OldBlueWater/BlueWater/Assets/02.Scripts/Ai/AiWeight.cs

using System;
using UnityEngine;
using UnityEngine.AI;

// ReSharper disable once CheckNamespace
namespace BlueWaterProject
{
    public class AiWeight : MonoBehaviour
    {
        [Serializable]
        private struct DirectionInfo
        {
            public bool hit; // 장애물 충돌 여부
            public Vector3 direction; // 방향 노말값
            public float interest; // 호기심 수치
            public float danger; // 위험 수치

            public DirectionInfo(bool hit, Vector3 direction, float interest, float danger)
            {
                this.hit = hit;
                this.direction = direction;
                this.interest = interest;
                this.danger = danger;
            }
        }

        [field: Tooltip("Scene뷰에서의 가중치 시스템 가시화 여부")]
        [field: SerializeField] private bool drawGizmo = true;

        [field: Tooltip("target과의 거리가 설정한 값보다 큰 경우 일직선으로 이동")]
        [field: SerializeField] private float maxDistance = 10f;

        [field: Tooltip("target과의 거리가 설정한 값보다 큰 경우 가중치 시스템에 의해 이동")]
        [field: SerializeField] private float minDistance = 3f;

        [field: Tooltip("target과의 거리가 설정한 값보다 큰 경우 target을 중심으로 공전")]
        [field: SerializeField] private float orbitDistance = 2f;

        [field: Tooltip("공전 허용 범위\norbitDistance < target < orbitDistance + 설정 값")]
        [field: SerializeField] private float orbitAllowableValue = 2f;

        [field: Tooltip("가중치 시스템 장애물에 해당되는 레이어 설정")]
        [field: SerializeField] private LayerMask obstacleWeightLayer;

        [field: Tooltip("장애물 최대 인지 거리")]
        [field: SerializeField] private float obstacleDist = 5f;

        [field: Tooltip("방향이 가지는 구조체의 배열")]
        [field: SerializeField] private DirectionInfo[] directionInfo = new DirectionInfo[24];

        [field: Tooltip("현재 공전 중일 때, 해당 방향의 위험 수치가 설정한 값 이상일 경우, 반대편 회전")]
        [field: SerializeField] private float dangerValue = 0.8f;

        [field: Header("Target Raycast")]
        [field: Tooltip("목표 레이어 설정")]
        [field: SerializeField] private LayerMask targetLayer;

        [field: Tooltip("목표와의 장애물에 해당되는 레이어 설정")]
        [field: SerializeField] private LayerMask obstacleTargetLayer;

        [field: Tooltip("현재 공전 중일 때, 시계 방향으로 회전 중인지 여부")]
        [field: SerializeField] public bool isClockwise;

        [field: Tooltip("현재 공전 중인지 여부")]
        [field: SerializeField] public bool beInOrbit;

        [field: Tooltip("현재 회피 중인지 여부")]
        [field: SerializeField] public bool isAvoiding;

        private bool usedWeighted;

        private void Reset()
        {
            drawGizmo = true;
            maxDistance = 10f;
            minDistance = 3f;
            orbitDistance = 2f;
            orbitAllowableValue = 2f;
            obstacleDist = 5f;
            directionInfo = new DirectionInfo[24];
            dangerValue = 0.8f;
        }

#if UNITY_EDITOR
        private void OnDrawGizmos()
        {
            if (!drawGizmo || !usedWeighted) return;

            for (var i = 0; i < directionInfo.Length; i++)
            {
                var myPos = transform.position;

                Gizmos.color = GetFinalDirectionValue().direction == directionInfo[i].direction
                    ? Color.green
                    : Color.white;

                var resultWeighted = Mathf.Clamp(directionInfo[i].interest - directionInfo[i].danger, 0f, 1f);
                Gizmos.DrawLine(myPos, myPos + directionInfo[i].direction * resultWeighted);
            }
        }
#endif

        private void Awake()
        {
            var angle = 360f / directionInfo.Length;
            for (var i = 0; i < directionInfo.Length; i++)
            {
                var direction = Utils.AngleToDir(angle * i + 5);
                directionInfo[i] = new DirectionInfo(false, direction, 0, 0);
            }
        }

