Update Worker Blackboard and Behaviour Tree

Source/Nakatomi/Decorators/BTDIsWithinRange.cpp

@@ -0,0 +1,29 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "../Decorators/BTDIsWithinRange.h"
+
+#include "AIController.h"
+#include "navigationSystem.h"
+#include "BehaviorTree/BlackboardComponent.h"
+#include "Nakatomi/NakatomiCharacter.h"
+
+bool UBTDIsWithinRange::CalculateRawConditionValue(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory) const
+{
+	UBlackboardComponent* BlackboardComponent = OwnerComp.GetBlackboardComponent();
+	float Dist = BlackboardComponent->GetValueAsFloat(DistanceKey.SelectedKeyName);
+	UObject* Target = BlackboardComponent->GetValueAsObject(TargetActorKey.SelectedKeyName);
+	auto TargetLocation = Cast<AActor>(Target)->GetActorLocation();
+	UNavigationSystemV1* NavigationSystem = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
+
+	APawn* pawn = OwnerComp.GetAIOwner()->GetPawn();
+
+	if (pawn && NavigationSystem && TargetLocation != FVector::ZeroVector)
+	{
+		double Distance = -1.0;
+		NavigationSystem->GetPathLength(TargetLocation, pawn->GetTransform().GetLocation(), Distance);
+		return Distance <= Dist ? true : false;
+	}
+	
+	return false;
+}

Source/Nakatomi/Decorators/BTDIsWithinRange.h

@@ -0,0 +1,31 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "BehaviorTree/BTDecorator.h"
+#include "BTDIsWithinRange.generated.h"
+
+/**
+ * 
+ */
+UCLASS()
+class NAKATOMI_API UBTDIsWithinRange : public UBTDecorator
+{
+	GENERATED_BODY()
+
+public:
+
+	UPROPERTY(EditAnywhere, Category = "Options",
+	Meta = (AllowPrivateAccess = "true", DisplayName = "Target Actor Key"))
+	FBlackboardKeySelector TargetActorKey;
+
+	UPROPERTY(EditAnywhere, Category = "Options",
+	Meta = (AllowPrivateAccess = "true", DisplayName = "Distance Key"))
+	FBlackboardKeySelector DistanceKey;
+
+public:
+
+	virtual bool CalculateRawConditionValue(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory) const override;
+	
+};

Source/Nakatomi/EPatrolMovementEnum.h

@@ -12,4 +12,5 @@ enum class EPatrolMovementEnum : uint8
 {
 	SLOWWALK UMETA(DisplayName = "Slow Walk"),
 	WALK UMETA(DisplayName = "Walk"),
+	SPRINT UMETA(DisplayName = "Sprint"),
 };

Source/Nakatomi/EnemyAIController.cpp

@@ -64,6 +64,9 @@ void AEnemyAIController::OnPossess(APawn* InPawn)
 
 	Blackboard->SetValueAsEnum("State",  static_cast<uint8>(EAIState::PASSIVE));
 
+	Blackboard->SetValueAsFloat("AttackRadius", enemy->AttackRadius);
+	Blackboard->SetValueAsFloat("DefendRadius", enemy->DefendRadius);
+	
 	//ensure(enemy->GetMovementComponent()->UseAccelerationForPathFollowing());
 }
 
@@ -149,9 +152,24 @@ void AEnemyAIController::OnPerceptionUpdated(const TArray<AActor*>& actors)
 				continue;
 			}
 
-			FAISenseID SightID = SightConfig->GetSenseID();
+			FAISenseID SightID;
-			FAISenseID HearingID = HearingConfig->GetSenseID();
+			FAISenseID HearingID;
-			FAISenseID DamageID = DamageConfig->GetSenseID();
+			FAISenseID DamageID;
+
+			if (SightConfig)
+			{
+				SightID = SightConfig->GetSenseID();
+			}
+
+			if (HearingConfig)
+			{
+				HearingID = HearingConfig->GetSenseID();
+			}
+
+			if (DamageConfig)
+			{
+				DamageID = DamageConfig->GetSenseID();
+			}			
 
 			if (stimulus.Type == SightID)
 			{
@@ -229,6 +247,11 @@ void AEnemyAIController::SetStateAsAttacking(AActor* target)
 	SetState(EAIState::ATTACKING);
 }
 
+AActor* AEnemyAIController::GetTargetActor()
+{
+	return Cast<AActor>(Blackboard->GetValueAsObject("TargetActor"));
+}
+
 void AEnemyAIController::SensedSight(AActor* actor, FAIStimulus& stimulus)
 {
 	EAIState CurrentState = static_cast<EAIState>(Blackboard->GetValueAsEnum("State"));

Source/Nakatomi/EnemyAIController.h

@@ -76,6 +76,9 @@ public:
 	UFUNCTION()
 	void SetStateAsAttacking(AActor* target);
 
+	UFUNCTION(BlueprintCallable)
+	AActor* GetTargetActor();
+
 private:
 
 	void SensedSight(AActor* actor, FAIStimulus& stimulus);

Source/Nakatomi/EnemyCharacter.h

@@ -22,6 +22,12 @@ public:
 	UPROPERTY(EditAnywhere, Meta = (AllowPrivateAccess = "true"))
 	APatrolRoute* CurrentPatrolRoute;
 
+	UPROPERTY(EditAnywhere)
+	float AttackRadius = 300.0;
+
+	UPROPERTY(EditAnywhere)
+	float DefendRadius = 500.0f;
+	
 private:
 	UPROPERTY(EditDefaultsOnly, Meta = (AllowPrivateAccess = "true"))
 	UBehaviorTree* BehaviourTree;

Source/Nakatomi/Tasks/BTTSetMovementSpeed.cpp

@@ -21,6 +21,9 @@ EBTNodeResult::Type UBTTSetMovementSpeed::ExecuteTask(UBehaviorTreeComponent& ow
 	case EPatrolMovementEnum::WALK:
 		enemyPawn->GetCharacterMovementComponent()->SetMaxWalkSpeed(walkSpeed);
 		break;
+	case EPatrolMovementEnum::SPRINT:
+		enemyPawn->GetCharacterMovementComponent()->SetMaxWalkSpeed(sprintSpeed);
+		break;
 	default:
 		enemyPawn->GetCharacterMovementComponent()->SetMaxWalkSpeedToDefault();
 		break;

Source/Nakatomi/Tasks/BTTSetMovementSpeed.h

@@ -26,6 +26,8 @@ private:
 	
 	float walkSpeed = 500.0f;
 
+	float sprintSpeed = 750.0f;
+	
 public:
 	virtual EBTNodeResult::Type ExecuteTask(UBehaviorTreeComponent& owner, uint8* memory) override;