chunk 1: core gameplay scripts scenes runtime assets

Assets/Scripts/AI/Core/AIPerceptionSystem.cs

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+using UnityEngine;
+using System.Collections.Generic;
+
+/// <summary>
+/// AIPerceptionSystem — Unified vision/detection system for AI.
+/// Uses Physics.OverlapSphereNonAlloc for zero-allocation detection.
+/// Populates the AIBlackboard with perception results.
+/// 
+/// Call UpdatePerception() on the AI tick (not every frame).
+/// </summary>
+public class AIPerceptionSystem : MonoBehaviour
+{
+    [Header("Vision Settings")]
+    [SerializeField] private float detectionRadius = 18f;
+    [SerializeField] private float fovAngle = 160f;         // Forward cone
+    [SerializeField] private float closeRangeRadius = 5f;   // Always detect within this range (no FOV check)
+
+    [Header("Bag Detection")]
+    [SerializeField] private float bagDetectionRadius = 25f;
+
+    [Header("Line of Sight")]
+    [SerializeField] private bool requireLineOfSight = true;
+    [SerializeField] private LayerMask obstructionLayers;
+    [SerializeField] private float losHeightOffset = 1.2f;  // Eye height
+
+    [Header("Memory")]
+    [SerializeField] private float memoryDuration = 5f;     // Remember entities for this long after losing sight
+
+    // ─── Detection Buffer (zero-alloc) ───────────────────────
+    private static readonly Collider[] _overlapBuffer = new Collider[32];
+
+    // ─── Threat Memory ───────────────────────────────────────
+    private readonly Dictionary<Transform, float> _lastSeenTime = new Dictionary<Transform, float>(16);
+    private readonly Dictionary<Transform, Vector3> _lastKnownPositions = new Dictionary<Transform, Vector3>(16);
+
+    // ─── Component Cache ─────────────────────────────────────
+    private Transform _transform;
+    private string _teamTag;
+
+    private void Awake()
+    {
+        _transform = transform;
+    }
+
+    public void Initialize(string teamTag)
+    {
+        _teamTag = teamTag;
+    }
+
+    /// <summary>
+    /// Update perception and populate blackboard.
+    /// Call this on the AI decision tick, NOT every frame.
+    /// </summary>
+    public void UpdatePerception(AIBlackboard blackboard)
+    {
+        blackboard.ClearPerception();
+
+        Vector3 myPos = _transform.position;
+        Vector3 eyePos = myPos + Vector3.up * losHeightOffset;
+
+        // ─── Detect Characters ───────────────────────────────
+        var allMembers = TeamMember.AllMembers;
+        for (int i = 0; i < allMembers.Count; i++)
+        {
+            TeamMember member = allMembers[i];
+            if (member == null || member.gameObject == gameObject) continue;
+
+            Transform target = member.transform;
+            float sqrDist = (target.position - myPos).sqrMagnitude;
+            float dist = Mathf.Sqrt(sqrDist);
+
+            // Range check
+            if (dist > detectionRadius) continue;
+
+            // FOV check (skip for close range)
+            bool inFOV = dist <= closeRangeRadius || IsInFOV(target.position);
+
+            // LOS check
+            bool hasLOS = !requireLineOfSight || dist <= closeRangeRadius || CheckLineOfSight(eyePos, target.position + Vector3.up * losHeightOffset);
+
+            bool isVisible = inFOV && hasLOS;
+
+            // Update memory
+            if (isVisible)
+            {
+                _lastSeenTime[target] = Time.time;
+                _lastKnownPositions[target] = target.position;
+            }
+
+            // Check memory (even if not currently visible)
+            bool isRemembered = false;
+            float timeSinceLastSeen = float.MaxValue;
+            Vector3 lastKnownPos = target.position;
+
+            if (_lastSeenTime.TryGetValue(target, out float lastSeen))
+            {
+                timeSinceLastSeen = Time.time - lastSeen;
+                isRemembered = timeSinceLastSeen < memoryDuration;
+                if (_lastKnownPositions.TryGetValue(target, out Vector3 lkp))
+                    lastKnownPos = lkp;
+            }
+
+            if (!isVisible && !isRemembered) continue;
+
+            // Build perceived entity
+            HealthNew health = member.GetComponent<HealthNew>();
+            CashCarrier carrier = member.GetComponent<CashCarrier>();
+
+            PerceivedEntity entity = new PerceivedEntity
+            {
+                transform = target,
+                gameObject = member.gameObject,
+                distance = dist,
+                sqrDistance = sqrDist,
+                healthPercent = health != null ? (health.currentHealth / health.maxHealth) : 1f,