        /// <summary>
        /// Update()에서 사용하는 Enemy의 가중치 시스템 
        /// </summary>
        public void UpdateWeighedEnemy(NavMeshAgent agent, Transform targetTransform,
            Transform rotationTransform, bool canLookAtTarget, float distanceToTarget, Vector3 directionToTarget)
        {
            var resultDirection = SetResultDirection(directionToTarget);
            CheckObstacle();
            resultDirection = CheckTurnAround(resultDirection, directionToTarget);

            // raycast가 장애물에 막혔을 경우, agent 사용
            if (Physics.Raycast(transform.position, directionToTarget, distanceToTarget, obstacleTargetLayer))
            {
                usedWeighted = false;
                MoveTowardDirection(agent, targetTransform.position, targetTransform, rotationTransform,
                    canLookAtTarget);
                return;
            }

            usedWeighted = true;
            SetWeights(distanceToTarget, directionToTarget, resultDirection);
            MoveTowardDirection(agent, transform.position + CalcDirectionInfo().direction, targetTransform,
                rotationTransform, canLookAtTarget);
        }

        /// <summary>
        /// 방향별로 장애물 체크 및 위험 수치 계산 함수
        /// </summary>
        private void CheckObstacle()
        {
            for (var i = 0; i < directionInfo.Length; i++)
            {
                if (Physics.Raycast(transform.position, directionInfo[i].direction, out var hit, obstacleDist,
                        obstacleWeightLayer))
                {
                    var obstacleFactor = (obstacleDist - hit.distance) / obstacleDist;
                    directionInfo[i].danger = obstacleFactor;
                    directionInfo[i].hit = true;
                }
                else
                {
                    directionInfo[i].danger = 0f;
                    directionInfo[i].hit = false;
                }
            }
        }

        /// <summary>
        /// 방향별로 호기심 수치 계산 함수
        /// </summary>
        private void SetWeights(float distanceToTarget, Vector3 directionToTarget, Vector3 resultDir)
        {
            // target이 raycast로 닿았다면, 가중치 시스템 + 공전 + 회피 이동
            for (var i = 0; i < directionInfo.Length; i++)
            {
                if (distanceToTarget > maxDistance)
                {
                    usedWeighted = false;
                    SetBeInOrBitAndIsAvoiding(false, false);
                    if (Vector3.Dot(directionInfo[i].direction, directionToTarget) > 0.7f)
                    {
                        directionInfo[i].interest = 1f;
                    }
                }
                else if ((!beInOrbit && distanceToTarget > minDistance) ||
                         (beInOrbit && distanceToTarget > orbitDistance + orbitAllowableValue))
                {
                    usedWeighted = true;
                    SetBeInOrBitAndIsAvoiding(false, false);
                    directionInfo[i].interest =
                        Mathf.Clamp(Vector3.Dot(directionInfo[i].direction, directionToTarget), 0, 1)
                        - directionInfo[i].danger;
                }
                else if (distanceToTarget > orbitDistance)
                {
                    usedWeighted = true;
                    SetBeInOrBitAndIsAvoiding(true, false);
                    directionInfo[i].interest = Mathf.Clamp(Vector3.Dot(directionInfo[i].direction, resultDir), 0, 1)
                                                - directionInfo[i].danger;
                }
                else if (distanceToTarget <= orbitDistance)
                {
                    usedWeighted = true;
                    SetBeInOrBitAndIsAvoiding(false, true);
                    directionInfo[i].interest =
                        Mathf.Clamp(Vector3.Dot(directionInfo[i].direction, -directionToTarget), 0, 1);
                }
            }
        }

        /// <summary>
        /// 공전 중이며, 공전 하는 방향의 위험 수치가 일정 수치 이상일 때, 반대 방향으로 회전하는 함수
        /// </summary>
        private Vector3 CheckTurnAround(Vector3 resultDir, Vector3 directionToTarget)
        {
            if (beInOrbit || directionInfo[GetDirectionIndex(resultDir)].danger < dangerValue) return resultDir;

            isClockwise = !isClockwise;
            return SetResultDirection(directionToTarget);
        }

