void Shooting()
{
NavMeshHit hit;
if (agent.Raycast(target.transform.position, out hit))
{
agent.SetDestination(target.transform.position);
agent.speed = runningSpeed;
}
else if (!agent.Raycast(target.transform.position, out hit))
{
time += Time.deltaTime;
Quaternion arrowRota = Quaternion.LookRotation(target.transform.position - arrowPos.transform.position);
Quaternion enemyRota = Quaternion.LookRotation(target.transform.position - transform.position);
agent.speed = 0f;
agent.transform.rotation = enemyRota;
if (time > fireRate)
{
Instantiate(arrow, arrowPos.position, arrowRota);
time = 0f;
}
}
}
// TODO: handle PathInvalid cases
public void Guide(Vector3 destination, List <Vector3> corners)
{
OkayToStop = false;
agent.isStopped = false;
originalDestination = destination;
pathCorners = corners;
nextCornerIndex = 0;
for (int i = 1; i < corners.Count; i++)
{
Vector3 a = corners[i] - corners[i - 1];
Vector3 b = transform.position - corners[i - 1];
Vector3 c = transform.position - corners[i];
float dotBA = Vector3.Dot(b, a);
float dotCA = Vector3.Dot(c, a);
if (dotCA < 0)
{
if (dotBA >= 0)
{
nextCornerIndex = i;
}
break;
}
nextCornerIndex = i;
}
// Skip to the farthest unobstructed corner
for (NavMeshHit hit;
nextCornerIndex + 1 < corners.Count &&
!agent.Raycast(corners[nextCornerIndex + 1], out hit);
nextCornerIndex++)
{
}
}
private IEnumerator CheckPlayerInSight(float time = 2f)
{
yield return(new WaitForSeconds(time));
if (agent.Raycast(target.transform.position, out _))
{
isPlayerInSight = false;
}
}
void GetNodesInView()
{
// get the nodes in agent's view
NavMeshHit hit;
foreach (GameObject node in nodes)
{
if (!agent.Raycast(node.transform.position, out hit)) // no obstacle
{
nodesInSight.Add(node);
}
}
}
GameObject GetStudentInSight()
{
// find a studnet in sight to kill
NavMeshHit hit;
float angle;
studentsInSight.Clear();
bool found = false;
GameObject studentFound = null;
foreach (GameObject student in studentsAlive)
{
if (student.GetComponent <Student>().life > 0)
{
if (student.GetComponent <Student>().isHiding())
{ // Hiding students are not easy to find
if (Random.Range(0, 2) == 1)
{
if (student != null && !agent.Raycast(student.transform.position, out hit)) // no obstacle. student is alive
{
angle = Vector3.Angle(student.transform.position - transform.position, transform.forward);
if (angle < viewAngle / 2)
{
found = true;
studentsInSight.Add(student);
}
}
}
}
else
{
if (student != null && !agent.Raycast(student.transform.position, out hit)) // no obstacle. student is alive
{
angle = Vector3.Angle(student.transform.position - transform.position, transform.forward);
if (angle < viewAngle / 2)
{
found = true;
studentsInSight.Add(student);
}
}
}
}
}
if (!found)
{
return(null);
}
studentFound = studentsInSight[Random.Range(0, studentsInSight.Count)];
return(studentFound);
}
// Update is called once per frame
void Update()
{
Vector3 sumForces = Vector3.zero;
int numForces = 0;
foreach (Transform t in manager.boids)
{
float distance = Vector3.Distance(transform.position, t.position);
if (distance <= repulsionRange && t != transform)
{
float factor = -(repulsionRange - distance) / repulsionRange;
sumForces += (t.position - transform.position).normalized * factor * repulsionStrength;
numForces++;
}
else if (distance <= alignmentRange)
