Add new meta files and interfaces for project structure
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using UnityEngine;
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namespace Pathfinding.Examples {
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using Pathfinding.Drawing;
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/// <summary>
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/// Moves an object along a spline.
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/// Helper script in the example scene called 'Moving'.
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/// </summary>
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[HelpURL("https://arongranberg.com/astar/documentation/stable/beziermover.html")]
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public class BezierMover : VersionedMonoBehaviour {
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public Transform[] points;
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public float speed = 1;
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public float tiltAmount = 1f;
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public float tiltSmoothing = 1.0f;
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float time = 0;
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Vector3 averageCurvature;
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Vector3 Evaluate (float t, out Vector3 derivative, out Vector3 secondDerivative, out Vector3 curvature) {
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int c = points.Length;
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int pt = (Mathf.FloorToInt(t) + c) % c;
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var p0 = points[(pt-1+c)%c].position;
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var p1 = points[pt].position;
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var p2 = points[(pt+1)%c].position;
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var p3 = points[(pt+2)%c].position;
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var tprime = t - Mathf.FloorToInt(t);
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CatmullRomToBezier(p0, p1, p2, p3, out var c0, out var c1, out var c2, out var c3);
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derivative = AstarSplines.CubicBezierDerivative(c0, c1, c2, c3, tprime);
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secondDerivative = AstarSplines.CubicBezierSecondDerivative(c0, c1, c2, c3, tprime);
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curvature = Curvature(derivative, secondDerivative);
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return AstarSplines.CubicBezier(c0, c1, c2, c3, tprime);
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}
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/// <summary>Converts a catmull-rom spline to bezier control points</summary>
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static void CatmullRomToBezier (Vector3 p0, Vector3 p1, Vector3 p2, Vector3 p3, out Vector3 c0, out Vector3 c1, out Vector3 c2, out Vector3 c3) {
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c0 = p1;
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c1 = (-p0 + 6*p1 + 1*p2)*(1/6.0f);
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c2 = (p1 + 6*p2 - p3)*(1/6.0f);
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c3 = p2;
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}
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static Vector3 Curvature (Vector3 derivate, Vector3 secondDerivative) {
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var dx = derivate.magnitude;
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if (dx < 0.000001f) return Vector3.zero;
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return Vector3.Cross(derivate, secondDerivative) / (dx*dx*dx);
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}
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/// <summary>Update is called once per frame</summary>
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void Update () {
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// Move the agent a small distance along the path, according to its speed
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float mn = time;
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float mx = time+1;
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while (mx - mn > 0.0001f) {
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float mid = (mn+mx)/2;
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Vector3 p = Evaluate(mid, out var dummy1, out var dummy2, out var dummy3);
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if ((p-transform.position).sqrMagnitude > (speed*Time.deltaTime)*(speed*Time.deltaTime)) {
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mx = mid;
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} else {
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mn = mid;
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}
