UnityAI——动物迁徙中的跟随实现实例
大家好，我是七七，今天来给大家介绍的是Unity中用操控行为实现的跟随领队行为。
看本文若是想了解和实现，只看本文即可，若是想彻底弄透，建议从七七的游戏AI专栏开始看。
废话不多说，先上视频：
我们的目标是让后面的人跟着领头的人，并遵循一些规则
对于领头的人：
随机地移动检测前方是否有人对于跟随的人；
跟的不要太近人与人直接不要拥挤如果发现挡道领头人路了，赶紧让开我们只需要实现这些规则，就可以得到理想的效果，这与神经网络的思想类似，下面我们就来实现这些规则。
规则1
这个脚本是挂载领头人身上的，目的是在前方LEADER_BEHIND_DIST处画一个圆球，若是说前方有人，则让这些人避开。
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DrawGizmos : MonoBehaviour
{
public float evadeDistance;
public Vector3 center;
private Vehicle vehicleScript;
private float LEADER_BEHIND_DIST;
void Start()
{
vehicleScript = GetComponent<Vehicle>();
LEADER_BEHIND_DIST = 2.0f;
}
void Update()
{
center = transform.position + vehicleScript.velocity.normalized * LEADER_BEHIND_DIST;
}
void OnDrawGizoms()
{
Gizmos.DrawWireSphere(center, evadeDistance);
}
}
规则2
这个脚本是挂在一个空物体上的，目的是生成多个跟随者
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class GenerateBotsForFollowLeader : MonoBehaviour
{
public GameObject botPrefab;
public GameObject leader;
public int botCount;
public float minX = -5f;
public float maxX = 5.0f;
public float minZ = -5.0f;
public float maxZ = 5.0f;
public float Yvalue = 1.026003f;
void Start()
{
Vector3 spawnPosition;
GameObject bot;
for(int i = 0; i < botCount; i++)
{
spawnPosition = new Vector3(Random.Range(minX, maxX), Yvalue, Random.Range(minZ, maxZ));
bot = Instantiate(botPrefab, spawnPosition, Quaternion.identity) as GameObject;
bot.GetComponent<SteeringForLeaderFollowing>().leader = leader;
bot.GetComponent<SteeringForEvade>().target = leader;
bot.GetComponent<SteeringForEvade>().enabled = false;
bot.GetComponent<EvadeController>().leader = leader;
}
}
}
规则3
这个脚本是挂在跟随者身上的，是为了确定跟随者的路径目标点，即领导人身后LEADER_BEHIND_DIST处
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
[RequireComponent(typeof(SteeringForArrive))]
public class SteeringForLeaderFollowing : Steering
{
public Vector3 target;
private Vector3 desiredVelocity;
private Vehicle m_vehicle;
private float maxSpeed;
private bool isPlanar;
public GameObject leader;
private Vehicle leaderController;
private Vector3 leaderVelocity;
private float LEADER_BEHIND_DIST=2.0f;
private SteeringForArrive arriveScript;
private Vector3 randomOffset;
void Start()
{
m_vehicle = GetComponent<Vehicle>();
maxSpeed = m_vehicle.maxSpeed;
isPlanar = m_vehicle.isPlanar;
leaderController=leader.GetComponent<Vehicle>();
arriveScript= GetComponent<SteeringForArrive>();
arriveScript.target = new GameObject("arriveTarget");
arriveScript.target.transform.position = leader.transform.position;
}
public override Vector3 Force()
{
leaderVelocity = leaderController.velocity;
target=leader.transform.position+LEADER_BEHIND_DIST*(-leaderVelocity).normalized;
arriveScript.target.transform.position = target;
return new Vector3(0, 0, 0);
}
}
规则4
这个脚本是挂在跟随者身上的，目的是为了避免跟随者挡住领导人的路
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class EvadeController : MonoBehaviour
{
public GameObject leader;
private Vehicle leaderLocomotion;
private Vehicle m_vehicle;
private bool isPlanar;
private Vector3 leaderAhead;
private float LEADER_BEHIND_DIST;
private Vector3 dist;
public float evadeDistance;
private float sqrEvadeDistance;
private SteeringForEvade evadeScript;
void Start()
{
leaderLocomotion = leader.GetComponent<Vehicle>();
evadeScript= GetComponent<SteeringForEvade>();
m_vehicle= GetComponent<Vehicle>();
isPlanar=m_vehicle.isPlanar;
LEADER_BEHIND_DIST = 2.0f;
sqrEvadeDistance=sqrEvadeDistance*sqrEvadeDistance;
}
void Update()
{
