新增SensorToolkit

Assets/SensorToolkit/Examples/assets/Stealth/AlarmController.cs

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+using UnityEngine;
+using System.Collections;
+
+namespace Micosmo.SensorToolkit.Example
+{
+    public class AlarmController : MonoBehaviour {
+        public Light PointLight;
+        public Color AlarmColour;
+        public float FlashFrequency;
+
+        bool alarmStarted = false;
+
+        public static AlarmController Instance {
+            get {
+                if (instance == null) {
+                    instance = Object.FindFirstObjectByType<AlarmController>();
+                }
+                return instance;
+            }
+        }
+        static AlarmController instance;
+
+        public bool IsAlarmState => alarmStarted && WhoTrippedAlarm != null;
+        public GameObject WhoTrippedAlarm { get; private set; }
+
+        public void StartAlarm(GameObject whoTrippedAlarm) {
+            if (!alarmStarted) {
+                WhoTrippedAlarm = whoTrippedAlarm;
+                StartCoroutine(alarmRoutine());
+            }
+        }
+
+        IEnumerator alarmRoutine() {
+            alarmStarted = true;
+            PointLight.color = AlarmColour;
+            var startIntensity = PointLight.intensity;
+
+            while (true) {
+                var intensity = (Mathf.Sin(FlashFrequency * Time.time * Mathf.PI * 2f) + 1f) / 2f * startIntensity;
+                PointLight.intensity = intensity;
+                yield return null;
+            }
+        }
+    }
+}

Assets/SensorToolkit/Examples/assets/Stealth/AlarmController.cs.meta

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Assets/SensorToolkit/Examples/assets/Stealth/AutomaticSlidingDoor.cs

@@ -0,0 +1,56 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Micosmo.SensorToolkit.Example
+{
+    public class AutomaticSlidingDoor : MonoBehaviour
+    {
+        public Sensor ObjectSensor;
+        public GameObject LeftDoor;
+        public GameObject RightDoor;
+        public float SlideAmount;
+        public float Speed;
+
+        Vector3 leftStart;
+        Vector3 rightStart;
+
+        void Start()
+        {
+            leftStart = LeftDoor.transform.localPosition;
+            rightStart = RightDoor.transform.localPosition;
+            StartCoroutine(ClosingState());
+        }
+
+        IEnumerator ClosingState()
+        {
+            Start:
+
+            if (ObjectSensor.GetNearestDetection() != null)
+            {
+                StartCoroutine(OpeningState()); yield break;
+            }
+
+            LeftDoor.transform.localPosition = Vector3.Lerp(LeftDoor.transform.localPosition, leftStart, Time.deltaTime * Speed);
+            RightDoor.transform.localPosition = Vector3.Lerp(RightDoor.transform.localPosition, rightStart, Time.deltaTime * Speed);
+
+            yield return null;
+            goto Start;
+        }
+
+        IEnumerator OpeningState()
+        {
+            Start:
+
+            if (ObjectSensor.GetNearestDetection() == null)
+            {
+                StartCoroutine(ClosingState()); yield break;
+            }
+
+            LeftDoor.transform.localPosition = Vector3.Lerp(LeftDoor.transform.localPosition, leftStart - Vector3.right * SlideAmount, Time.deltaTime * Speed);
+            RightDoor.transform.localPosition = Vector3.Lerp(RightDoor.transform.localPosition, rightStart + Vector3.right * SlideAmount, Time.deltaTime * Speed);
+
+            yield return null;
+            goto Start;
+        }
+    }
+}

Assets/SensorToolkit/Examples/assets/Stealth/AutomaticSlidingDoor.cs.meta

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Assets/SensorToolkit/Examples/assets/Stealth/CameraFollow.cs

@@ -0,0 +1,26 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Micosmo.SensorToolkit.Example
+{
+    public class CameraFollow : MonoBehaviour
+    {
+        public GameObject ToFollow;
+        public float Speed;
+
+        Vector3 offset;
+
+        void Start()
+        {
+            offset = transform.position - ToFollow.transform.position;
+        }
+
+        void LateUpdate()
+        {
+            if (ToFollow == null) return;
+
+            var targetPos = ToFollow.transform.position + offset;
+            transform.position = Vector3.Lerp(transform.position, targetPos, Time.deltaTime * Speed);
+        }
+    }
+}

Assets/SensorToolkit/Examples/assets/Stealth/CameraFollow.cs.meta

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Assets/SensorToolkit/Examples/assets/Stealth/Guard.prefab.meta

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Assets/SensorToolkit/Examples/assets/Stealth/GuardAI.cs