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}
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time = (mn+mx)/2;
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transform.position = Evaluate(time, out var derivative, out var dummy, out var curvature);
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averageCurvature = Vector3.Lerp(averageCurvature, curvature, Time.deltaTime);
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// Estimate the acceleration at the current point and use it to tilt the object inwards on the curve
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var centripetalAcceleration = -Vector3.Cross(derivative.normalized, averageCurvature);
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var up = new Vector3(0, 1/(tiltAmount + 0.00001f), 0) + centripetalAcceleration;
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transform.rotation = Quaternion.LookRotation(derivative, up);
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}
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public override void DrawGizmos () {
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if (points != null && points.Length >= 3) {
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for (int i = 0; i < points.Length; i++) if (points[i] == null) return;
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Vector3 pp = Evaluate(0, out var derivative, out var secondDerivative, out var curvature);
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for (int pt = 0; pt < points.Length; pt++) {
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for (int i = 1; i <= 100; i++) {
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var p = Evaluate(pt + (i / 100f), out derivative, out secondDerivative, out curvature);
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Draw.Line(pp, p, Color.white);
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pp = p;
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}
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}
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}
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}
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}
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}
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||||
using System;
|
||||
using UnityEngine;
|
||||
using System.Linq;
|
||||
using Pathfinding.RVO;
|
||||
|
||||
namespace Pathfinding.Examples.RTS {
|
||||
public enum Status {
|
||||
Invalid,
|
||||
Failure,
|
||||
Success,
|
||||
Running
|
||||
};
|
||||
|
||||
public class BTContext {
|
||||
public RTSUnit unit;
|
||||
public Transform transform;
|
||||
public Animator animator;
|
||||
}
|
||||
|
||||
/// <summary>Implements a simple behavior tree. This is the base class for all nodes in the tree.</summary>
|
||||
public abstract class BTNode {
|
||||
protected Status lastStatus;
|
||||
public Status Tick (BTContext ctx) {
|
||||
if (lastStatus == Status.Invalid) OnInit(ctx);
|
||||
lastStatus = DoTick(ctx);
|
||||
if (lastStatus == Status.Invalid) throw new System.Exception();
|
||||
return lastStatus;
|
||||
}
|
||||
|
||||
public void Terminate (BTContext ctx) {
|
||||
OnTerminate(ctx);
|
||||
lastStatus = Status.Invalid;
|
||||
}
|
||||
|
||||
protected virtual void OnInit (BTContext ctx) {
|
||||
}
|
||||
|
||||
protected virtual void OnTerminate (BTContext ctx) {
|
||||
}
|
||||
|
||||
protected abstract Status DoTick(BTContext ctx);
|
||||
}
|
||||
|
||||
public class BTTransparent : BTNode {
|
||||
public BTNode child;
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
child.Terminate(ctx);
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
return child.Tick(ctx);
|
||||
}
|
||||
}
|
||||
|
||||
public class Once : BTNode {
|
||||
public BTNode child;
|
||||
|
||||
public Once (BTNode child) { this.child = child; }
|
||||
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
if (lastStatus == Status.Running) child.Terminate(ctx);
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
if (lastStatus == Status.Success) return Status.Success;
|
||||
var s = child.Tick(ctx);
|
||||
if (s == Status.Success) {
|
||||
child.Terminate(ctx);
|
||||
}
|
||||
return s;
|
||||
}
|
||||
}
|
||||
|
||||
public class SimpleAction : BTNode {
|
||||
public System.Action<BTContext> action;
|
||||
public SimpleAction (System.Action<BTContext> action) { this.action = action; }
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
action(ctx);
|
||||
return Status.Success;
|
||||
}
|
||||
}
|
||||
|
||||
public class Condition : BTNode {
|
||||
public System.Func<BTContext, bool> predicate;
|
||||
public Condition (System.Func<BTContext, bool> predicate) { this.predicate = predicate; }
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
return predicate(ctx) ? Status.Success : Status.Failure;
|
||||
}
|
||||
}
|
||||
|
||||
public class BTSequence : BTNode {
|
||||
public BTNode[] children;
|
||||
int childIndex = -1;
|
||||
|
||||
public BTSequence (BTNode[] children) {
