyBoatController.SetNewShipDirection(rotatedVector);
}
