public static IEnumerator CalculateFlank(AIBlackboard blackboard, ComponentBlackboard components)
{
Debug.Log("CalculatingFlank");
components.stateMachineManager.state = "Calculating Flank";
components.StopNavigating();
components.locomotion.move = false;
blackboard.Waiting = false;
yield return(null);
yield return(new WaitForEndOfFrame());
blackboard.positionBuffer[0] = Vector3.zero;
FlankCalculator flanker = new FlankCalculator(components.controller.currentPosition, blackboard.player.transform.position, 200, 50, 80, components.stateMachineManager.flankMask, components.stateMachineManager);
flanker.OnCalculateFlank += components.SetWaypoints;
while (flanker.Working)
{
yield return(null);
}
flanker.OnCalculateFlank -= components.SetWaypoints;
components.AdvanceState();
}
public static IEnumerator GotoPerson(AIBlackboard blackboard, int bufferIndex, float speed, ComponentBlackboard components, float radius = 2, bool waiting = false)
{
blackboard.Waiting = waiting;
components.StopShootingPlayer();
Transform target = blackboard.targetBuffer[bufferIndex];
NavMeshAgent navigation = components.navigation;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
navigation.SetDestination(target.position);
locomotion.speed = speed;
locomotion.lookWhereMoving = true;
locomotion.turn = false;
locomotion.move = true;
yield return(null);
while (Vector3.Distance(target.position, aiTransform.position) > radius)
{
navigation.SetDestination(target.position);
components.Navigate();
yield return(new WaitForSeconds(0.1f));
}
locomotion.move = false;
components.AdvanceState();
}
public void Add(AIController ai)
{
foreach (AIController sqaudMember in group)
{
AIBlackboard.Link(sqaudMember.Blackboard, ai.Blackboard);
}
group.Add(ai);
}
private void Start()
{
blackboard = controller.Blackboard;
components = controller.components;
components.OnAdvance += AdvanceState;
ConfigureAttack();
}
public static IEnumerator StandAndShootPlayer(AIBlackboard blackboard, ComponentBlackboard components)
{
components.stateMachineManager.state = "STAND AND SHOOT";
blackboard.Waiting = true;
components.StopNavigating();
Transform aiTransform = components.aiObject.transform;
Transform playerTransform = blackboard.player.transform;
MecanimLocomotion locomotion = components.locomotion;
locomotion.ResetWalkAngle();
locomotion.move = false;
locomotion.speed = 0;
while (true)
{
//if (blackboard.distanceToPlayer > 6 || !blackboard.LineOfSight || !blackboard.canBackUp)
//{
if (blackboard.LineOfSight)
{
locomotion.move = false;
locomotion.moveDirection = Vector3.zero;
locomotion.turn = true;
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
locomotion.turn = false;
components.StopShootingPlayer();
}
components.StopNavigating();
//}
//else if(blackboard.canBackUp)
/*{
* Vector3 backUp = locomotion.transform.position - playerTransform.position * 5;
* backUp.y = locomotion.transform.position.y;
*
* locomotion.move = true;
* locomotion.turn = true;
* locomotion.lookWhereMoving = false;
*
* locomotion.lookDirection = playerTransform.position - aiTransform.position;
* components.ShootPlayer();
* components.AimAtPlayer(playerTransform);
* components.Navigate();
*
* components.navigation.SetDestination(backUp);
* }*/
yield return(null);
}
}
public static IEnumerator TrailLeader(AIBlackboard blackboard, ComponentBlackboard components, float speed, int bufferIndex)
{
blackboard.Waiting = false;
components.StopShootingPlayer();
TrailingFollower target = TrailingFollower.SpawnTrailer(blackboard.targetBuffer[bufferIndex]);
NavMeshAgent navigation = components.navigation;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
