游戏人工智能之操纵行为Steering behaviors—避墙avoidance wall

游戏人工智能之操纵行为Steering behaviors—避墙avoidance wall

游戏人工智能中，操纵行为是很重要的一部分基础，很多地方需要用到。基本的操纵行为有靠近Seek、远离Flee、抵达Arrive、追逐Pursuit、逃离Evade、随机徘徊Wander、路径跟随Path Following、避开障碍Collision Avoidance、绕开墙Wall Avoidance、插入Interpose、隐藏Hide以及群体操控行为—聚集cohesion、分离separation、对齐alignment等等，并由这些基本的操纵行为可以组合出很多复杂的行为。

（1）今天首先谈谈避墙操纵行为的原理与实现。请看以下这幅图：

1.png (17.15 KB, 下载次数: 7)

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•其中，主角有三个触角（在unity里面，可以很方便的使用射线），用来探测和墙是否相交以及和碰撞有关的信息。从图可以看出，如果主角的前向触角长度一定，射线嵌入墙壁越深，则墙壁给角色的反作用力会越大，且方向应该为墙的法向量方向。故我们可以大致认为 操控力 = 大小为触须前端穿透墙的距离，方向为墙的法线方向。

以下demo实现中，实现了角色对四堵墙的避开，具体效果如下：

capture-3.gif (17.46 MB, 下载次数: 5)

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（2）具体实现概述：（加了很多调试代码，便于观察）

    A、此为计算操纵力的函数，可以每隔一段时间检查更新，我这里是放在update里面。

     

[C#] 纯文本查看 复制代码

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[/align][align=left] private Vector3 Force()[/align][align=left]    {          Vector3 force = new Vector3(0, 0, 0);            RaycastHit hit1, hit2, hit3; //设定三根探针，记录三个碰撞点            Vector3 tempOrin = transform.position;          tempOrin.y = 2f; //抬高a little            Vector3 leftSome = transform.forward*4 - transform.right*2;          Vector3 rightSome = transform.forward*4 + transform.right*2; //画出三根探针或触角          Debug.DrawLine(tempOrin, tempOrin + transform.forward*spinLength, Color.red);          Debug.DrawLine(tempOrin, tempOrin + leftSome, Color.green);          Debug.DrawLine(tempOrin, tempOrin + rightSome, Color.green); //三根探针进行射线检测          bool isHit1 = Physics.Raycast(tempOrin, leftSome, out hit1,spinLength);          bool isHit2 = Physics.Raycast(tempOrin, transform.forward, out hit2, spinLength);          bool isHit3 = Physics.Raycast(tempOrin, rightSome, out hit3, spinLength);            if (isHit2 || isHit3 || isHit1) //计算嵌入墙的深度，三者的和即为返回操控力的大小          {              float mg1 =0,mg2 = 0,mg3 = 0;              if (isHit2)              {                 mg2 = spinLength - Vector3.Magnitude(hit2.point - tempOrin);              }              if (isHit3)              {                  mg3 = spinLength - Vector3.Magnitude(hit3.point - tempOrin);              }              if (isHit1)              {                  mg1 = spinLength - Vector3.Magnitude(hit1.point - tempOrin);              }                float mg = mg3 + mg1 + mg2;              if ((hit2.collider != null && hit2.collider.gameObject.name == "wall0" )||                  (hit1.collider != null &&hit1.collider.gameObject.name == "wall0" )||                  (hit3.collider != null &&hit3.collider.gameObject.name == "wall0" )                  )              {                  Vector3 normal = new Vector3(0, 0, -1);                  force += normal*mg;                  Debug.DrawLine(hit2.point, hit2.point + mg*force, Color.green);                  Debug.DrawLine(hit1.point, hit1.point + mg * force, Color.green);                  Debug.DrawLine(hit3.point, hit3.point + mg * force, Color.green);                }              if ((hit2.collider != null && hit2.collider.gameObject.name == "wall1" )||                   (hit1.collider != null && hit1.collider.gameObject.name == "wall1" ) ||                   (hit3.collider != null && hit3.collider.gameObject.name == "wall1" )                 )              {                  Vector3 normal = new Vector3(0, 0, 1);                  force += normal*mg;                  Debug.DrawLine(hit2.point, hit2.point + mg * force, Color.green);                  Debug.DrawLine(hit1.point, hit1.point + mg * force, Color.green);                  Debug.DrawLine(hit3.point, hit3.point + mg * force, Color.green);              }              if ((hit2.collider != null && hit2.collider.gameObject.name == "wall2" ) ||                  (hit1.collider != null && hit1.collider.gameObject.name == "wall2" ) ||                  (hit3.collider != null && hit3.collider.gameObject.name == "wall2" )                  )              {                  Vector3 normal = new Vector3(1, 0, 0);                  force += normal*mg;                  Debug.DrawLine(hit2.point, hit2.point + mg * force, Color.green);                  Debug.DrawLine(hit1.point, hit1.point + mg * force, Color.green);                  Debug.DrawLine(hit3.point, hit3.point + mg * force, Color.green);              }              if ((hit2.collider != null && hit2.collider.gameObject.name == "wall3" ) ||                  (hit1.collider != null && hit1.collider.gameObject.name == "wall3" ) ||                  (hit3.collider != null && hit3.collider.gameObject.name == "wall3" )                   )              {                  Vector3 normal = new Vector3(-1, 0, 0);                  force += normal*mg;                  Debug.DrawLine(hit2.point, hit2.point + mg * force, Color.green);                  Debug.DrawLine(hit1.point, hit1.point + mg * force, Color.green);                  Debug.DrawLine(hit3.point, hit3.point + mg * force, Color.green);              }                     } //end of isHit123          return force;      } //end of Force

在update中，只仅仅根据其速度与加速度更新其位置与转向

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private void Update()   {       Vector3 force = Force();       force.y = 0f; //将Y轴方向上的力清零             force.y = 0f;       Vector3 acc = force/mass;       velocity += acc*Time.deltaTime;       transform.position += velocity*Time.deltaTime;         if (velocity.sqrMagnitude > 0.01) //完成平滑转向，转向速度方向       {           Vector3 newForward = Vector3.Slerp(transform.forward, velocity, Time.deltaTime);           newForward.y = 0;           transform.forward = newForward;       }   }