Unity-有限状态机

在设计模式中我们都知道有一种状态模式，它主要解决的是当控制一个对象状态转换的条件表达式过于复杂的情况下。把状态的判断逻辑转移到不同的类当中。而有限状态机便基于此的一个框架。它可以控制不同状态自动转化（只能从一个状态转换为另一个状态），从而实现AI。

组件

• Transition:这个枚举包含系统可以出发的转换条件。
• StateID：这是游戏可能具有的状态ID。
• FSMState类:这个类有一个存储了<Transition,StateID>的字典，指示了当Transition转换时FSM应该进入的新状态，并且具有增加和删除<Transition,StateID>的方法。
• FSMSystem：这是有限状态机类，游戏中的每个NPC或者GameObject必须具有这个类才能使用框架。它将NPC的状态存储在List集合中。具有增加和删除的方法。以及传递给他转换条件改变当前状态的方法（PerformTransition）。

C＃ - FSMSystem.cs

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

/**
A Finite State Machine System based on Chapter 3.1 of Game Programming Gems 1 by Eric Dybsand
 
Written by Roberto Cezar Bianchini, July 2010
 
 
How to use:
	1. Place the labels for the transitions and the states of the Finite State System
	    in the corresponding enums.
 
	2. Write new class(es) inheriting from FSMState and fill each one with pairs (transition-state).
	    These pairs represent the state S2 the FSMSystem should be if while being on state S1, a
	    transition T is fired and state S1 has a transition from it to S2. Remember this is a Deterministic FSM. 
	    You can't have one transition leading to two different states.
 
	   Method Reason is used to determine which transition should be fired.
	   You can write the code to fire transitions in another place, and leave this method empty if you
	   feel it's more appropriate to your project.
 
	   Method Act has the code to perform the actions the NPC is supposed do if it's on this state.
	   You can write the code for the actions in another place, and leave this method empty if you
	   feel it's more appropriate to your project.
 
	3. Create an instance of FSMSystem class and add the states to it.
 
	4. Call Reason and Act (or whichever methods you have for firing transitions and making the NPCs
	     behave in your game) from your Update or FixedUpdate methods.
 
	Asynchronous transitions from Unity Engine, like OnTriggerEnter, SendMessage, can also be used, 
	just call the Method PerformTransition from your FSMSystem instance with the correct Transition 
	when the event occurs.
 
 
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE 
AND NON-INFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/


/// <summary>
/// Place the labels for the Transitions in this enum.
/// Don't change the first label, NullTransition as FSMSystem class uses it.
/// </summary>
public enum Transition
{
    NullTransition = 0, // Use this transition to represent a non-existing transition in your system
    SawPlayer,
    LostPlayer
}

/// <summary>
/// Place the labels for the States in this enum.
/// Don't change the first label, NullTransition as FSMSystem class uses it.
/// </summary>
public enum StateID
{
    NullStateID = 0, // Use this ID to represent a non-existing State in your system	
    ChasingPlayer,
    FollowingPath
}


/// <summary>
/// FSMSystem class represents the Finite State Machine class.
///  It has a List with the States the NPC has and methods to add,
///  delete a state, and to change the current state the Machine is on.
/// </summary>
public class FSMSystem
{
    private List<FSMState> states;

    // The only way one can change the state of the FSM is by performing a transition
    // Don't change the CurrentState directly
    private StateID currentStateID;
    public StateID CurrentStateID { get { return currentStateID; } }
    private FSMState currentState;
    public FSMState CurrentState { get { return currentState; } }

    public FSMSystem()
    {
        states = new List<FSMState>();
    }

    /// <summary>
    /// This method places new states inside the FSM,
    /// or prints an ERROR message if the state was already inside the List.
    /// First state added is also the initial state.
    /// </summary>
    public void AddState(FSMState s)
    {
        // Check for Null reference before deleting
        if (s == null)
        {
            Debug.LogError("FSM ERROR: Null reference is not allowed");
        }

        // First State inserted is also the Initial state,
        //   the state the machine is in when the simulation begins
        if (states.Count == 0)
        {
            states.Add(s);
            currentState = s;
            currentStateID = s.ID;
            return;
        }

        // Add the state to the List if it's not inside it
        foreach (FSMState state in states)
        {
            if (state.ID == s.ID)
            {
                Debug.LogError("FSM ERROR: Impossible to add state " + s.ID.ToString() +
                               " because state has already been added");
                return;
            }
        }
        states.Add(s);
    }

    /// <summary>
    /// This method delete a state from the FSM List if it exists, 
    ///   or prints an ERROR message if the state was not on the List.
    /// </summary>
    public void DeleteState(StateID id)
    {
        // Check for NullState before deleting
        if (id == StateID.NullStateID)
        {
            Debug.LogError("FSM ERROR: NullStateID is not allowed for a real state");
            return;
        }