navigation.SetDestination(target.Waypoint.position);
locomotion.speed = 8;
locomotion.lookWhereMoving = true;
locomotion.turn = false;
locomotion.move = true;
yield return(null);
while (Vector3.Distance(target.Waypoint.position, aiTransform.position) > 5)
{
navigation.SetDestination(target.Waypoint.position);
components.Navigate();
target.PositionWaypoint();
yield return(new WaitForSeconds(0.1f));
}
locomotion.speed = 3;
locomotion.lookWhereMoving = false;
locomotion.turn = true;
locomotion.move = true;
yield return(null);
while (true)
{
if (Vector3.Distance(target.Waypoint.position, aiTransform.position) > 1)
{
locomotion.lookDirection = -locomotion.moveDirection;
navigation.SetDestination(target.Waypoint.position);
target.PositionWaypoint();
components.Navigate();
}
else
{
components.StopNavigating();
locomotion.turn = false;
locomotion.move = false;
}
yield return(null);
}
}
public static IEnumerator GotoPlayer(AIBlackboard blackboard, float speed, ComponentBlackboard components, bool waiting = false)
{
components.stateMachineManager.state = "GOTO";
blackboard.Waiting = waiting;
components.StopShootingPlayer();
NavMeshAgent navigation = components.navigation;
Transform target = blackboard.player.transform;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
navigation.SetDestination(target.position);
yield return(null);
while (true)
{
if (blackboard.CanSeePlayer)
{
locomotion.speed = 4;
components.ShootPlayer();
components.AimAtPlayer(target);
}
else
{
locomotion.speed = speed;
components.StopShootingPlayer();
}
locomotion.lookWhereMoving = true;
locomotion.turn = false;
locomotion.move = true;
/*if (AIBlackboard.PlayerSpotted)
* navigation.SetDestination(target.position);
* else
* navigation.SetDestination(AIBlackboard.playerSuspectedPosition);*/
navigation.SetDestination(target.position);
components.Navigate();
yield return(new WaitForSeconds(0.1f));
}
}
public static IEnumerator LookAround(AIBlackboard blackboard, ComponentBlackboard components)
{
blackboard.Waiting = true;
components.StopNavigating();
Transform aiTransform = components.aiObject.transform;
Transform playerTransform = blackboard.player.transform;
MecanimLocomotion locomotion = components.locomotion;
locomotion.move = false;
while (true)
{
Vector3 direction = new Vector3(Random.Range(-1, 1), 0, Random.Range(-1, 1));
locomotion.lookDirection = direction;
locomotion.turn = true;
int wait = Random.Range(2, 4);
yield return(new WaitForSeconds(wait));
}
}
public static IEnumerator CalculatePatrolPath(AIBlackboard blackboard, ComponentBlackboard components, float radius = 80)
{
NavMeshAgent navigation = components.navigation;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
Collider[] NearbyRooms = Physics.OverlapSphere(aiTransform.position, radius, components.stateMachineManager.flankMask);
yield return(null);
int[] chosenRooms = new int[4];
int amount = NearbyRooms.Length;
chosenRooms[0] = Random.Range(0, amount);
int i;
for (i = 1; i < chosenRooms.Length && i < amount; ++i)
{
int b = (chosenRooms[i - 1] + Random.Range(0, amount - 1)) % amount - 1;
b = Mathf.Clamp(b, 0, NearbyRooms.Length - 1);
chosenRooms[i] = b;
}
blackboard.positionBuffer[0] = NearbyRooms[chosenRooms[0]].transform.position;
blackboard.positionBuffer[1] = NearbyRooms[chosenRooms[1]].transform.position;
if (amount > 2)
{
blackboard.positionBuffer[2] = NearbyRooms[chosenRooms[2]].transform.position;
}
if (amount > 3)
{
blackboard.positionBuffer[3] = NearbyRooms[chosenRooms[3]].transform.position;
}
components.AdvanceState();
}
// Start is called before the first frame update
protected virtual void Awake()
{
GameObject p = GetPlayer();
