112 lines
3.8 KiB
C#
112 lines
3.8 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class AIController : MonoBehaviour
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{
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public GameObject ball;
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public Transform targetGoal;
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public Vector3 inputVector;
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public float turnRadius = 1;
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public float destinationOffset;
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public float distanceToTarget;
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public float angleToDestination;
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public float angleToBall;
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public float distanceToBall;
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private Vector3 destination;
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private Vector3 directionVector;
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// Start is called before the first frame update
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void Start()
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{
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}
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// Update is called once per frame
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void Update()
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{
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Vector3 ballPosition = this.ball.transform.position;
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Vector3 goalDirection = ballPosition - this.targetGoal.position;
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this.destination = ballPosition + goalDirection.normalized * this.destinationOffset;
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this.directionVector = this.destination - this.transform.position;
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//Use "right" to offset the angle by 90 deg. This gives us a positive/negative value
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// depending on the direction we have to rotate
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this.angleToDestination = Vector3.Dot(this.transform.right, this.directionVector.normalized);
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this.angleToBall = Mathf.Acos(Vector3.Dot((ballPosition - this.transform.position).normalized, this.transform.forward)) * Mathf.Rad2Deg;
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this.angleToBall = this.Angle360(transform.position, ballPosition, Vector3.right);
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this.distanceToTarget = Vector3.Distance(this.transform.position, this.destination);
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this.distanceToBall = Vector3.Distance(this.transform.position, ballPosition);
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}
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float Angle360(Vector3 from, Vector3 to, Vector3 right)
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{
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float angle = Vector3.Angle(from, to);
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return (Vector3.Angle(right, to) > 90f) ? 360f - angle : angle;
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}
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private void OnDrawGizmos()
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{
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Debug.DrawLine(this.transform.position, this.destination, Color.yellow, 0f, false);
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Debug.DrawLine(this.targetGoal.position, this.destination, Color.yellow, 0f, false);
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Gizmos.DrawSphere(this.destination, 1);
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Debug.DrawRay(transform.position, this.transform.forward * 10, Color.green);
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Debug.DrawRay(transform.position, this.directionVector.normalized * 10, Color.red);
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}
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public float[] GetInputs()
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{
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float[] inputs = new float[3];
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inputs[AiInputs.VERTICAL] = 0;
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inputs[AiInputs.BOOST] = 0;
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if (this.distanceToTarget > 4)
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{
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inputs[AiInputs.VERTICAL] = 1;
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}
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inputs[AiInputs.HORIZONTAL] = Mathf.Floor(this.angleToDestination * 10) / 10;
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if (this.distanceToTarget < this.turnRadius)
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{
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inputs[AiInputs.HORIZONTAL] = Mathf.Floor(-this.angleToBall * 10) / 10;
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Debug.DrawRay(transform.position, transform.TransformDirection(-Vector3.forward) * 10, Color.magenta, 0,false);
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if (Physics.Raycast(transform.position, transform.TransformDirection(-Vector3.forward), 10))
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{
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inputs[AiInputs.BOOST] = 1;
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}
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}
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if (this.distanceToBall < this.turnRadius)
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{
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RaycastHit hit;
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inputs[AiInputs.HORIZONTAL] = Mathf.Floor(-this.angleToBall * 10) / 10;
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if (Physics.Raycast(transform.position, this.directionVector, out hit, 5))
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{
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if(hit.transform.tag == "Ball")
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{
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inputs[AiInputs.BOOST] = 1;
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}
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}
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}
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this.inputVector = new Vector3(inputs[AiInputs.HORIZONTAL], inputs[AiInputs.VERTICAL], inputs[AiInputs.BOOST]);
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//Left/Right, Fwd/Bkwd, Boost
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return inputs;
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}
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}
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public static class AiInputs
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{
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public const int HORIZONTAL = 0;
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public const int VERTICAL = 1;
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public const int BOOST = 2;
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} |