{
sumForces += t.forward * alignementStrength;
numForces++;
}
else if (distance <= attractionRange)
{
float factor = (distance - alignmentRange) / (attractionRange - alignmentRange);
sumForces += (t.position - transform.position).normalized * factor * attractionStrength;
numForces++;
}
}
if (agent.Raycast(transform.position + Vector3.RotateTowards(velocity, transform.right, raycastAngle * Mathf.Deg2Rad, 0.0f), out rightHit))
{
}
if (agent.Raycast(transform.position + Vector3.RotateTowards(velocity, -transform.right, raycastAngle * Mathf.Deg2Rad, 0.0f), out leftHit))
{
}
if (numForces > 0)
{
sumForces /= (float)numForces;
velocity += sumForces * Time.deltaTime;
}
transform.forward = velocity.normalized;
velocity = Vector3.ClampMagnitude(velocity, maxSpeed);
agent.Move(velocity * Time.deltaTime);
}
private void SearchPlayer()
{
// Raycasting to player
NavMeshHit hit;
if (_agent.pathStatus != NavMeshPathStatus.PathInvalid)
{
if (_agent.Raycast(_target.position, out hit))
{
// can't detect player
if (_isChasing == true)
{
StartCoroutine("LostPlayer");
}
_isChasing = false;
}
else
{
// detect player
if (_isChasing == false)
{
ChangeState(_chaseState);
}
StopCoroutine("LostPlayer");
_isChasing = true;
}
}
}
void DoRaycast()
{
if (_agent == null)
{
return;
}
NavMeshHit _NavMeshHit;
bool _reachedBeforeTargetPosition = _agent.Raycast(targetPosition.Value, out _NavMeshHit);
reachedBeforeTargetPosition.Value = _reachedBeforeTargetPosition;
position.Value = _NavMeshHit.position;
normal.Value = _NavMeshHit.normal;
distance.Value = _NavMeshHit.distance;
mask.Value = _NavMeshHit.mask;
hit.Value = _NavMeshHit.hit;
if (_reachedBeforeTargetPosition)
{
if (!FsmEvent.IsNullOrEmpty(reachedBeforeTargetPositionEvent))
{
Fsm.Event(reachedBeforeTargetPositionEvent);
}
}
else
{
if (!FsmEvent.IsNullOrEmpty(reachedAfterTargetPositionEvent))
{
Fsm.Event(reachedAfterTargetPositionEvent);
}
}
}
//this function is to spot other ai
public void CanSeeAI()
{
Vector3 rayToCheck = objectToSeek.transform.position - transform.position + eyeLevel;
//if the enemy is right next to us, we can see him
if (rayToCheck.magnitude < mainParent.GetComponent <AIStateManager>().patrolManager.GetComponent <LocationManager>().criticalDistanceToWaypoint)
{
FoundCorrectObject();
}
//if the object is wihtin our field of view
if ((Vector3.Angle(rayToCheck, transform.forward)) < fieldOfView / 2f)
{
//Debug.DrawRay(transform.position, rayToCheck, Color.black);
//test it using navmesh raycasting
if (mainParent.GetComponent <AIMovementController>().useOwnNavSystem == false)
{
NavMeshHit hit2;
if (!agent.Raycast(objectToSeek.transform.position + eyeLevel, out hit2))
{
FoundCorrectObject();
}
}
}
}
/// <summary>
/// Gets a local line-of-sight position on the agent's navigation mesh.
/// </summary>
/// <remarks>
/// <para>
/// The minimum/maximum distance is used to control the desired travel range.
/// But the minimum distance is a soft value. If an obstacle is hit before the desired
/// minimum distance then hardMinimum is used to determine success or failure. So the
/// true minimum is hardMinimum. E.g. I want to move a distance of between 10 and 20
/// in a random direction. If an obstacle is hit in the chosen direction, then fail if
/// the distance is less than 1.