|
||||
this.children = children;
|
||||
}
|
||||
|
||||
protected override void OnInit (BTContext ctx) {
|
||||
childIndex = 0;
|
||||
}
|
||||
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
for (int i = 0; i <= childIndex; i++) {
|
||||
children[i].Terminate(ctx);
|
||||
}
|
||||
childIndex = -1;
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
int i;
|
||||
|
||||
for (i = 0; i < children.Length; i++) {
|
||||
var s = children[i].Tick(ctx);
|
||||
if (s != Status.Success) {
|
||||
// Terminate all nodes that executed the last frame, but did not execute this frame
|
||||
for (int j = i + 1; j <= childIndex; j++) children[j].Terminate(ctx);
|
||||
childIndex = i;
|
||||
return s;
|
||||
}
|
||||
}
|
||||
childIndex = i - 1;
|
||||
return Status.Success;
|
||||
}
|
||||
}
|
||||
|
||||
public class BTSelector : BTNode {
|
||||
public BTNode[] children;
|
||||
int childIndex = -1;
|
||||
|
||||
public BTSelector (BTNode[] children) {
|
||||
this.children = children;
|
||||
}
|
||||
|
||||
protected override void OnInit (BTContext ctx) {
|
||||
}
|
||||
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
for (int i = 0; i <= childIndex; i++) {
|
||||
children[i].Terminate(ctx);
|
||||
}
|
||||
childIndex = -1;
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
int i;
|
||||
|
||||
for (i = 0; i < children.Length; i++) {
|
||||
var s = children[i].Tick(ctx);
|
||||
if (s != Status.Failure) {
|
||||
// Terminate all nodes that executed the last frame, but did not execute this frame
|
||||
for (int j = i + 1; j <= childIndex; j++) children[j].Terminate(ctx);
|
||||
|
||||
childIndex = i;
|
||||
return s;
|
||||
}
|
||||
}
|
||||
childIndex = i - 1;
|
||||
return Status.Failure;
|
||||
}
|
||||
}
|
||||
|
||||
class Binding<T> {
|
||||
T val;
|
||||
public System.Func<T> getter;
|
||||
public System.Action<T> setter;
|
||||
public T value {
|
||||
get {
|
||||
if (getter != null) return getter();
|
||||
return val;
|
||||
}
|
||||
set {
|
||||
if (setter != null) setter(value);
|
||||
val = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public struct Value<T> {
|
||||
T val;
|
||||
Binding<T> binding;
|
||||
public T value {
|
||||
get {
|
||||
if (binding != null) return binding.value;
|
||||
return val;
|
||||
}
|
||||
set {
|
||||
if (binding != null) binding.value = value;
|
||||
val = value;
|
||||
}
|
||||
}
|
||||
|
||||
public void Bind (ref Value<T> other) {
|
||||
if (other.binding != null && binding == null) binding = other.binding;
|
||||
else if (binding == null && other.binding != null) other.binding = binding;
|
||||
else if (binding == null) binding = other.binding = new Binding<T>();
|
||||
else throw new System.Exception("Too complex binding");
|
||||
}
|
||||
|
||||
public void Bind (System.Func<T> other) {
|
||||
if (binding != null) throw new System.Exception("Already has a binding");
|
||||
binding = new Binding<T>();
|
||||
binding.getter = other;
|
||||
binding.setter = _ => {
|
||||
throw new System.InvalidOperationException("Trying to assign a value which has been bound as read-only (using a delegate)");
|
||||
};
|
||||
}
|
||||
|
||||
public Value<T> Bound {
|
||||
get {
|
||||
var r = this;
|
||||
if (binding == null) Bind(ref r);
|
||||
return r;
|
||||
}
|
||||
}
|
||||
|
||||
public Value (System.Func<T> getter) {
|
||||
val = default(T);
|
||||
binding = null;
|
||||
Bind(getter);
|
||||
}
|
||||
|
||||
public static implicit operator Value<T>(System.Func<T> getter) {
|
||||
var val = new Value<T>();
|
||||
|
||||
val.Bind(getter);
|
||||
return val;
|
||||
}
|
||||
}
|
||||
|
||||
public class BTMove : BTNode {
|
||||
public Value<Vector3> destination;
|
||||
|
||||
public BTMove (Value<Vector3> destination) {
|
||||
this.destination = destination;
|
||||
}
|
||||
|
||||
protected override void OnInit (BTContext ctx) {
|
||||
ctx.unit.SetDestination(destination.value, MovementMode.Move);
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
var dest = destination.value;
|
||||
|
||||
if ((Time.frameCount % 100) == 0) ctx.unit.SetDestination(dest, MovementMode.Move);
|
||||
if (VectorMath.SqrDistanceXZ(ctx.transform.position, dest) < 0.5f * 0.5f) {
|
||||
return Status.Success;
|
||||
} else {
|
||||
return Status.Running;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public class FindClosestUnit : BTNode {
|
||||
public Value<RTSUnit> target;
|
||||
public bool reserve;
|
||||
RTSUnit.Type type;
|
||||
|
||||
public FindClosestUnit (RTSUnit.Type type) {
|
||||
this.type = type;
|
||||
}
|
||||
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
if (reserve && target.value != null) {
|
||||
if (target.value.reservedBy != ctx.unit) throw new System.Exception();
|
||||
target.value.reservedBy = null;
|
||||
}
|
||||
target.value = null;
|
||||
}
|
||||
|
||||
RTSUnit FindClosest (Vector3 point) {
|
||||
var units = RTSManager.instance.units.units;
|
||||
RTSUnit closest = null;
|
||||
var dist = float.PositiveInfinity;
|
||||
|
||||
for (int i = 0; i < units.Count; i++) {
|
||||
var unit = units[i];