if (p == null)
{
Destroy(gameObject);
return;
}
blackboard = new AIBlackboard();
blackboard.player = p;
blackboard.closeAttackRange = intendedRange;
blackboard.timeBeforeLost = timeBeforeLost;
components.navigation.updatePosition = false;
components.navigation.updateRotation = false;
components.controller = this;
components.stateMachineManager = stateMachine;
EnemySpawner.SPAWNING_ENEMIES = false;
graceStamp = Time.time + 1.3f;
}
public static IEnumerator GotoPosition(AIBlackboard blackboard, int bufferIndex, float speed, ComponentBlackboard components, float radius = 2, float waitTime = 0, bool waiting = false)
{
components.stateMachineManager.state = "Going to a place";
blackboard.Waiting = waiting;
components.StopShootingPlayer();
Vector3 pos = blackboard.positionBuffer[bufferIndex];
NavMeshAgent navigation = components.navigation;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
navigation.SetDestination(pos);
locomotion.speed = speed;
locomotion.lookWhereMoving = true;
locomotion.turn = false;
locomotion.move = true;
bool legitLocation = pos.magnitude > 0.001f;
while (Vector3.Distance(pos, aiTransform.position) > radius && legitLocation)
{
navigation.SetDestination(pos);
components.Navigate();
yield return(null);
}
locomotion.move = false;
components.StopNavigating();
if (waitTime > 0)
{
yield return(new WaitForSeconds(waitTime));
}
components.AdvanceState();
}
public static bool CheckBoleanCondition(AITransition transitionData, AIBlackboard blackboard, ComponentBlackboard components)
{
if (components.locomotion.interrupt)
{
return(false);
}
if (transitionData.condition == AIConditions.CanSeePlayer)
{
bool canSee = blackboard.LineOfSight;
if (!transitionData.inverse)
{
return(canSee);
}
else
{
return(!canSee);
}
}
else if (transitionData.condition == AIConditions.IsCloseToPlayer)
{
if (!transitionData.inverse)
{
return(blackboard.distanceToPlayer < 13.5f);
}
else
{
return(blackboard.distanceToPlayer > 13.5f);
}
}
else if (transitionData.condition == AIConditions.InRange)
{
if (!transitionData.inverse)
{
return(blackboard.distanceToPlayer < blackboard.closeAttackRange);
}
else
{
return(blackboard.distanceToPlayer > blackboard.closeAttackRange);
}
}
else if (transitionData.condition == AIConditions.GoodShoot)
{
if (!transitionData.inverse)
{
return(blackboard.GoodToShoot);
}
else
{
return(!blackboard.GoodToShoot);
}
}
else if (transitionData.condition == AIConditions.IsRedundant)
{
if (!transitionData.inverse)
{
return(blackboard.redundant);
}
else
{
return(!blackboard.redundant);
}
}
else if (transitionData.condition == AIConditions.HasPowerSpot)
{
if (!transitionData.inverse)
{
return(blackboard.BestAntiCover != null);
}
else
{
return(blackboard.BestAntiCover == null);
}
}
else if (transitionData.condition == AIConditions.HasCover)
{
if (!transitionData.inverse)
{
return(blackboard.BestCover != null);
}
else
{
return(blackboard.BestCover == null);
}
}
else if (transitionData.condition == AIConditions.LostPlayer)
{
if (!transitionData.inverse)
{
return(blackboard.LostPlayer);
}
else
{
return(!blackboard.LostPlayer);
}
}
else if (transitionData.condition == AIConditions.InDanger)
{
bool d = blackboard.CanSeePlayer && !blackboard.GoodToShoot;
if (!transitionData.inverse)
{
return(d);
}
else
{
return(!d);
}
}
else if (transitionData.condition == AIConditions.PlayerSpotted)
{
bool s = AIBlackboard.PlayerSpotted;
if (!transitionData.inverse)
{
return(s);
}
else
{
return(!s);
}
}
else if (transitionData.condition == AIConditions.Healthy)
{
if (components.aiHealth == null)
{
return(false);
}
bool healthy = components.aiHealth.currentHealth > components.aiHealth.maxHealth / 2;