/// </para>
/// </remarks>
/// <param name="navAgent"></param>
/// <param name="minimumDistance">The desired minimimum distance.</param>
/// <param name="maximumDistance">The maximum distance.</param>
/// <param name="target"></param>
/// <param name="hardMinimum">The absolute minimum distance. (Defaults to the NavMeshAgent radius.)</param>
/// <returns></returns>
public static bool GetRandomLocalTarget(this NavMeshAgent navAgent,
float minimumDistance, float maximumDistance,
out Vector3 target, float hardMinimum = -1)
{
var dist = Random.Range(minimumDistance, maximumDistance);
var offset = new Vector3(Random.Range(-1f, 1f), 0, Random.Range(-1f, 1f));
target = navAgent.transform.position + offset.normalized * dist;
NavMeshHit hit;
navAgent.Raycast(target, out hit);
if (hit.hit && hit.distance < dist)
{
target = hit.position;
}
hardMinimum = hardMinimum == -1 ? navAgent.radius : hardMinimum;
if ((navAgent.transform.position - target).sqrMagnitude
<= hardMinimum * hardMinimum)
{
target = Vector3.zero;
return(false);
}
return(true);
}
bool Find(Vector3 position, float range, float distance)
{
NavMeshHit hit;
if (agent.Raycast(position, out hit))
{
return(false);
}
if (hit.distance > distance)
{
return(false);
}
Vector3 normal = (hit.position - transform.position).normalized;
Vector3 localNormal = Quaternion.Inverse(transform.rotation) * normal;
if (localNormal.z <= 0)
{
return(false);
}
float r = Mathf.Atan2(localNormal.x, localNormal.z);
if (Mathf.Abs(r) < range * 0.5)
{
return(true);
}
return(true);
}
Vector3 getRandomPositionInNavMesh(){
List<Vector3> candidates = new List<Vector3>();
Vector3[] candidatesArray = candidates.ToArray();
while (candidates.Count == 0) {
candidates = generateNCloseRandomPositions (50);
float[] distances = getDistancesToTarget (candidates);
NavMeshHit hit;
//Debug.Log("Long lista: " + candidates.Count);
for(int i = candidates.Count-1; i >0; i--){
if(Physics.Raycast(this.transform.position, candidates[i] - this.transform.position, 2)){
candidates.Remove(candidates[i]);
continue;
}
if (!navMeshAgent.Raycast (candidates[i],out hit)) {
candidates.Remove(candidates[i]);
}
}
//Debug.Log("Long lista: " + candidates.Count);
distances = getDistancesToTarget (candidates);
candidatesArray = candidates.ToArray();
System.Array.Sort(distances,candidatesArray);
}
return candidatesArray[0];
}
// Checks if Player is visible using Raycast
public void isPlayerVisible()
{
// Create a vector from the enemy to the player and store the angle between it and forward.
Vector3 direction = targetObject.transform.position - transform.position;
float angle = Vector3.Angle(direction, transform.forward);
Debug.Log("ANGLE " + angle);
// Create NavMesh hit var
NavMeshHit hit;
// If the Ray cast hits something other than the target, then true is returned, if not false
// So !hit is used to specify visibility and...
// If the angle between forward and where the player is, is less than half the angle of view...
if (!navAgent.Raycast(targetObject.transform.position, out hit) && angle < fieldOfViewAngle * 0.5f)
{
// ... the player is Visible
Debug.DrawLine(transform.position, targetObject.transform.position, Color.red);
Debug.Log("Player is VISIBLE");
isVisible = true;
// Update Close Text on Canvas
canvasUpdate[0].enabled = true;
}
else
{
// ... the player is Not Visible
isVisible = false;
Debug.Log("Player is NOT VISIBLE");
// Update Close Text on Canvas
canvasUpdate[0].enabled = false;
}
}
bool CanSeePlayer()
{
NavMeshHit hit;
// true if didn't hit anything between the enemy and the player
return(!navAgent.Raycast(player.position, out hit));
}
public override Status Update()
{
// Get the renderer
if (m_Agent == null || m_Agent.gameObject != gameObject.Value)
{
m_Agent = gameObject.Value != null?gameObject.Value.GetComponent <NavMeshAgent>() : null;
}
// Validate members?
