public override AIAction[] CalcActionsToPerform()
{
Tank selfTank = controller.SelfTank;
Tank targetTank = controller.TargetTank;
Map map = controller.Map;
List <TreeSearchMoveInfo> possibleMoves = new List <TreeSearchMoveInfo>();
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, -1), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(90f), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(-90f), true));
LookaheadTree tree = new LookaheadTree();
tree.PopulateTree(selfTank, map, LookaheadTime, LookaheadTimeStep, possibleMoves);
List <LookaheadNode> possibleNodes = tree.FindAllNodesAtSearchTime(LookaheadTime);
possibleNodes = AIUtility.FilterByPathNotObstructed(possibleNodes);
possibleNodes = AIUtility.FilterByDestNotObstructed(possibleNodes, map);
possibleNodes = AIUtility.FilterByPassingBullet(possibleNodes, map);
possibleNodes = AIUtility.FilterByAwayFromWall(possibleNodes, selfTank.StateInfo);
LookaheadNode bestNode = null;
float bestCost = 0;
foreach (LookaheadNode node in possibleNodes)
{
WeaponPart notUsed;
int targetTime = AIUtility.CalcMinTimeForAimerToHitAimee(targetTank.StateInfo, node.TankInfo, targetTank.Hull.GetAllWeapons(), out notUsed);
int selfTime = AIUtility.CalcMinTimeForAimerToHitAimee(node.TankInfo, targetTank.StateInfo, selfTank.Hull.GetAllWeapons(), out notUsed);
float cost = targetTime - selfTime;
if (bestNode == null || bestCost < cost)
{
bestNode = node;
bestCost = cost;
}
}
timeSinceLastJet = Time.time;
List <AIAction> actions = new List <AIAction>();
actions.Add(new JetInDirAction(bestNode.IncomingDir, controller));
return(actions.ToArray());
}
private LookaheadNode pickDirToPursue()
{
Tank selfTank = controller.SelfTank;
Tank targetTank = controller.TargetTank;
Map map = controller.Map;
WeaponPart targetWeapon;
WeaponPart selfWeapon;
int timeForTargetToHitSelf = AIUtility.CalcMinTimeForAimerToHitAimee(targetTank.StateInfo, selfTank.StateInfo, targetTank.Hull.GetAllWeapons(), out targetWeapon);
int timeForSelfToHitTarget = AIUtility.CalcMinTimeForAimerToHitAimee(selfTank.StateInfo, targetTank.StateInfo, selfTank.Hull.GetAllWeapons(), out selfWeapon);
int weaponDmgDiff = selfWeapon.Schematic.Damage - targetWeapon.Schematic.Damage;
float stepRatio = weaponDmgDiff / 10f;
int thresh = 50 - Mathf.RoundToInt(stepRatio * 10);
if (weaponDmgDiff > 0)
{
thresh = Math.Min(thresh, 100);
}
else
{
thresh = Math.Max(thresh, -100);
}
int diff = timeForSelfToHitTarget - timeForTargetToHitSelf;
bool runaway = diff < thresh && timeForTargetToHitSelf < 50;
Debug.Log("diff=" + diff + " thresh=" + thresh + (runaway ? " Running away" : " Going for it") + "\n" + "timeForTargetToHitSelf=" + timeForTargetToHitSelf);
List <TreeSearchMoveInfo> possibleMoves = new List <TreeSearchMoveInfo>();
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, -1), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(45f), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(135f), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(-45f), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(-135f), false));
if (!runaway)
{
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(90f), false));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(-90f), false));
}
float dist = (selfTank.transform.position - targetTank.transform.position).magnitude;
if (!runaway &&
selfTank.Hull.EnergyAvailableForUsage(selfTank.Hull.Schematic.JetEnergyUsage) &&
selfTank.FindMaxWeaponRange() >= dist &&
selfTank.FireableWeaponExists())
{
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, -1), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(90f), true));
possibleMoves.Add(new TreeSearchMoveInfo(new Vector2(0, 1).Rotate(-90f), true));
}
clearManeuverBehaviourDebugObjects();
LookaheadTree tree = new LookaheadTree();
tree.PopulateTree(selfTank, map, LookaheadTime, LookaheadTimeStep, possibleMoves);
List <LookaheadNode> possibleNodes = tree.FindAllNodesAtSearchTime(LookaheadTime);
CombatDebugHandler.Instance.RegisterObject("maneuver_nodes_at_searchtime", possibleNodes);
// First perform general filter
possibleNodes = AIUtility.FilterByPathNotObstructed(possibleNodes);
CombatDebugHandler.Instance.RegisterObject("maneuver_path_unobstructed_filter", possibleNodes);
possibleNodes = AIUtility.FilterByDestNotObstructed(possibleNodes, map);
CombatDebugHandler.Instance.RegisterObject("maneuver_dest_not_obstructed_filter", possibleNodes);
possibleNodes = AIUtility.FilterByPassingBullet(possibleNodes, map);
CombatDebugHandler.Instance.RegisterObject("maneuver_bullet_filter", possibleNodes);
possibleNodes = AIUtility.FilterByAwayFromWall(possibleNodes, selfTank.StateInfo);
CombatDebugHandler.Instance.RegisterObject("maneuver_away_from_wall_filter", possibleNodes);
LookaheadNode requestNode;
if (runaway)
{
requestNode = runawayBehaviour(possibleNodes);
controller.PrevManeuverBehaviour = Behaviour.Runaway;
}
else
{
requestNode = goingForItBehaviour(possibleNodes);
controller.PrevManeuverBehaviour = Behaviour.GoingforIt;
}
return(requestNode);
}