|
||||
if (unit.type != type || (reserve && unit.reservedBy != null)) {
|
||||
continue;
|
||||
}
|
||||
if (unit.resource != null && !unit.resource.harvestable) {
|
||||
continue;
|
||||
}
|
||||
|
||||
var d = (unit.transform.position - point).sqrMagnitude;
|
||||
if (d < dist) {
|
||||
dist = d;
|
||||
closest = unit;
|
||||
}
|
||||
}
|
||||
return closest;
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
if (target.value != null) {
|
||||
return Status.Success;
|
||||
}
|
||||
|
||||
target.value = FindClosest(ctx.transform.position);
|
||||
if (target.value != null) {
|
||||
if (reserve) target.value.reservedBy = ctx.unit;
|
||||
return Status.Success;
|
||||
}
|
||||
return Status.Failure;
|
||||
}
|
||||
}
|
||||
|
||||
static class Behaviors {
|
||||
public static BTNode HarvestBehavior () {
|
||||
var reserve = new FindClosestUnit(RTSUnit.Type.ResourceCrystal) { reserve = true };
|
||||
var dropoff = new FindClosestUnit(RTSUnit.Type.HarvesterDropoff) { reserve = true };
|
||||
var dropoffQueue = new FindClosestUnit(RTSUnit.Type.HarvesterDropoffQueue);
|
||||
|
||||
return new BTSelector(new BTNode[] {
|
||||
new HarvestMode() {
|
||||
child = new BTSelector(new BTNode[] {
|
||||
new BTSequence(new BTNode[] {
|
||||
new Condition(ctx => ctx.unit.storedCrystals > 0),
|
||||
new BTSequence(new BTNode[] {
|
||||
dropoff,
|
||||
new BTMove(new Value<Vector3>(() => dropoff.target.value.transform.position)),
|
||||
new SimpleAction(ctx => {
|
||||
ctx.unit.owner.resources.AddResource(RTSUnit.Type.ResourceCrystal, ctx.unit.storedCrystals);
|
||||
ctx.unit.storedCrystals = 0;
|
||||
}),
|
||||
})
|
||||
//new Deposit(move1),
|
||||
}),
|
||||
new BTSequence(new BTNode[] {
|
||||
new Condition(ctx => ctx.unit.storedCrystals == 0),
|
||||
new BTSequence(new BTNode[] {
|
||||
reserve,
|
||||
new BTMove(new Value<Vector3>(() => reserve.target.value.transform.position)),
|
||||
new Harvest { resource = new Value<RTSHarvestableResource>(() => reserve.target.value.resource), duration = 5 },
|
||||
}),
|
||||
})
|
||||
})
|
||||
},
|
||||
new BTSequence(new BTNode[] {
|
||||
dropoffQueue,
|
||||
new BTMove(new Value<Vector3>(() => dropoffQueue.target.value.transform.position)),
|
||||
})
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
public class HarvestMode : BTTransparent {
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
ctx.unit.GetComponent<RVOController>().layer = RVO.RVOLayer.Layer2;
|
||||
base.OnTerminate(ctx);
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
var s = base.DoTick(ctx);
|
||||
|
||||
ctx.unit.GetComponent<RVOController>().layer = s == Status.Running ? RVO.RVOLayer.Layer3 : RVO.RVOLayer.Layer2;
|
||||
return s;
|
||||
}
|
||||
}
|
||||
|
||||
public class Harvest : BTNode {
|
||||
public Value<RTSHarvestableResource> resource;
|
||||
public float duration = 5;
|
||||
float time;
|
||||
|
||||
protected override void OnInit (BTContext ctx) {
|
||||
ctx.animator.SetBool("harvesting", true);
|
||||
|
||||
//ctx.unit.locked = true;
|
||||
}
|
||||
|
||||
protected override void OnTerminate (BTContext ctx) {
|
||||
Debug.Log("Terminated harvesting");
|
||||
ctx.animator.SetBool("harvesting", false);
|
||||
}
|
||||
|
||||
protected override Status DoTick (BTContext ctx) {
|
||||
time += Time.deltaTime;
|
||||
if (time > duration) {
|
||||
ctx.animator.SetBool("harvesting", false);
|
||||
if (ctx.animator.GetCurrentAnimatorStateInfo(0).IsName("RTSHarvesterHarvesting") || ctx.animator.GetCurrentAnimatorStateInfo(0).IsName("RTSHarvesterHarvestingExit")) {
|
||||
return Status.Running;
|
||||
} else {
|
||||
ctx.unit.storedCrystals += 50;
|
||||
resource.value.value -= 50;
|
||||
time = 0;
|
||||
//ctx.unit.locked = false;
|
||||
return Status.Success;
|
||||
}
|
||||
} else {
|
||||
return Status.Running;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public class BTHarvest {
|
||||
/*RTSCommandMove moveToDepositPoint;
|
||||
RTSCommandMove moveToHarvestPoint;
|
||||
|
||||
void Deposit () {
|
||||
|
||||
}
|
||||
|
||||
public override void Tick () {
|
||||
if (HasResources()) {
|
||||
if (moveToDepositPoint.Tick() == Success) {
|
||||
Deposit();
|
||||
}
|
||||
} else {
|
||||
var target = ReserveTarget();
|
||||
moveToHarvestPoint.target = target;
|
||||
if (moveToHarvestPoint.Tick() == Success) {
|
||||
Harvest(target);
|
||||
}
|
||||
}
|
||||
}*/
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 8057fe44d8f5e414b808b891e72f5682
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
AssetOrigin:
|
||||
serializedVersion: 1
|
||||
productId: 87744
|
||||
packageName: A* Pathfinding Project Pro
|
||||
packageVersion: 5.3.8
|
||||
assetPath: Packages/com.arongranberg.astar/ExampleScenes~/Scenes/OldExamples/Example18_RTS/BTNode.cs
|
||||
uploadId: 764484
|
||||
@@ -0,0 +1,9 @@
|
||||
fileFormatVersion: 2
|
||||
guid: b6a2076aece164250a094f3540b79068
|
||||
folderAsset: yes
|
||||
timeCreated: 1514466036
|
||||
licenseType: Store
|
||||
DefaultImporter:
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user