leaderAhead=leader.transform.position+leaderLocomotion.velocity.normalized*LEADER_BEHIND_DIST;
dist = transform.position - leaderAhead;
if (isPlanar)
{
dist.y = 0;
}
if(dist.sqrMagnitude < sqrEvadeDistance)
{
evadeScript.enabled = true;
Debug.DrawLine(transform.position, leader.transform.position);
}
else
{
evadeScript.enabled = false;
}
}
}
实现
前提
有3个基类
UnityAI——操控行为编程的主要基类-CSDN博客
第一步
创建一个场景，一个Plane
第二步
创建一个Cube作为领队，起名为Leader，为其挂上三个脚本，如下所示：
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class AILocomotion : Vehicle
{
private CharacterController controller;
private Rigidbody theRigidbody;
private Vector3 moveDistance;
void Start()
{
controller = GetComponent<CharacterController>();
theRigidbody = GetComponent<Rigidbody>();
moveDistance = new Vector3(0, 0, 0);
base.Start();
}
void FixedUpdate()
{
velocity += acceleration * Time.fixedDeltaTime;
if (velocity.sqrMagnitude > sqrMaxSpeed)
velocity = velocity.normalized * maxSpeed;
moveDistance = velocity * Time.fixedDeltaTime;
if (isPlanar)
{
velocity.y = 0;
moveDistance.y = 0;
}
if (controller != null)
controller.SimpleMove(velocity);
else if (theRigidbody == null || !theRigidbody.isKinematic)
transform.position += moveDistance;
else
theRigidbody.MovePosition(theRigidbody.position+moveDistance);
if(velocity.sqrMagnitude>0.00001)
{
Vector3 newForward = Vector3.Slerp(transform.forward, velocity, damping * Time.deltaTime);
if(isPlanar)
newForward.y = 0;
transform.forward = newForward;
}
gameObject.GetComponent<Animation>().Play("walk");
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SteeringForWander : Steering
{
public float wanderRadius;
public float wanderDistance;
public float wanderJitter;
public bool isPlanar;
private Vector3 desiredVelocity;
private Vehicle m_vehicle;
private float maxSpeed;
private Vector3 circleTarget;
private Vector3 wanderTarget;
void Start()
{
m_vehicle = GetComponent<Vehicle>();
maxSpeed = m_vehicle.maxSpeed;
isPlanar = m_vehicle.isPlanar;
circleTarget = new Vector3(wanderRadius * 0.707f, 0, wanderRadius * 0.707f);
}
public override Vector3 Force()
{
Vector3 randomDisplacement = new Vector3((Random.value - 0.5f) * 2 * wanderJitter, (Random.value - 0.5f) * 2 * wanderJitter, (Random.value - 0.5f) * 2 * wanderJitter);
if (isPlanar)
randomDisplacement.y = 0;
circleTarget+=randomDisplacement;
circleTarget = wanderRadius * circleTarget.normalized;
wanderTarget = m_vehicle.velocity.normalized * wanderDistance + circleTarget + transform.position;
desiredVelocity = (wanderTarget - transform.position).normalized * maxSpeed;
return (desiredVelocity - m_vehicle.velocity);
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DrawGizmos : MonoBehaviour
{
public float evadeDistance;
public Vector3 center;
private Vehicle vehicleScript;
private float LEADER_BEHIND_DIST;
void Start()
{
vehicleScript = GetComponent<Vehicle>();
LEADER_BEHIND_DIST = 2.0f;
}
void Update()
{
center = transform.position + vehicleScript.velocity.normalized * LEADER_BEHIND_DIST;
}
void OnDrawGizoms()
{
Gizmos.DrawWireSphere(center, evadeDistance);
}
}
第三步
创建一个空物体，起名为follersGenerator，用于生成跟随者，并添加脚本
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class GenerateBotsForFollowLeader : MonoBehaviour
{
public GameObject botPrefab;
public GameObject leader;
public int botCount;
public float minX = -5f;
public float maxX = 5.0f;
public float minZ = -5.0f;
public float maxZ = 5.0f;
public float Yvalue = 1.026003f;
void Start()
{
Vector3 spawnPosition;
GameObject bot;