@@ -0,0 +1,153 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Micosmo.SensorToolkit.Extras;
+
+namespace Micosmo.SensorToolkit.Example {
+    public class GuardAI : StupidSimpleFSM {
+        public Transform[] PatrolPath;
+        public float WaypointArriveDistance;
+        public float PauseTime;
+        public float WanderDistance;
+        public float SoundAlarmTime;
+
+        [Header("References")]
+        public GameObject GunPivot;
+        public SteeringSensor Steering;
+        public NavMeshPathfinder Pathfinder;
+        public Sensor Sight;
+        public GunWithClip gun;
+        public TeamMember team;
+
+        bool ascending = true;
+
+        void OnEnable() {
+            SetFSMState(PatrolState());
+        }
+
+        Coroutine CheckHostileTransitions() {
+            var nearestEnemy = Sight.GetNearestDetection(s => team.IsEnemy(s.Object));
+            if (nearestEnemy != null) {
+                return SetFSMState(AttackState(nearestEnemy));
+            }
+            if (AlarmController.Instance.IsAlarmState) {
+                return SetFSMState(Chase());
+            }
+            return null;
+        }
+
+        IEnumerator PatrolState() {
+            var nextWaypoint = GetNearestWaypointIndex();
+
+            while (true) {
+                yield return CheckHostileTransitions();
+
+                Steering.ArriveTo(PatrolPath[nextWaypoint]);
+                if ((transform.position - PatrolPath[nextWaypoint].position).magnitude < WaypointArriveDistance) {
+                    // We've arrived at our target waypoint. Select the next waypoint.
+                    nextWaypoint = ascending ? nextWaypoint + 1 : nextWaypoint - 1;
+                    // If this was the last waypoint in the sequence then pause for a moment before following
+                    // the waypoints in reverse.
+                    if (nextWaypoint >= PatrolPath.Length || nextWaypoint < 0) {
+                        ascending = !ascending;
+                        yield return SetFSMState(PauseState());
+                    }
+                }
+            }
+        }
+
+        IEnumerator PauseState() {
+            Steering.ArriveTo(transform.position + WanderVector());
+            float timer = PauseTime;
+            while (timer > 0f) {
+                timer -= Time.deltaTime;
+                yield return CheckHostileTransitions();
+            }
+            yield return SetFSMState(PatrolState());
+        }
+
+        IEnumerator AttackState(GameObject ToAttack) {
+            Steering.Stop();
+            Steering.Locomotion.Strafing.SetFaceTarget(ToAttack.transform);
+            var alarmTimer = SoundAlarmTime;
+
+            while (true) {
+                yield return null;
+
+                if (ToAttack == null) {
+                    yield return SetFSMState(PauseState());
+                }
+                if (!Sight.IsDetected(ToAttack)) {
+                    break;
+                }
+
+                alarmTimer -= Time.deltaTime;
+                if (alarmTimer <= 0f) {
+                    AlarmController.Instance.StartAlarm(ToAttack);
+                }
+
+                // Rotate the gun in hand to face the enemy, reload if empty, otherwise fire the gun.
+                GunPivot.transform.LookAt(new Vector3(ToAttack.transform.position.x, GunPivot.transform.position.y, ToAttack.transform.position.z));
+                if (gun.IsEmptyClip) {
+                    gun.Reload();
+                } else {
+                    gun.Fire();
+                }
+            }
+
+            Steering.Locomotion.Strafing.Clear();
+            GunPivot.transform.localRotation = Quaternion.identity; // Return gun rotation back to resting position
+            yield return SetFSMState(Investigate(ToAttack.transform.position));
+        }
+
+        IEnumerator Investigate(Vector3 position) {
+            Steering.ArriveTo(position);
+            float timer = 5f;
+
+            while (timer > 0f) {
+                timer -= Time.deltaTime;
+                yield return CheckHostileTransitions();
+
+                if (Steering.IsDestinationReached) {
+                    break;
+                }
+            }
+
+            yield return SetFSMState(PauseState());
+        }
+
+        IEnumerator Chase() {
+            while (true) {
+                yield return CheckHostileTransitions();
+
+                if (AlarmController.Instance.WhoTrippedAlarm == null) {
+                    yield return SetFSMState(PauseState());
+                }
+
+                Pathfinder.SetTargetTransform(AlarmController.Instance.WhoTrippedAlarm.transform);
+                if (Pathfinder.IsPathReady) {
+                    Steering.SeekTo(Pathfinder.NextCorner);
+                }
+            }
+        }
+
+        int GetNearestWaypointIndex() {
+            float nearestDist = 0f;
+            int nearest = -1;
+            for (int i = 0; i < PatrolPath.Length; i++) {
+                var dist = (transform.position - PatrolPath[i].position).sqrMagnitude;
+                if (dist < nearestDist || nearest == -1) {
+                    nearest = i;
+                    nearestDist = dist;
+                }
+            }
+            return nearest;
+        }
+
+        Vector3 WanderVector() {
+            var rv = new Vector3(Random.Range(-1f, 1f), 0f, Random.Range(-1f, 1f)).normalized;
+            return rv * WanderDistance;
+        }
+    }
+    
+}