if (m_Agent == null || target.Value == null)
{
return(Status.Error);
}
// Calcaulate the delayed timer
NavMeshHit hit;
Vector3 targetPos = target.transform.position;
Vector3 currentPos = gameObject.transform.position;
if (!m_Agent.Raycast(target.transform.position, out hit) && Vector3.Distance(currentPos, targetPos) < maxDistanceSight.Value && (Vector3.Dot(gameObject.transform.TransformDirection(localDirection.Value).normalized, (targetPos - currentPos).normalized) + 1f) * .5f >= 1f - maxAngleSight.Value)
{
// Send event?
if (onSuccess.id != 0)
{
owner.root.SendEvent(onSuccess.id);
}
return(Status.Success);
}
else
{
return(Status.Failure);
}
}
/// <summary>
/// Navigate towards the nearest Human, stopping when the Human is too far away or when they leave
/// line of sight.
/// </summary>
/// <param name="target">Transform, the cloests enemy to the Zombie.</param>
public void NavigateTowardsHuman(Transform target)
{
// Draw a ray from this gameobject to it's target.
// If the ray collides with an object, its details are returned.
// Reference: https://docs.unity3d.com/ScriptReference/AI.NavMeshAgent.Raycast.html
NavMeshHit hit;
// If this game object CAN see the target...
if (!agent.Raycast(target.position, out hit))
{
//Debug.Log("Target IS in sight.");
agent.SetDestination(target.position);
// If the target is further away than the chase distance...
if (agent.remainingDistance > chaseDistance)
{
// Stop the Zombie
agent.isStopped = true;
agent.ResetPath();
//Debug.Log("Target is too far away. Distance: " + agent.remainingDistance);
}
}
else
{
//Debug.Log("Target NOT in sight.");
// Stop the Zombie
agent.isStopped = true;
agent.ResetPath();
}
}
void Update()
{
if (enemyHealth.currentHealth > 0 && !enemyHealth.isDead && alarmSearch)
{
NavMeshHit hit;
if (!nav.Raycast(player.position, out hit))
{
playerVisible = true;
}
else
{
playerVisible = false;
}
if (enemyAttack.playerInRange && playerVisible)
{
transform.LookAt(player);
nav.SetDestination(enemy.position);
}
else if (playerHealth.currentHealth > 0 && !enemyAttack.playerInRange || !playerVisible)
{
nav.SetDestination(player.position);
}
if (enemyHealth.isDead)
{
nav.enabled = false;
}
}
}
void RayCast_Test()
{
NavMeshHit hit;
if (_agent.Raycast(_HitInfo.point, out hit))
{
//Debug.Log(hit.distance);
}
}
private Vector3 GetWanderDestination()
{
var randomAngle = Random.Range(0, Mathf.PI * 2);
var target = transform.position + new Vector3(Mathf.Cos(randomAngle), 0, Mathf.Sin(randomAngle)) * wanderDistance;
NavMeshHit hit;
return(_agent.Raycast(target, out hit) ? hit.position : target);
}
void Update()
{
NavMeshHit hit;
if (!agent.Raycast(target.position, out hit))
{
agent.SetDestination(hit.position);
}
}
public Vector3 GetClosestToNavMeshPoint(Vector3 point)
{
NavMeshHit hit;
if (_agent.Raycast(point, out hit))
{
return(hit.position);
}
return(point);
}
public void Update()
{
NavMeshHit hit;
m_isTargetObscured = m_agent.Raycast(Target, out hit);
if (m_isTargetObscured && !m_linecasterRunning)
{
// If the target is not within line-of-sight and the line caster isn't running, start it up