for(int i = 0; i < botCount; i++)
{
spawnPosition = new Vector3(Random.Range(minX, maxX), Yvalue, Random.Range(minZ, maxZ));
bot = Instantiate(botPrefab, spawnPosition, Quaternion.identity) as GameObject;
bot.GetComponent<SteeringForLeaderFollowing>().leader = leader;
bot.GetComponent<SteeringForEvade>().target = leader;
bot.GetComponent<SteeringForEvade>().enabled = false;
bot.GetComponent<EvadeController>().leader = leader;
}
}
}
第四步
创建一个方块预设，作为跟随者，挂上下列脚本：
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class AILocomotion : Vehicle
{
private CharacterController controller;
private Rigidbody theRigidbody;
private Vector3 moveDistance;
void Start()
{
controller = GetComponent<CharacterController>();
theRigidbody = GetComponent<Rigidbody>();
moveDistance = new Vector3(0, 0, 0);
base.Start();
}
void FixedUpdate()
{
velocity += acceleration * Time.fixedDeltaTime;
if (velocity.sqrMagnitude > sqrMaxSpeed)
velocity = velocity.normalized * maxSpeed;
moveDistance = velocity * Time.fixedDeltaTime;
if (isPlanar)
{
velocity.y = 0;
moveDistance.y = 0;
}
if (controller != null)
controller.SimpleMove(velocity);
else if (theRigidbody == null || !theRigidbody.isKinematic)
transform.position += moveDistance;
else
theRigidbody.MovePosition(theRigidbody.position+moveDistance);
if(velocity.sqrMagnitude>0.00001)
{
Vector3 newForward = Vector3.Slerp(transform.forward, velocity, damping * Time.deltaTime);
if(isPlanar)
newForward.y = 0;
transform.forward = newForward;
}
gameObject.GetComponent<Animation>().Play("walk");
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SteeringForArrive : Steering
{
public bool isPlanar = true;
public float arrivalDistance = 0.3f;
public float characterRadius = 1.2f;
public float slowDownDistance;
public GameObject target;
private Vector3 desiredVelocity;
private Vehicle m_vehicle;
private float maxSpeed;
void Start()
{
m_vehicle = GetComponent<Vehicle>();
maxSpeed = m_vehicle.maxSpeed;
isPlanar = m_vehicle.isPlanar;
}
public override Vector3 Force()
{
Vector3 toTarget = target.transform.position - transform.position;
Vector3 desiredVelocity;
Vector3 returnForce;
if (isPlanar)
toTarget.y = 0;
float distance = toTarget.magnitude;
if (distance > slowDownDistance)
{
desiredVelocity = toTarget.normalized * maxSpeed;
returnForce = desiredVelocity - m_vehicle.velocity;
}
else
{
desiredVelocity = toTarget - m_vehicle.velocity;
returnForce = desiredVelocity - m_vehicle.velocity;
}
return returnForce;
}
void OnDrawGizmos()
{
Gizmos.DrawWireSphere(target.transform.position, slowDownDistance);
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
[RequireComponent(typeof(SteeringForArrive))]
public class SteeringForLeaderFollowing : Steering
{
public Vector3 target;
private Vector3 desiredVelocity;
private Vehicle m_vehicle;
private float maxSpeed;
private bool isPlanar;
public GameObject leader;
private Vehicle leaderController;
private Vector3 leaderVelocity;
private float LEADER_BEHIND_DIST=2.0f;
private SteeringForArrive arriveScript;
private Vector3 randomOffset;
void Start()
{
m_vehicle = GetComponent<Vehicle>();
maxSpeed = m_vehicle.maxSpeed;
isPlanar = m_vehicle.isPlanar;
leaderController=leader.GetComponent<Vehicle>();
arriveScript= GetComponent<SteeringForArrive>();
arriveScript.target = new GameObject("arriveTarget");
arriveScript.target.transform.position = leader.transform.position;
}
public override Vector3 Force()
{
leaderVelocity = leaderController.velocity;