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Assets/SensorToolkit/Examples/assets/Stealth/PlayerInput.cs

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+using UnityEngine;
+using System.Collections;
+
+namespace Micosmo.SensorToolkit.Example {
+    public class PlayerInput : MonoBehaviour {
+
+        public LocomotionSystem Locomotion;
+
+        [Header("References")]
+        public Rigidbody RB;
+        public Sensor InteractionRange;
+        public Holder Holder;
+
+        void Update() {
+            // Project mouse position onto worlds plane at y=0
+            var mousePosScreen = Input.mousePosition;
+            var camPosition = Camera.main.transform.position;
+            var camForward = Camera.main.transform.forward;
+            var camDepthToGroundPlane = -camPosition.y / camForward.y;
+            mousePosScreen.z = camDepthToGroundPlane;
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+
+            // Pickup the pickup if its in range
+            var pickup = InteractionRange.GetNearestComponent<Holdable>();
+            if (pickup != null && !pickup.IsHeld) {
+                Holder.PickUp(pickup);
+            }
+        }
+
+        void FixedUpdate() {
+            var horiz = Input.GetAxis("Horizontal");
+            var vert = Input.GetAxis("Vertical");
+            var vMove = new Vector3(horiz, 0, vert);
+            Locomotion.CharacterSeek(RB, 10 * vMove, Vector3.up);
+        }
+    }
+}

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Assets/SensorToolkit/Examples/assets/Stealth/PlayerShip.prefab.meta

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Assets/SensorToolkit/Examples/assets/Stealth/SecurityCamera.cs

@@ -0,0 +1,93 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Micosmo.SensorToolkit.Extras;
+
+namespace Micosmo.SensorToolkit.Example {
+    public class SecurityCamera : StupidSimpleFSM {
+        public float RotationSpeed;
+        public float ScanTime;
+        public float TrackTime;
+        public float ScanArcAngle;
+        public Color ScanColour;
+        public Color TrackColour;
+        public Color AlarmColour;
+
+        [Header("References")]
+        public TeamMember TeamMember;
+        public Light SpotLight;
+        public Sensor Sensor;
+
+        Quaternion leftExtreme;
+        Quaternion rightExtreme;
+        Quaternion targetRotation;
+
+        void Awake() {
+            leftExtreme = Quaternion.AngleAxis(ScanArcAngle / 2f, Vector3.up) * transform.rotation;
+            rightExtreme = Quaternion.AngleAxis(-ScanArcAngle / 2f, Vector3.up) * transform.rotation;
+        }
+
+        void OnEnable() {
+            targetRotation = transform.rotation;
+            transform.rotation = rightExtreme;
+            SetFSMState(ChooseScanDirectionState());
+        }
+
+        void Update() {
+            transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRotation, RotationSpeed * Time.deltaTime);
+        }
+
+        IEnumerator ChooseScanDirectionState() {
+            if (targetRotation == leftExtreme) {
+                targetRotation = rightExtreme;
+            } else {
+                targetRotation = leftExtreme;
+            }
+            yield return SetFSMState(ScanState());
+        }
+
+        IEnumerator ScanState() {
+            var timer = ScanTime;
+            SpotLight.color = ScanColour;
+            while (timer >= 0) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                if (AlarmController.Instance.IsAlarmState) {
+                    yield return SetFSMState(AlarmState());
+                }
+                var nearestEnemy = Sensor.GetNearestDetection(s => TeamMember.IsEnemy(s.Object));
+                if (nearestEnemy != null) {
+                    yield return SetFSMState(TrackState(nearestEnemy));
+                }
+            }
+
+            yield return SetFSMState(ChooseScanDirectionState());
+        }
+
+        IEnumerator TrackState(GameObject target) {
+            SpotLight.color = TrackColour;
+            var timer = TrackTime;
+
+            while (timer > 0f) {
+                timer -= Time.deltaTime;
+                yield return null;
+
+                if (!Sensor.IsDetected(target)) {
+                    yield return SetFSMState(ChooseScanDirectionState());
+                }
+
+                targetRotation = Quaternion.LookRotation(target.transform.position - transform.position, Vector3.up);
+            }
+
+            AlarmController.Instance.StartAlarm(target);
+            yield return SetFSMState(AlarmState());
+        }
+
+        IEnumerator AlarmState() {
+            targetRotation = transform.rotation;
+            SpotLight.color = AlarmColour;
+            yield return null;
+        }
+    }
+}

Assets/SensorToolkit/Examples/assets/Stealth/SecurityCamera.cs.meta

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