BoostBaller/Assets/Scripts/AIController.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class AIController : MonoBehaviour
{
    public GameObject ball;
    public Transform targetGoal;
    public Vector3 inputVector;
    public float turnRadius = 1;
    public float destinationOffset;
    public float maxBoostDist = 3;

    public float distanceToTarget; //Distance to the point, placed behind the ball
    public float angleToDestination;
    public float angleToBall;
    public float distanceToBall;

    private Vector3 destination;
    private Vector3 directionVector;
    private float rotationTimeout = 0;
    // Start is called before the first frame update
    void Start()
    {
       
    }

    // Update is called once per frame
    void Update()
    {
        Vector3 ballPosition = this.ball.transform.position;
        Vector3 goalDirection = ballPosition - this.targetGoal.position;
        this.destination = ballPosition + goalDirection.normalized * this.destinationOffset;
        this.directionVector = this.destination - this.transform.position;

        //Use "right" to offset the angle by 90 deg. This gives us a positive/negative value
        // depending on the direction we have to rotate
        this.angleToDestination = Vector3.Dot(this.transform.right, this.directionVector.normalized);

        this.angleToBall = Mathf.Acos(Vector3.Dot((ballPosition - this.transform.position).normalized, this.transform.forward)) * Mathf.Rad2Deg;
        this.angleToBall = this.Angle360(transform.position, ballPosition, Vector3.right);
        this.distanceToTarget = Vector3.Distance(this.transform.position, this.destination);
        this.distanceToBall = Vector3.Distance(this.transform.position, ballPosition);

    }

    float Angle360(Vector3 from, Vector3 to, Vector3 right)
    {
        float angle = Vector3.Angle(from, to);
        return (Vector3.Angle(right, to) > 90f) ? 360f - angle : angle;
    }

    private void OnDrawGizmos()
    {
        Debug.DrawLine(this.transform.position, this.destination, Color.yellow, 0f, false);
        Debug.DrawLine(this.targetGoal.position, this.destination, Color.yellow, 0f, false);
        Gizmos.DrawSphere(this.destination, 1);
        Debug.DrawRay(transform.position, this.transform.forward * 3.8f, Color.white, .5f);
        Debug.DrawRay(transform.position, this.transform.forward * 10, Color.green);
        
        
    }


    public float[] GetInputs()
    {
        float[] inputs = new float[3];

        inputs[AiInputs.VERTICAL] = 0;
        inputs[AiInputs.BOOST] = 0;

        //Move forward if we are too far away
        if (this.distanceToTarget > 4)
        {
            inputs[AiInputs.VERTICAL] = 1;
        }

        RaycastHit hit;
        //If we hit something head on, stop, drop and rotate (emergency rotate)
        if (Physics.Raycast(transform.position, this.transform.forward, out hit, 3.8f))
        {
            this.rotationTimeout = .2f;
        }

        //Rotate if we are close enough to the target (behind the ball) but not if emergency rotation is active
        inputs[AiInputs.HORIZONTAL] = Mathf.Floor(this.angleToDestination * 10) / 10;
        if (this.distanceToTarget < this.turnRadius && this.rotationTimeout < 0)
        {
            inputs[AiInputs.HORIZONTAL] = Mathf.Floor(-this.angleToBall * 10) / 10;   
        }

        this.rotationTimeout -= Time.deltaTime;
        if(rotationTimeout > 0)
        {
            inputs[AiInputs.HORIZONTAL] = .5f;
        }


            
        //Shoot a ray backwards and boost if we are close enough to the target (behind the ball) to avoid shooting towards our own goal
        if (Physics.Raycast(transform.position, -this.transform.forward, out hit, 15))
        {
            if (hit.transform.tag == "Ball" && this.distanceToTarget < this.maxBoostDist)
            {
                inputs[AiInputs.BOOST] = 1;
            }
        }

        this.inputVector = new Vector3(inputs[AiInputs.HORIZONTAL], inputs[AiInputs.VERTICAL], inputs[AiInputs.BOOST]);
        //Left/Right, Fwd/Bkwd, Boost
        return inputs;
    }
}

public static class AiInputs
{
    public const int HORIZONTAL = 0;
    public const int VERTICAL = 1;
    public const int BOOST = 2;
}