if (!transitionData.inverse)
{
return(healthy);
}
else
{
return(!healthy);
}
}
else if (transitionData.condition == AIConditions.HasLeader)
{
bool s = blackboard.squadLeader != null;
if (!transitionData.inverse)
{
return(s);
}
else
{
return(!s);
}
}
return(false);
}
public static IEnumerator ApproachAttack(AIBlackboard blackboard, ComponentBlackboard components, float speed)
{
blackboard.Waiting = true;
Debug.Log("Attack");
Transform aiTransform = components.aiObject.transform;
Transform playerTransform = blackboard.player.transform;
MecanimLocomotion locomotion = components.locomotion;
NavMeshAgent navigation = components.navigation;
locomotion.speed = speed;
locomotion.turn = false;
locomotion.move = true;
components.StopShootingPlayer();
while (true)
{
while (Vector3.Distance(playerTransform.position, aiTransform.position) > blackboard.AttackRange || !blackboard.CanSeePlayer)
{
if (blackboard.CanSeePlayer)
{
locomotion.lookWhereMoving = false;
locomotion.turn = true;
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
locomotion.lookWhereMoving = true;
locomotion.turn = false;
components.StopShootingPlayer();
}
navigation.SetDestination(playerTransform.position);
components.Navigate();
yield return(null);
}
float r = blackboard.AttackRange + 7;
float breakTime = 0;
bool canSee = blackboard.CanSeePlayer;
while (Vector3.Distance(playerTransform.position, aiTransform.position) < r)
{
if (blackboard.CanSeePlayer)
{
locomotion.turn = true;
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
if (canSee)
{
breakTime = Time.time + 2.5f;
}
else if (Time.time > breakTime)
{
break;
}
locomotion.turn = false;
}
canSee = blackboard.CanSeePlayer;
yield return(null);
}
}
}
public static IEnumerator StandardAttack(AIBlackboard blackboard, ComponentBlackboard components)
{
blackboard.Waiting = true;
Transform aiTransform = components.aiObject.transform;
Transform playerTransform = blackboard.player.transform;
MecanimLocomotion locomotion = components.locomotion;
NavMeshAgent navigation = components.navigation;
locomotion.move = false;
locomotion.speed = 3;
components.StopNavigating();
while (true)
{
float moveTime = Time.time + Mathf.Max(2f, Random.Range(1, 8));
locomotion.move = false;
while (moveTime > Time.time)//stand time
{
if (blackboard.distanceToPlayer > 6 || !blackboard.CanSeePlayer)
{
if (blackboard.CanSeePlayer)
{
locomotion.move = false;
locomotion.moveDirection = Vector3.zero;
locomotion.turn = true;
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
locomotion.turn = false;
components.StopShootingPlayer();
}
components.StopNavigating();
}
else
{
Vector3 backUp = locomotion.transform.position - playerTransform.position * 5;
backUp.y = locomotion.transform.position.y;
locomotion.move = true;
locomotion.turn = true;
locomotion.lookWhereMoving = false;
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
components.Navigate();
navigation.SetDestination(backUp);
}
yield return(null);
}
CoverPoint originalCover = (Random.Range(0, 10) > 3)? blackboard.BestAntiCover : blackboard.BestCover;
if (originalCover != null)
{
locomotion.move = true;
navigation.SetDestination(originalCover.transform.position);
moveTime = Time.time + Mathf.Max(1, Random.Range(2, 6));
bool coverValid = (originalCover.GetInstanceID() == blackboard.BestAntiCover.GetInstanceID() || originalCover.GetInstanceID() == blackboard.BestCover.GetInstanceID() || Time.time < moveTime);
locomotion.turn = true;
locomotion.lookWhereMoving = false;
while (coverValid && Vector3.Distance(originalCover.transform.position, aiTransform.position) > 2)
{
components.Navigate();
if (blackboard.LineOfSight)