        /// <summary>
        /// target을 쳐다보는지의 여부
        /// </summary>
        /// <param name="targetTransform"></param>
        /// <param name="rotationTransform"></param>
        /// <param name="canLookAtTarget"></param>
        private void LookAtTarget(Transform targetTransform, Transform rotationTransform, bool canLookAtTarget)
        {
            var targetPosition = targetTransform.position;

            targetPosition.y = transform.position.y;
            if (canLookAtTarget)
            {
                rotationTransform.LookAt(targetPosition);
            }
        }

        /// <summary>
        /// 가중치가 가장 높은 방향으로 이동시키는 함수
        /// </summary>
        /// <param name="agent">NavMeshAgent Component</param>
        /// <param name="resultDirection">최종 이동할 위치</param>
        /// <param name="targetTransform">목표 객체 : TargetTransform</param>
        /// <param name="rotationTransform">회전 객체 : RotationTransform</param>
        /// <param name="canLookAtTarget">일정 거리 안에 Target이 있다면 true를 반환</param>
        private void MoveTowardDirection(NavMeshAgent agent, Vector3 resultDirection, Transform targetTransform,
            Transform rotationTransform, bool canLookAtTarget)
        {
            LookAtTarget(targetTransform, rotationTransform, canLookAtTarget);
            agent.SetDestination(resultDirection);
        }

        /// <summary>
        /// 호기심 수치가 가장 높은 방향의 정보를 받는 함수
        /// </summary>
        private DirectionInfo CalcDirectionInfo()
        {
            var bestDirectionIndex = 0;
            var bestWeight = 0f;

            for (var i = 0; i < directionInfo.Length; i++)
            {
                if (directionInfo[i].interest <= bestWeight) continue;

                bestWeight = directionInfo[i].interest;
                bestDirectionIndex = i;
            }

            return directionInfo[bestDirectionIndex];
        }

        /// <summary>
        /// 호기심 수치가 가장 높은 방향의 정보를 받는 함수
        /// </summary>
        private DirectionInfo GetFinalDirectionValue()
        {
            var bestDirectionIndex = 0;
            var bestWeight = 0f;

            for (var i = 0; i < directionInfo.Length; i++)
            {
                var finalInterestValue = Mathf.Clamp(directionInfo[i].interest - directionInfo[i].danger, 0f, 1f);
                if (finalInterestValue <= bestWeight) continue;

                bestWeight = finalInterestValue;
                bestDirectionIndex = i;
            }

            return directionInfo[bestDirectionIndex];
        }

        /// <summary>
        /// 매개변수의 방향값과 가장 인접한 방향의 Index를 반환하는 함수
        /// </summary>
        private int GetDirectionIndex(Vector3 direction)
        {
            var maxDotValue = 0f;
            var index = 0;

            for (var i = 0; i < directionInfo.Length; i++)
            {
                var dotValue = Vector3.Dot(directionInfo[i].direction, direction);

                if (maxDotValue >= dotValue) continue;

                maxDotValue = dotValue;
                index = i;
            }

            return index;
        }

        /// <summary>
        /// 공전하는 방향을 설정하는 함수<br/><br/>
        /// target과 수직인 시계방향 : new Vector3(-directionToTarget.z, 0f, directionToTarget.x)<br/>
        /// target과 수직인 반시계방향 : new Vector3(directionToTarget.z, 0f, -directionToTarget.x)
        /// </summary>
        private Vector3 SetResultDirection(Vector3 directionToTarget)
        {
            return isClockwise
                ? new Vector3(-directionToTarget.z, 0f, directionToTarget.x)
                : new Vector3(directionToTarget.z, 0f, -directionToTarget.x);
        }

        private void SetBeInOrBitAndIsAvoiding(bool beInOrbitValue, bool isAvoidingValue)
        {
            beInOrbit = beInOrbitValue;
            isAvoiding = isAvoidingValue;
        }
    }
}