BITFALL/Assets/Artists/Scripts/Entities/AI/AIRuntimeStates.cs

using System;
using System.Collections;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Data.Odbc;
using System.Linq;
using BITKit;
using BITKit.AI.States;
using BITKit.Entities;
using BITKit.Sensors;
using BITKit.StateMachine;
using UnityEngine;
using UnityEngine.AI;

namespace BITFALL.AI.States
{
	public abstract class AIRuntimeState : AIState
	{
		[Inject,HideInInspector] public AIService Service;
		private readonly ConcurrentDictionary<ulong, bool> _friends = new();
		private readonly ConcurrentDictionary<ulong, bool> _enemies = new();
		protected readonly HashSet<int> ignoreNoises = new();
		protected readonly CacheList<IEntity> detectedEnemies = new();
		protected readonly  CacheList<IEntity> hearEnemies = new();
		public bool IsFriend(IEntity target) => _friends.GetOrAdd(target.Id, IsFriendInternal);
		public bool IsEnemy(IEntity target) => _enemies.GetOrAdd(target.Id, IsEnemyInternal);
		public override void OnStateUpdate(float deltaTime)
		{
			base.OnStateUpdate(deltaTime);
			detectedEnemies.Clear();
			foreach (var x in Service.RangeSensor.Get())
			{
				if (x.TryGetComponent<IEntity>(out var entity) is false) continue;
				if (IsEnemy(entity) is false)
				{
					foreach (var _collider in entity.As<MonoBehaviour>().GetComponents<Collider>())
					{
						Service.RangeSensor.Ignores.Add(_collider.GetInstanceID());
;					}
					continue;
				}
				detectedEnemies.Add(entity);
			}
			hearEnemies.Clear();
			foreach (var x in Service.AudioSensor.Get())
			{
				if (x.TryGetComponent<IEntity>(out var entity) is false) continue;
				if (IsEnemy(entity) is false)
				{
					foreach (var _collider in entity.As<MonoBehaviour>().GetComponents<Collider>())
					{
						Service.AudioSensor.Ignores.Add(_collider.GetInstanceID());
					}
					continue;
				}
				hearEnemies.Add(entity);
			}
		}

		private bool IsEnemyInternal(ulong id)
		{
			var target = UnityEntitiesService.Get(id);
			var tags = target.As<MonoBehaviour>().GetComponent<ITag>().GetTags();
			foreach (var x in Service.EnemyTag.GetTags())
			{
				if (tags.Contains(x)) return true;
			}

			return false;
		}

		private bool IsFriendInternal(ulong id)
		{
			var target = UnityEntitiesService.Get(id);
			var tags = target.As<MonoBehaviour>().GetComponent<ITag>().GetTags();
			foreach (var x in Service.FriendTag.GetTags())
			{
				if (tags.Contains(x)) return true;
			}

			return false;
		}
	}

	[Serializable]
	[CustomType(typeof(AI_Idle))]
	public sealed class Idle : AIRuntimeState, AI_Idle
	{
		public override void OnStateEntry(IState old)
		{
			base.OnStateEntry(old);
		}

		public override void OnStateUpdate(float deltaTime)
		{
			base.OnStateUpdate(deltaTime);
			//foreach (var x in Service.AudioSensor.Get().Union(Service.RangeSensor.Get()))
			foreach (var entity in detectedEnemies)
			{
				Service.CombatTarget = entity;
				Service.TransitionState<Alert>();
				return;
			}
			foreach (var entity in hearEnemies)
			{
				Service.CombatTarget = entity;
				Service.TransitionState<Alert>();
				return;
			}
			foreach (var x in Service.AudioSensor.Noises)
			{
				if(ignoreNoises.Add(x.Id) is false)continue;
				var distance = Vector3.Distance(Service.transform.position, x.Position);
				//Debug.Log($"{x.Radius}:{distance}");
				if (distance <= x.Radius && NavMesh.SamplePosition(x.Position,out var hit,1,NavMesh.AllAreas))
				{
					Service.Agent.SetDestination(hit.position);
				}
				return;
			}
		}
	}
	[Serializable]
	[CustomType(typeof(AI_Idle))]
	public sealed class Alert : AIRuntimeState, AI_Alert
	{
		public int AlertLevel { get; set; }
		public float RemainingAlertTime { get; set; }
		[SerializeField] private int initialAlertTime;
		[SerializeField] private int immediatelyDetectDistance = 5;
		[SerializeField,ReadOnly]private float detectedWeight;
		public override void OnStateEntry(IState old)
		{
			base.OnStateEntry(old);
			RemainingAlertTime = initialAlertTime;
			detectedWeight = old switch
			{
				AI_Combat=>0.5f,
				_ => 0
			};
		}
		public override void OnStateUpdate(float deltaTime)
		{
			base.OnStateUpdate(deltaTime);

