新增SensorToolkit

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2026-05-23 08:48:48 +08:00
parent 9369f512d1
commit 81c326af53
557 changed files with 186698 additions and 137 deletions

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using UnityEngine;
using System.Collections;
namespace Micosmo.SensorToolkit.Example
{
/* When the pickup is detected in the score zone it's team wins a point. */
public class ScoreZone : MonoBehaviour
{
public Sensor PickupSensor;
public GameObject ScoreEffect;
void Update()
{
var pickup = PickupSensor.GetNearestComponent<Holdable>();
if (pickup != null)
{
// Pickup has been brought to score zone. It's team scores!
if (ScoreEffect != null)
{
Instantiate(ScoreEffect, pickup.transform.position, pickup.transform.rotation);
}
Destroy(pickup.gameObject);
}
}
}
}

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using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using Micosmo.SensorToolkit.Extras;
namespace Micosmo.SensorToolkit.Example {
public class SoldierAI : StupidSimpleFSM {
[Header("References")]
public Sensor Sight;
public SteeringSensor SteerSensor;
public IgnoreProcessor IgnoreProc;
public Holder Holder;
public GunWithClip Gun;
public TeamMember TeamMember;
GameObject myBase;
void OnEnable() {
SetFSMState(DefaultState());
}
void Start() {
myBase = GameObject.Find(TeamMember.Team == Teams.Yellow ? "YellowBase" : "MagentaBase");
}
void Update() {
SteerSensor.Locomotion.MaxSpeedMultiplier = Holder.IsHolding ? .5f : 1f;
}
IEnumerator DefaultState() {
while (true) {
yield return null;
if (Holder.Held != null) {
yield return SetFSMState(CarryToBaseState());
}
var nearestPickup = Sight.GetNearestComponent<Holdable>();
if (nearestPickup != null) {
if (nearestPickup.IsHeld && TeamMember.IsEnemy(nearestPickup.Holder.gameObject)) {
yield return SetFSMState(AttackState(nearestPickup.Holder.gameObject));
} else if (Random.value > 0.9f) {
yield return SetFSMState(PickUpState(nearestPickup));
}
}
var nearestEnemy = Sight.GetNearestDetection(s => TeamMember.IsEnemy(s.Object));
if (nearestEnemy != null) {
yield return SetFSMState(AttackState(nearestEnemy));
}
float countdown = 1f;
while (countdown > 0f) {
// Make way to the center of the map
SteerSensor.ArriveTo(Vector3.zero);
SteerSensor.Locomotion.Strafing.Clear();
countdown -= Time.deltaTime;
yield return null;
}
}
}
IEnumerator AttackState(GameObject target) {
if (target == null) {
yield return SetFSMState(DefaultState());
} else if ((target.transform.position - transform.position).magnitude > 10f) {
yield return SetFSMState(ChargeState(target));
} else {
yield return SetFSMState(StrafeState(target));
}
}
IEnumerator ChargeState(GameObject target) {
var timer = Random.Range(0.5f, 2f);
while (timer >= 0f) {
timer -= Time.deltaTime;
yield return null;
if (target == null) {
break;
}
SteerSensor.SeekTo(target.transform);
SteerSensor.Locomotion.Strafing.Clear();
Gun.Fire();
if (Gun.IsEmptyClip) {
Gun.Reload();
}
}
yield return SetFSMState(DefaultState());
}
IEnumerator StrafeState(GameObject target) {
var timer = Random.Range(0.5f, 2f);
var strafeDirection = new Vector3(Random.Range(-1f, 1f), 0f, Random.Range(-1f, 1f)).normalized;
while (timer > 0f) {
timer -= Time.deltaTime;
yield return null;
if (target == null) {
break;
}
SteerSensor.SeekTo(transform.position + strafeDirection * 10);
SteerSensor.Locomotion.Strafing.SetFaceTarget(target.transform);
Gun.Fire();
if (Gun.IsEmptyClip && !Gun.IsReloading) {
Gun.Reload();
if (Random.value > 0.5f) {
yield return SetFSMState(FleeState());
}
}
}
yield return SetFSMState(DefaultState());
}
IEnumerator FleeState() {
var timer = Random.Range(2f, 4f);
SteerSensor.Locomotion.Strafing.Clear();
while (timer > 0) {
timer -= Time.deltaTime;
yield return null;
var nearestEnemy = Sight.GetNearestDetection(s => TeamMember.IsEnemy(s.Object));
if (nearestEnemy == null) {
break;
}
SteerSensor.SeekTo(nearestEnemy.transform, 20f); // Seek position 20-units away from target. This will cause flee
}
SteerSensor.Stop();
yield return SetFSMState(DefaultState());
}
IEnumerator PickUpState(Holdable pickup) {
float timer = 4f;
while (timer > 0f) {
timer -= Time.deltaTime;
yield return null;
if (pickup == null || pickup.IsHeld) {
yield return SetFSMState(DefaultState());
}
IgnoreProc.ToIgnore = pickup.gameObject;
SteerSensor.ArriveTo(pickup.transform);
SteerSensor.Locomotion.Strafing.Clear();
if (Holder.CanPickUp(pickup)) {
Holder.PickUp(pickup);
break;
}
}
while (Holder.IsInteracting) {
yield return null;
}
yield return SetFSMState(DefaultState());
}
IEnumerator CarryToBaseState() {
while (true) {
yield return null;
if (Holder.Held == null) {
yield return SetFSMState(DefaultState());
}
SteerSensor.ArriveTo(myBase.transform);
SteerSensor.Locomotion.Strafing.Clear();
}
}
}
}

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