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 runawayBehaviour(List <LookaheadNode> possibleNodes)
{
Tank targetTank = controller.TargetTank;
Tank selfTank = controller.SelfTank;
float dist = (targetTank.transform.position - selfTank.transform.position).magnitude;
float maxRange = selfTank.Hull.GetMaxRange() * 1.5f;
bool onlyCloser = maxRange < dist;
bool allWeaponsReloading = selfTank.Hull.IsAllWeaponsReloading();
List <CostInfo> nodeCosts = new List <CostInfo>();
bool withFilter = true;
while (nodeCosts.Count == 0)
{
foreach (LookaheadNode node in possibleNodes)
{
WeaponPart notUsed;
int targetTime = AIUtility.CalcMinTimeForAimerToHitAimee(targetTank.StateInfo, node.TankInfo, targetTank.Hull.GetAllWeapons(), out notUsed);
Vector2 incomingDir = node.GetNodeOneStepAfterRoot().IncomingDir;
int cost = targetTime;
float futureDist = ((Vector2)targetTank.transform.position - node.TankInfo.Pos).magnitude;
if (!withFilter || ((onlyCloser && dist > futureDist) || (!onlyCloser && futureDist < maxRange) || allWeaponsReloading))
{
nodeCosts.Add(new CostInfo(node, cost));
}
}
withFilter = false;
}
CombatDebugHandler.Instance.RegisterObject("maneuver_runaway_cost_infos", nodeCosts);
CostInfo bestInfo = null;
foreach (CostInfo info in nodeCosts)
{
if (bestInfo == null || bestInfo.Cost < info.Cost)
{
bestInfo = info;
}
}
bestInfo = handleSameCostCostInfos(bestInfo, nodeCosts);
CombatDebugHandler.Instance.RegisterObject("maneuver_best_node", bestInfo.Node);
return(bestInfo.Node.GetNodeOneStepAfterRoot());
}
private LookaheadNode goingForItBehaviour(List <LookaheadNode> possibleNodes)
{
Tank selfTank = controller.SelfTank;
Tank targetTank = controller.TargetTank;
List <CostInfo> nodeCosts = new List <CostInfo>();
bool overlapNodeExists = false;
Vector2 diffVec = targetTank.transform.position - selfTank.transform.position;
List <bool> overlaps = new List <bool>();
foreach (LookaheadNode node in possibleNodes)
{
bool nodeOverlaps = false;
foreach (WeaponPart part in selfTank.Hull.GetAllWeapons())
{
if (node.HasOverlappedTargetWithWeapon(targetTank.transform.position, part))
{
overlapNodeExists = true;
nodeOverlaps = true;
break;
}
}
overlaps.Add(nodeOverlaps);
}
Debug.Assert(possibleNodes.Count == overlaps.Count, "Possible nodes and overlap count don't match. Should never happen");
for (int i = 0; i < possibleNodes.Count; ++i)
{
LookaheadNode node = possibleNodes[i];
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);
int cost = targetTime - selfTime;
bool overlapCondition = true;
if (overlapNodeExists)
{
overlapCondition = overlaps[i];
}
if (overlapCondition)
{
nodeCosts.Add(new CostInfo(node, cost));
}
}
CombatDebugHandler.Instance.RegisterObject("maneuver_going_cost_infos", nodeCosts);
CostInfo bestInfo = null;
foreach (CostInfo info in nodeCosts)
{
if (bestInfo == null || info.Cost > bestInfo.Cost)
{
bestInfo = info;
}
}
bestInfo = handleSameCostCostInfos(bestInfo, nodeCosts);
CombatDebugHandler.Instance.RegisterObject("maneuver_best_node", bestInfo.Node);
return(bestInfo.Node.GetNodeOneStepAfterRoot());
}
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);
}