m_linecaster = StartCoroutine(CheckLinecast());
}
else if (!m_isTargetObscured && m_linecasterRunning)
{
// If the target is within line-of-sight, stop the line caster and just beeline to the target
m_linecasterRunning = false;
m_usePathfinding = false;
m_agent.ResetPath();
StopCoroutine(m_linecaster);
}
else if (!m_isTargetObscured)
{
// If target isn't obscured, beeline to target
m_agent.ResetPath();
m_linecasterRunning = false;
m_usePathfinding = false;
}
if (!m_usePathfinding)
{
NavMesh.SamplePosition(Target, out hit, m_agent.height, NavMesh.AllAreas);
Vector3 dp = hit.position - transform.position;
Vector3 direction = dp.normalized;
Vector3 move = direction * m_agent.speed * Time.deltaTime;
dest = hit.position;
//if (dp.sqrMagnitude < move.sqrMagnitude) {
// m_motion.Move(dp);
//} else {
m_motion.Move(move);
//}
dip = dp.magnitude;
if (RotateToMovement && dp.magnitude > ROTATE_TO_MOVE_THRESHOLD)
{
Quaternion rot = Quaternion.LookRotation(Vector3.ProjectOnPlane(direction, Vector3.up), Vector3.up);
Quaternion newRotation = Quaternion.Lerp(transform.rotation, rot, 10f * Time.deltaTime);
transform.rotation = newRotation;
}
}
}
static int Raycast(IntPtr L)
{
LuaScriptMgr.CheckArgsCount(L, 3);
NavMeshAgent obj = LuaScriptMgr.GetNetObject <NavMeshAgent>(L, 1);
Vector3 arg0 = LuaScriptMgr.GetNetObject <Vector3>(L, 2);
NavMeshHit arg1 = LuaScriptMgr.GetNetObject <NavMeshHit>(L, 3);
bool o = obj.Raycast(arg0, out arg1);
LuaScriptMgr.Push(L, o);
LuaScriptMgr.PushValue(L, arg1);
return(2);
}
static int Raycast(IntPtr L)
{
LuaScriptMgr.CheckArgsCount(L, 3);
NavMeshAgent obj = (NavMeshAgent)LuaScriptMgr.GetUnityObjectSelf(L, 1, "NavMeshAgent");
Vector3 arg0 = LuaScriptMgr.GetVector3(L, 2);
NavMeshHit arg1;
bool o = obj.Raycast(arg0, out arg1);
LuaScriptMgr.Push(L, o);
LuaScriptMgr.PushValue(L, arg1);
return(2);
}
// Function that checks if the player is within range and in line of sight
private bool IsPlayerInLineOfSight()
{
NavMeshHit hit;
// Do raycast to player
if (!_agent.Raycast(_playerTrans.position, out hit) && GetDistanceToPlayer() < _maxPursueDistance)
{
return(true);
}
else
{
return(false);
}
}
private bool CanSeeTarget()
{
if (target == null)
{
return(false);
}
NavMeshHit hitInfo;
if (agent.Raycast(target.transform.position, out hitInfo))
{
return(false);
}
return(true);
}
private bool ISeeYou = false; //for player
void EnemySight()
{
// direction is the target( player) location in the world 'compared' to this object's own position in the world
Vector3 direction = target.position - transform.position;
// angle is the angle this object is from the target
float angle = Vector3.Angle(direction, transform.forward);
//will need to be modified for player cover
//add wall detection
if (direction.magnitude < visDist && angle < visAngle)
{
NavMeshHit hit;
if (!agent.Raycast(target.position, out hit))
{
direction.y = 0;
//turns towards player
// Determine which direction to rotate towards
Vector3 targetDirection = target.position - transform.position;
// The step size is equal to speed times frame time.