+                isCarryingBag = carrier != null && carrier.IsCarrying,
+                carriedBagCount = carrier != null ? carrier.BagCount : 0,
+                isVisible = isVisible,
+                lastKnownPosition = lastKnownPos,
+                timeSinceLastSeen = timeSinceLastSeen
+            };
+
+            bool isEnemy = member.gameObject.tag != _teamTag;
+            if (isEnemy)
+            {
+                blackboard.perceivedEnemies.Add(entity);
+                blackboard.nearbyEnemyCount++;
+
+                if (dist < blackboard.nearestEnemyDistance)
+                    blackboard.nearestEnemyDistance = dist;
+
+                // Track nearest enemy carrier
+                if (entity.isCarryingBag && carrier != null)
+                {
+                    if (blackboard.nearestEnemyCarrier == null ||
+                        dist < Vector3.Distance(myPos, blackboard.nearestEnemyCarrier.transform.position))
+                    {
+                        blackboard.nearestEnemyCarrier = carrier;
+                    }
+                }
+            }
+            else
+            {
+                blackboard.perceivedAllies.Add(entity);
+                blackboard.nearbyAllyCount++;
+
+                // Track nearest ally carrier (for escort)
+                if (entity.isCarryingBag && carrier != null)
+                {
+                    if (blackboard.nearestAllyCarrier == null ||
+                        dist < Vector3.Distance(myPos, blackboard.nearestAllyCarrier.transform.position))
+                    {
+                        blackboard.nearestAllyCarrier = carrier;
+                    }
+                }
+            }
+        }
+
+        // ─── Detect Cash Bags ─────────────────────────────────
+        var allBags = EntityRegistry<CashBag>.All;
+        for (int i = 0; i < allBags.Count; i++)
+        {
+            CashBag bag = allBags[i];
+            if (bag == null || bag.IsCarried) continue;
+
+            float dist = Vector3.Distance(myPos, bag.transform.position);
+            if (dist > bagDetectionRadius) continue;
+
+            if (dist < blackboard.nearestBagDistance)
+                blackboard.nearestBagDistance = dist;
+
+            if (bag.IsAvailable)
+                blackboard.nearbyAvailableBags.Add(bag);
+            else if (bag.IsDropped)
+                blackboard.nearbyDroppedBags.Add(bag);
+        }
+    }
+
+    // ─── Vision Helpers ──────────────────────────────────────
+
+    private bool IsInFOV(Vector3 targetPos)
+    {
+        Vector3 dirToTarget = (targetPos - _transform.position).normalized;
+        dirToTarget.y = 0; // Horizontal only
+        float angle = Vector3.Angle(_transform.forward, dirToTarget);
+        return angle <= fovAngle * 0.5f;
+    }
+
+    private bool CheckLineOfSight(Vector3 from, Vector3 to)
+    {
+        Vector3 dir = to - from;
+        float dist = dir.magnitude;
+
+        if (dist < 0.1f) return true;
+
+        return !Physics.Raycast(from, dir.normalized, dist, obstructionLayers);
+    }
+
+    // ─── Memory Management ───────────────────────────────────
+
+    /// <summary>Clear all threat memory (call on state reset).</summary>
+    public void ClearMemory()
+    {
+        _lastSeenTime.Clear();
+        _lastKnownPositions.Clear();
+    }
+
+    /// <summary>Get last known position of a target (for pursuit).</summary>
+    public bool TryGetLastKnownPosition(Transform target, out Vector3 position)
+    {
+        return _lastKnownPositions.TryGetValue(target, out position);
+    }
+
+    // ─── Debug ───────────────────────────────────────────────
+
+#if UNITY_EDITOR
+    private void OnDrawGizmosSelected()
+    {
+        if (_transform == null) _transform = transform;
+
+        // Detection radius
+        Gizmos.color = new Color(1f, 1f, 0f, 0.1f);
+        Gizmos.DrawWireSphere(_transform.position, detectionRadius);
+
+        // Close range
+        Gizmos.color = new Color(1f, 0.5f, 0f, 0.15f);
+        Gizmos.DrawWireSphere(_transform.position, closeRangeRadius);
+
+        // FOV cone
+        Gizmos.color = new Color(0f, 1f, 0f, 0.3f);
+        Vector3 fovLeft = Quaternion.Euler(0, -fovAngle * 0.5f, 0) * _transform.forward * detectionRadius;
+        Vector3 fovRight = Quaternion.Euler(0, fovAngle * 0.5f, 0) * _transform.forward * detectionRadius;
+        Gizmos.DrawLine(_transform.position, _transform.position + fovLeft);
+        Gizmos.DrawLine(_transform.position, _transform.position + fovRight);
+
+        // Bag detection radius
+        Gizmos.color = new Color(1f, 0.84f, 0f, 0.05f);
+        Gizmos.DrawWireSphere(_transform.position, bagDetectionRadius);
+    }
+#endif
+}