target=leader.transform.position+LEADER_BEHIND_DIST*(-leaderVelocity).normalized;
arriveScript.target.transform.position = target;
return new Vector3(0, 0, 0);
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class Radar : MonoBehaviour
{
private Collider[] colliders;
private float timer = 0;
public List<GameObject> neighbors;
public float checkInterval = 0.3f;
public float detectRadius = 10f;
public LayerMask layersChecked;
void Start()
{
neighbors = new List<GameObject>();
}
void Update()
{
timer += Time.deltaTime;
if(timer > checkInterval)
{
neighbors.Clear();
colliders = Physics.OverlapSphere(transform.position, detectRadius, layersChecked);
for(int i = 0; i < colliders.Length; i++)
{
if (colliders[i].GetComponent<Vehicle>())
neighbors.Add(colliders[i].gameObject);
}
timer = 0;
}
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SteeringForSeparation : Steering
{
public float comforDistance = 1;
public float multiplierInsideComfortDistance = 2;
public override Vector3 Force()
{
Vector3 steeringForce = new Vector3(0, 0, 0);
foreach(GameObject s in GetComponent<Radar>().neighbors)
{
if ((s != null) && (s != this.gameObject))
{
Vector3 toNeighbor = transform.position - s.transform.position;
float length=toNeighbor.magnitude;
steeringForce += toNeighbor.normalized / length;
if (length < comforDistance)
steeringForce *= multiplierInsideComfortDistance;
}
}
return steeringForce;
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SteeringForEvade :Steering
{
public GameObject target;
private Vector3 desiredVelocity;
private Vehicle m_vehicle;
private float maxSpeed;
void Start()
{
m_vehicle = GetComponent<Vehicle>();
maxSpeed = m_vehicle.maxSpeed;
}
public override Vector3 Force()
{
Vector3 toTarget = target.transform.position - transform.position;
float lookaheadTime = toTarget.magnitude / (maxSpeed + target.GetComponent<Vehicle>().velocity.magnitude);
desiredVelocity = (transform.position - (target.transform.position+target.GetComponent<Vehicle>().velocity*lookaheadTime)).normalized * maxSpeed;
return (desiredVelocity - m_vehicle.velocity);
}
}
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class EvadeController : MonoBehaviour
{
public GameObject leader;
private Vehicle leaderLocomotion;
private Vehicle m_vehicle;
private bool isPlanar;
private Vector3 leaderAhead;
private float LEADER_BEHIND_DIST;
private Vector3 dist;
public float evadeDistance;
private float sqrEvadeDistance;
private SteeringForEvade evadeScript;
void Start()
{
leaderLocomotion = leader.GetComponent<Vehicle>();
evadeScript= GetComponent<SteeringForEvade>();
m_vehicle= GetComponent<Vehicle>();
isPlanar=m_vehicle.isPlanar;
LEADER_BEHIND_DIST = 2.0f;
sqrEvadeDistance=sqrEvadeDistance*sqrEvadeDistance;
}
void Update()
{
leaderAhead=leader.transform.position+leaderLocomotion.velocity.normalized*LEADER_BEHIND_DIST;
dist = transform.position - leaderAhead;
if (isPlanar)
{
dist.y = 0;
}
if(dist.sqrMagnitude < sqrEvadeDistance)
{
evadeScript.enabled = true;
Debug.DrawLine(transform.position, leader.transform.position);
}
else
{
evadeScript.enabled = false;
}
}
}
收尾
最后再给各个角色装上刚体，设置好Leader等参数就可以了。
很多行为我们都可以通过设定规则来实现，可能乍一看行为很难摸索，但慢慢分析出其中的规则并逐一实现后，问题往往就会被解决
相关知识
Unity宠物跟随
UML类图实例 （动物）
动物迁徙
动物的运动与动物对环境的反应.pptx
动物大迁徙的原因
你还能说出哪些生物影响和适应环境的实例
动物行为与适应的实际应用和研究.pptx
动物羽毛的实例—印第安风情头饰
雅思阅读：动物迁徙知多少？
鸟类为何迁徙？
网址: UnityAI——动物迁徙中的跟随实现实例 https://m.mcbbbk.com/newsview455439.html
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