        // Search the List and delete the state if it's inside it
        foreach (FSMState state in states)
        {
            if (state.ID == id)
            {
                states.Remove(state);
                return;
            }
        }
        Debug.LogError("FSM ERROR: Impossible to delete state " + id.ToString() +
                       ". It was not on the list of states");
    }

    /// <summary>
    /// This method tries to change the state the FSM is in based on
    /// the current state and the transition passed. If current state
    ///  doesn't have a target state for the transition passed, 
    /// an ERROR message is printed.
    /// </summary>
    public void PerformTransition(Transition trans)
    {
        // Check for NullTransition before changing the current state
        if (trans == Transition.NullTransition)
        {
            Debug.LogError("FSM ERROR: NullTransition is not allowed for a real transition");
            return;
        }

        // Check if the currentState has the transition passed as argument
        StateID id = currentState.GetOutputState(trans);
        if (id == StateID.NullStateID)
        {
            Debug.LogError("FSM ERROR: State " + currentStateID.ToString() + " does not have a target state " +
                           " for transition " + trans.ToString());
            return;
        }

        // Update the currentStateID and currentState		
        currentStateID = id;
        foreach (FSMState state in states)
        {
            if (state.ID == currentStateID)
            {
                // Do the post processing of the state before setting the new one
                currentState.DoBeforeLeaving();

                currentState = state;

                // Reset the state to its desired condition before it can reason or act
                currentState.DoBeforeEntering();
                break;
            }
        }

    } // PerformTransition()

} //class FSMSystem

C# FSMState类

using System.Collections.Generic;
using UnityEngine;

/// <summary>
/// This class represents the States in the Finite State System.
/// Each state has a Dictionary with pairs (transition-state) showing
/// which state the FSM should be if a transition is fired while this state
/// is the current state.
/// Method Reason is used to determine which transition should be fired .
/// Method Act has the code to perform the actions the NPC is supposed do if it's on this state.
/// </summary>
public abstract class FSMState
{
    protected Dictionary<Transition, StateID> map = new Dictionary<Transition, StateID>();
    protected StateID stateID;
    public StateID ID { get { return stateID; } }

    public void AddTransition(Transition trans, StateID id)
    {
        // Check if anyone of the args is invalid
        if (trans == Transition.NullTransition)
        {
            Debug.LogError("FSMState ERROR: NullTransition is not allowed for a real transition");
            return;
        }

        if (id == StateID.NullStateID)
        {
            Debug.LogError("FSMState ERROR: NullStateID is not allowed for a real ID");
            return;
        }

        // Since this is a Deterministic FSM,
        //   check if the current transition was already inside the map
        if (map.ContainsKey(trans))
        {
            Debug.LogError("FSMState ERROR: State " + stateID.ToString() + " already has transition " + trans.ToString() +
                           "Impossible to assign to another state");
            return;
        }

        map.Add(trans, id);
    }

    /// <summary>
    /// This method deletes a pair transition-state from this state's map.
    /// If the transition was not inside the state's map, an ERROR message is printed.
    /// </summary>
    public void DeleteTransition(Transition trans)
    {
        // Check for NullTransition
        if (trans == Transition.NullTransition)
        {
            Debug.LogError("FSMState ERROR: NullTransition is not allowed");
            return;
        }

        // Check if the pair is inside the map before deleting
        if (map.ContainsKey(trans))
        {
            map.Remove(trans);
            return;
        }
        Debug.LogError("FSMState ERROR: Transition " + trans.ToString() + " passed to " + stateID.ToString() +
                       " was not on the state's transition list");
    }

    /// <summary>
    /// This method returns the new state the FSM should be if
    ///    this state receives a transition and 
    /// </summary>
    public StateID GetOutputState(Transition trans)
    {
        // Check if the map has this transition
        if (map.ContainsKey(trans))
        {
            return map[trans];
        }
        return StateID.NullStateID;
    }

    /// <summary>
    /// This method is used to set up the State condition before entering it.
    /// It is called automatically by the FSMSystem class before assigning it
    /// to the current state.
    /// </summary>
    public virtual void DoBeforeEntering() { }

    /// <summary>
    /// This method is used to make anything necessary, as reseting variables
    /// before the FSMSystem changes to another one. It is called automatically
    /// by the FSMSystem before changing to a new state.
    /// </summary>
    public virtual void DoBeforeLeaving() { }

    /// <summary>
    /// This method decides if the state should transition to another on its list
    /// NPC is a reference to the object that is controlled by this class
    /// </summary>
    public abstract void Reason(GameObject player, GameObject npc);