{
locomotion.lookDirection = playerTransform.position - aiTransform.position;
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
components.StopShootingPlayer();
}
yield return(null);
}
}
else
{
locomotion.turn = false;
locomotion.lookWhereMoving = true;
locomotion.move = true;
components.StopShootingPlayer();
while (Vector3.Distance(playerTransform.position, aiTransform.position) > blackboard.AttackRange || !blackboard.CanSeePlayer)
{
if (blackboard.CanSeePlayer)
{
components.AimAtPlayer(playerTransform);
components.ShootPlayer();
}
else
{
components.StopShootingPlayer();
}
navigation.SetDestination(playerTransform.position);
components.Navigate();
yield return(null);
}
}
}
}
public static IEnumerator GotoCover(AIBlackboard blackboard, ComponentBlackboard components, float speed, bool strafeShoot, float waitTime, bool antiCover = false)
{
components.stateMachineManager.state = "COVER";
//don't want a new instruction
blackboard.Waiting = false;
Debug.Log("Cover");
components.StopShootingPlayer();
NavMeshAgent navigation = components.navigation;
MecanimLocomotion locomotion = components.locomotion;
Transform aiTransform = components.aiObject.transform;
Transform playerTransform = blackboard.player.transform;
Vector3 pos = aiTransform.position;
CoverPoint cover = antiCover ? blackboard.BestAntiCover : blackboard.BestCover;
if (cover != null)
{
pos = cover.transform.position;
}
else
{
Debug.Log("NO COVER!!");
}
bool validCover = true;
//don't turn back on player
float angle = Vector3.Angle(new Vector3(pos.x, 0, pos.z), new Vector3(aiTransform.position.x, aiTransform.position.z));
if (angle > 100)
{
speed = 3;
}
navigation.SetDestination(pos);
locomotion.lookWhereMoving = true;
locomotion.turn = false;
locomotion.move = true;
while (Vector3.Distance(pos, aiTransform.position) > 3.5f && validCover)
{
/*if(antiCover)
* {
* validCover = blackboard.BestAntiCover.GetInstanceID() == cover.GetInstanceID();
* }
* else
* {
* validCover = blackboard.BestCover.GetInstanceID() == cover.GetInstanceID();
* }*/
if (strafeShoot)
{
if (!blackboard.LostPlayer && speed < 6)
{
locomotion.speed = speed;
locomotion.turn = true;
if (playerTransform != null)
{
locomotion.lookDirection = playerTransform.position - aiTransform.position;
}
locomotion.lookWhereMoving = false;
if (blackboard.LineOfSight)
{
components.ShootPlayer();
}
else
{
components.StopShootingPlayer();
}
components.AimAtPlayer(playerTransform);
}
else
{
locomotion.speed = speed;
//locomotion.turn = true;
//locomotion.lookWhereMoving = true;
components.StopShootingPlayer();
}
}
navigation.SetDestination(pos);
components.Navigate();
yield return(null);
cover = antiCover ? blackboard.BestAntiCover : blackboard.BestCover;
if (cover != null)
{
pos = cover.transform.position;
}
}
float leaveTime = Time.time + waitTime;
locomotion.move = false;
components.StopNavigating();
components.stateMachineManager.state = "AT COVER";
while (leaveTime > Time.time)
{
if (blackboard.LineOfSight)
{
locomotion.speed = 0;
locomotion.turn = true;
if (playerTransform != null)
{
locomotion.lookDirection = playerTransform.position - aiTransform.position;
}
components.ShootPlayer();
components.AimAtPlayer(playerTransform);
}
else
{
locomotion.lookDirection = aiTransform.forward;
locomotion.turn = false;
components.StopShootingPlayer();
}
yield return(null);
}
components.AdvanceState();
}
//companionize 2 blackboards
public static void Link(AIBlackboard a, AIBlackboard b)
{
a.Companions.Add(b);
b.Companions.Add(a);
}
public virtual void Init(AIStatemachineManager m)
{
manager = m;
blackboardReference = manager.Blackboard;
ConfigureStates();
}
