UnityAI——常用感知类型的实现

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class Trigger : MonoBehaviour
{
    protected TriggerSystemManager manager;//保存管理中心对象
    protected Vector3 position;//触发器的位置
    public int radius;//触发器的半径
    public bool toBeRemoved;//当前触发器是否需要被移除
    public virtual void Try(Sensor s) { }//这个方法检查作为参数的感知器s是否在触发器的作用范围内，如果是，那么采取相应行为。在派生类中实现
    public virtual void Updateme() { }//这个方法更新触发器的内部状态，例如，声音触发器的剩余有效时间等
    protected virtual bool isTouchingTrigger(Sensor sensor)   //这个方法检查感知器s是否在触发器的作用范围内，如果是，返回true，；若不是，返回false，它被Try调用。在派生类中实现
    {
        return false;
    }
    void Awake()
    {
        manager = FindObjectOfType<TriggerSystemManager>();
    }
   protected void Start()
    {
        toBeRemoved = false;
    }
 
    void Update()
    {
        
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class TriggerSystemManager : MonoBehaviour
{
    List<Sensor> currentSensors = new List<Sensor>();//初始化当前感知器列表
    List<Trigger> currentTriggers = new List<Trigger>();//初始化当前触发器列表
    List<Sensor> sensorsToRemove;//记录当前时刻需要被移除的感知器
    List<Trigger> triggersToRemove;//记录当前时刻需要被移除的触发器
    void Start()
    {
        sensorsToRemove = new List<Sensor>();
        triggersToRemove = new List<Trigger>();
    }
 
    private void UpdateTriggers()
    {
        foreach(Trigger t in currentTriggers)
        {
            if (t.toBeRemoved)
            {
                triggersToRemove.Add(t);//将t加入需要移除的触发器列表中
            }
            else
            {
                t.Updateme();
            }
        }
        foreach (Trigger t in triggersToRemove)
            currentTriggers.Remove(t);
    }
 
    private void TryTriggers()
    {
        foreach(Sensor s in currentSensors)
        {
            if (s.gameObject != null)
            {
                foreach(Trigger t in currentTriggers)
                {
                    t.Try(s);
                }
            }
            else
            {
                sensorsToRemove.Add(s);
            }
        }
        foreach(Sensor s in sensorsToRemove)
            currentSensors.Remove(s);
    }
 
    void Update()
    {
        UpdateTriggers();
        TryTriggers();
    }
    public void RegisterTrigger(Trigger t)//用于注册触发器
    {
        print("registering trigger:" + t.name);
        currentTriggers.Add(t);
    }
    public void RegisterSensor(Sensor s)//用于注册感知器
    {
        print("registering sensor:" + s.name);
        currentSensors.Add(s);
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class SightTrigger :Trigger
{
    public override void Try(Sensor sensor)
    {
        if (isTouchingTrigger(sensor))
        {
            sensor.Notify(this);
        }
    }
    protected override bool isTouchingTrigger(Sensor sensor)//判断感知器是否能感知到这个触发器
    {
        GameObject g = sensor.gameObject;
        if (sensor.sensorType == Sensor.SensorType.sight)//如果这个感知器能够感知视觉信息
        {
            RaycastHit hit;
            Vector3 rayDirection = transform.position - g.transform.position;
            rayDirection.y = 0;
            if((Vector3.Angle(rayDirection,g.transform.forward))<(sensor as SightSensor).fieldOfView)//判断感知体的前向方向与物体所在方向的夹角，是否在视域范围内
            {
                if(Physics.Raycast(g.transform.position+new Vector3(0,1,0),rayDirection ,out hit,(sensor as SightSensor).viewDistance))//在视线距离内是否存在其他障碍物
                {
                    if (hit.collider.gameObject == this.gameObject)
                    {
                        return true;
                    }
                }
            }
        }
        return false;
    }
    public override void Updateme() //更新触发器内部信息，由于带有视觉触发器的AI角色可能是运动的，因此要不停更新位置
    {
        position = transform.position;
    }
    void Start()
    {
        base.Start();
        manager.RegisterTrigger(this);
    }
 
 
    void Update()
    {
        
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class TriggerLimitedLifetime :Trigger
{
    protected int lifetime;
    public override void Updateme() 
    { 
        if((--lifetime)<= 0)
        {
            toBeRemoved = true;
        }
    }
    void Start()
    {
        base.Start();
    }
 
    void Update()
    {
        
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class MemoryItem
{
    public GameObject g;
    public float lastMemoryTime;
    public float memoryTimeLeft;
    public float sensorType;
    public MemoryItem(GameObject objectToAdd, float time,float timeLeft,float type)
    {
        g = objectToAdd;
        lastMemoryTime = time;
        memoryTimeLeft = timeLeft;
        sensorType = type;
    }
}
 
public class SenseMemory : MonoBehaviour
{
    private bool alreadyInList = false;//已经在表中?
    public float memoryTime = 4.0f;//记忆存留时间
    public List<MemoryItem> memoryList = new List<MemoryItem>();//记忆列表
    private List<MemoryItem> removeList= new List<MemoryItem>();
 
    public bool FindInList()//在记忆列表中寻找玩家信息
    {
        foreach (MemoryItem mi in memoryList)
            if (mi.g.tag == "Player")
                return true;
        return false;
    }
 
    public void AddToList(GameObject g, float type)//向记忆列表中添加一个项
    {
        alreadyInList = false;
        foreach (MemoryItem mi in memoryList)
        {
 
            //如果添加项已在，则更新其信息
            if (g == mi.g)
            {
                alreadyInList = true;
                mi.lastMemoryTime = memoryTime.time;
                mi.memoryTimeLeft = memoryTime;
                if (type > mi.sensorType)
                    mi.sensorType = type;
                break;
            }
        }
        if (!alreadyInList)
        {
            MemoryItem newItem = new MemoryItem(g, memoryTime.time, memoryTime, type);
            memoryList.Add(newItem);
        }
    }
 
    void Update()
    {
        removeList.Clear();
        foreach(MemoryItem mi in memoryList)
        {
            mi.memoryTimeLeft -= Time.deltaTime;
            if (mi.memoryTimeLeft < 0)
            {
                removeList.Add(mi);
            }
            else
            {
                if (mi.g != null)
                    Debug.DrawLine(transform.position, mi.g.transform.position, Color.blue);
            }
        }
        foreach(MemoryItem mi in removeList)
        {
            memoryList.Remove(mi);
        }
    }
}