			if (detectedEnemies.Count is 0)
			{
				foreach (var entity in hearEnemies)
				{
					Service.Agent.SetDestination(entity.As<MonoBehaviour>().transform.position);
					return;
				}
				detectedWeight -= deltaTime;
			}
			else
			{
				foreach (var entity in detectedEnemies)
				{
					var distance= Vector3.Distance(Service.transform.position, entity.As<MonoBehaviour>().transform.position);
					entity.TryGetComponent<ISensorTarget>(out var sensorTarget);
					if(distance<=immediatelyDetectDistance)
					{
						Service.CombatTarget = entity;
						Service.TransitionState<Combat>();
						sensorTarget?.Detected(1,Service.RangeSensor,Service.transform);
						return;
					}
					detectedWeight += deltaTime;
					sensorTarget?.Detected(detectedWeight,Service.RangeSensor,Service.transform);
					if (detectedWeight >= 1)
					{
						Service.CombatTarget = entity;
						Service.TransitionState<Combat>();
						return;
					}
				}
				
			}
		
			RemainingAlertTime -= deltaTime;
			
			if(RemainingAlertTime<=0)
			{
				Service.TransitionState<Idle>();
				return;
			}
		}
	}

	[Serializable]
	[CustomType(typeof(AI_Idle))]
	public sealed class Combat : AIRuntimeState, AI_Combat
	{
		public AITarget CurrentTarget => _currentTarget;
		private AITarget _currentTarget;
		[SerializeField] private float lostTargetTime;
		private readonly IntervalUpdate reTargetInterval = new(2);
		[SerializeField, ReadOnly] private float currentLostTargetTime;

		public override void OnStateEntry(IState old)
		{
			base.OnStateEntry(old);
			Service.RangeSensor.DetectedHeightWeight = 1;
			currentLostTargetTime = lostTargetTime;
			reTargetInterval.Reset();
			Service.CombatTarget.TryGetComponent<AITarget>(out _currentTarget);
			Service.Agent.isStopped = false;
		}

		public override void OnStateExit(IState old, IState newState)
		{
			base.OnStateExit(old, newState);
			Service.RangeSensor.DetectedHeightWeight = 0.5f;
			Service.RangeSensor.transform.localRotation = Quaternion.identity;
		}

		public override void OnStateUpdate(float deltaTime)
		{
			base.OnStateUpdate(deltaTime);

			var position = Service.CombatTarget.As<MonoBehaviour>().transform.position;
			var direction = position - Service.transform.position;
			direction = Vector3.ProjectOnPlane(direction, Vector3.up);
			if (direction.magnitude > 0.01)
			{
				Service.RangeSensor.transform.rotation = Quaternion.LookRotation(direction);
			}

			if (NavMesh.SamplePosition(position, out var hit, 1, NavMesh.AllAreas))
			{
				Service.Agent.SetDestination(hit.position);
			}

			foreach (var entity in detectedEnemies)
			{
				currentLostTargetTime = lostTargetTime;
				if (reTargetInterval.AllowUpdate)
				{
					Service.CombatTarget = entity;
					Service.CombatTarget.TryGetComponent<AITarget>(out _currentTarget);
				}

				return;
			}

			foreach (var entity in hearEnemies)
			{
				currentLostTargetTime = lostTargetTime;
			}

			currentLostTargetTime -= deltaTime;
			if (currentLostTargetTime <= 0)
			{
				Service.TransitionState<Alert>();
			}
		}
	}
}