float singleStep = speed * Time.deltaTime;
// Rotate the forward vector towards the target direction by one step
Vector3 newDirection = Vector3.RotateTowards(transform.forward, targetDirection, singleStep, 0.0f);
// Draw a ray pointing at our target in
Debug.DrawRay(transform.position, newDirection, Color.red);
// Calculate a rotation a step closer to the target and applies rotation to this object
if (beliefs.HasState("Aggressive") || beliefs.HasState("activated")) // if activated, show exclaimation text
{
transform.rotation = Quaternion.LookRotation(newDirection);
ShowText();
}
lastLocation.transform.position = target.transform.position;
//end of enemy Rotate
ISeeYou = true;
}
}
else
{
ISeeYou = false;
//turns off text when player is no longer seen
}
}
// void OnTriggerEnter(Collider other) {
// if (other.gameObject.tag == this.tag && other.attachedRigidbody) {
// // Debug.Log("it's not okay now " + other.gameObject.name);
// }
// }
// void OnTriggerStay(Collider other) {
// if (other.gameObject.tag == this.tag && other.attachedRigidbody) {
// // GetComponent<NavMeshAgent>();
// // Vector3 direction = other.transform.position - this.transform.position;
// // direction.Normalize();
// other.attachedRigidbody.AddForce((other.transform.position - this.transform.position) * 2);
// isInCollide = true;
// }
// }
// void OnTriggerExit(Collider other) {
// // remove force when outside of the range
// if (other.gameObject.tag == this.tag && other.attachedRigidbody) {
// other.attachedRigidbody.velocity = Vector3.zero;
// other.attachedRigidbody.angularVelocity = Vector3.zero;
// isInCollide = false;
// }
// }
// Update is called once per frame
void Update()
{
NavMeshHit hit;
if (agent.Raycast(target.position, out hit))
{
lastSeen += Time.deltaTime;
hasTargetInRange = false;
if (lastSeen < 0.5f)
{
Reach(target.position, 0f);
}
}
else
{
hasTargetInRange = true;
GameObject[] enemyArray = GameObject.FindGameObjectsWithTag(this.tag);
foreach (GameObject enemy in enemyArray)
{
foesMove enemyScript = enemy.GetComponent <foesMove>();
if (enemyScript)
{
enemyScript.follow(this.transform.position);
}
}
Reach(target.position, 3f);
lastSeen = 0f;
}
if (hasTargetInRange)
{
// GetComponent<Renderer>().material.color = Color.yellow;
}
else
{
// GetComponent<Renderer>().material.color = Color.black;
}
if (agent.remainingDistance < 3f)
{
agent.Stop();
if (hasTargetInRange)
{
this.transform.LookAt(target);
}
}
else
{
Debug.DrawLine(this.transform.position, agent.destination);
}
}
/// <summary>
/// 攻撃できるかどうかを判断する
/// </summary>
/// <returns></returns>
bool IsAttack()
{
//自分とプレイヤーの距離を取得
float distance = Vector3.Distance(transform.position, playerPos);
NavMeshHit hit;
//自分と相手との距離が射程範囲内 かつ 自分と相手との間に障害物がない場合にture
if (distance <= shotRange && !agent.Raycast(playerPos, out hit))
{
return(true);
}
else
{
return(false);
}
}
// Update is called once per frame
void FixedUpdate()
{
if (playS.inbox == true)
{
ChaseMd = false;
playerVis = false;
Physics.IgnoreCollision(GameObject.Find("Player").GetComponent <BoxCollider>(), GetComponent <Collider>());
}
NavMeshHit hit;
if (!NMA.Raycast(player.position, out hit))
{
if (playS.inbox == false)
{
playerVis = true;
}
}
else
{
playerVis = false;
}
if (Mode == 0)
{
RoamMd = true;
ChaseMd = false;
}
if (Mode == 1)
{
RoamMd = false;
ChaseMd = true;
}
if (RoamMd == true)
{
if (NMA.remainingDistance < 0.5)
{
int d = Random.Range(0, wps.Length);
NMA.SetDestination(wps[d].transform.position);
}
}
ChaseMode();
}