    /// <summary>
    /// This method controls the behavior of the NPC in the game World.
    /// Every action, movement or communication the NPC does should be placed here
    /// NPC is a reference to the object that is controlled by this class
    /// </summary>
    public abstract void Act(GameObject player, GameObject npc);

} // class FSMState

使用实例

此次采用一个小案例实现有限状态机——一个NPC一个角色player，当角色player不在NPC视野内时NPC在固定的三个点之间巡逻，当player在NPC视野内时，NPC会追逐player，丢失跟踪后继续巡逻，player的移动采用在scene中手动移动。

using System;
using System.Collections.Generic;
using System.Text;
using UnityEngine;
 
[RequireComponent(typeof(Rigidbody))]
public class NPCControl : MonoBehaviour
{
    public GameObject player;
    public Transform[] path;
    private FSMSystem fsm;
 
    public void SetTransition(Transition t) { fsm.PerformTransition(t); }
 
    public void Start()
    {
        MakeFSM();
    }
 
    public void FixedUpdate()
    {
        fsm.CurrentState.Reason(player, gameObject);
        fsm.CurrentState.Act(player, gameObject);
    }
 
	// The NPC has two states: FollowPath and ChasePlayer
	// If it's on the first state and SawPlayer transition is fired, it changes to ChasePlayer
	// If it's on ChasePlayerState and LostPlayer transition is fired, it returns to FollowPath
    private void MakeFSM()
    {
        FollowPathState follow = new FollowPathState(path);
        follow.AddTransition(Transition.SawPlayer, StateID.ChasingPlayer);
 
        ChasePlayerState chase = new ChasePlayerState();
        chase.AddTransition(Transition.LostPlayer, StateID.FollowingPath);
 
        fsm = new FSMSystem();
        fsm.AddState(follow);
        fsm.AddState(chase);
    }
}
 
public class FollowPathState : FSMState
{
    private int currentWayPoint;
    private Transform[] waypoints;
 
    public FollowPathState(Transform[] wp) 
    { 
        waypoints = wp;
        currentWayPoint = 0;
        stateID = StateID.FollowingPath;
    }
 
    public override void Reason(GameObject player, GameObject npc)
    {
        // If the Player passes less than 15 meters away in front of the NPC
        RaycastHit hit;
        if (Physics.Raycast(npc.transform.position, npc.transform.forward, out hit, 15F))
        {
            if (hit.transform.gameObject.tag == "Player")
                npc.GetComponent<NPCControl>().SetTransition(Transition.SawPlayer);
        }
    }
 
    public override void Act(GameObject player, GameObject npc)
    {
        // Follow the path of waypoints
		// Find the direction of the current way point 
        Vector3 vel = npc.rigidbody.velocity;
        Vector3 moveDir = waypoints[currentWayPoint].position - npc.transform.position;
 
        if (moveDir.magnitude < 1)
        {
            currentWayPoint++;
            if (currentWayPoint >= waypoints.Length)
            {
                currentWayPoint = 0;
            }
        }
        else
        {
            vel = moveDir.normalized * 10;
 
            // Rotate towards the waypoint
            npc.transform.rotation = Quaternion.Slerp(npc.transform.rotation,
                                                      Quaternion.LookRotation(moveDir),
                                                      5 * Time.deltaTime);
            npc.transform.eulerAngles = new Vector3(0, npc.transform.eulerAngles.y, 0);
 
        }
 
        // Apply the Velocity
        npc.rigidbody.velocity = vel;
    }
 
} // FollowPathState
 
public class ChasePlayerState : FSMState
{
    public ChasePlayerState()
    {
        stateID = StateID.ChasingPlayer;
    }
 
    public override void Reason(GameObject player, GameObject npc)
    {
        // If the player has gone 30 meters away from the NPC, fire LostPlayer transition
        if (Vector3.Distance(npc.transform.position, player.transform.position) >= 30)
            npc.GetComponent<NPCControl>().SetTransition(Transition.LostPlayer);
    }
 
    public override void Act(GameObject player, GameObject npc)
    {
        // Follow the path of waypoints
		// Find the direction of the player 		
        Vector3 vel = npc.rigidbody.velocity;
        Vector3 moveDir = player.transform.position - npc.transform.position;
 
        // Rotate towards the waypoint
        npc.transform.rotation = Quaternion.Slerp(npc.transform.rotation,
                                                  Quaternion.LookRotation(moveDir),
                                                  5 * Time.deltaTime);
        npc.transform.eulerAngles = new Vector3(0, npc.transform.eulerAngles.y, 0);
 
        vel = moveDir.normalized * 10;
 
        // Apply the new Velocity
        npc.rigidbody.velocity = vel;
    }
 
} // ChasePlayerState

下图是对以上类关系之间的分析：

项目详细的工程我己经上传了，如果有需要可以下载。