Game AI development guide covering behavior trees, state machines, pathfinding, and decision-making systems. Use when implementing enemy AI, NPC behaviors, flocking, tactical AI, or any intelligent agent behaviors in games. Includes Godot-specific implementations.
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查看安装方法安装前可以查看交给 AI 代理的指令内容。
有限状态机 (FSM):
优点: 简单、直观、易于调试
缺点: 状态多时难以维护
适用: 简单敌人、Boss 阶段
行为树 (BT):
优点: 模块化、可复用、易扩展
缺点: 需要框架支持
适用: 复杂 NPC、战术 AI
效用系统 (Utility AI):
优点: 灵活、智能决策
缺点: 参数调节困难
适用: 模拟人生类、策略游戏
GOAP:
优点: 目标导向、动态规划
缺点: 计算成本高
适用: 智能敌人、复杂行为
public enum EnemyState
{
Idle,
Patrol,
Chase,
Attack,
Flee
}
public class EnemyFSM : Node
{
private EnemyState _currentState;
private Dictionary<EnemyState, IState> _states;
public override void _Ready()
{
_states = new Dictionary<EnemyState, IState>
{
[EnemyState.Idle] = new IdleState(this),
[EnemyState.Patrol] = new PatrolState(this),
[EnemyState.Chase] = new ChaseState(this),
[EnemyState.Attack] = new AttackState(this),
[EnemyState.Flee] = new FleeState(this)
};
ChangeState(EnemyState.Idle);
}
public void ChangeState(EnemyState newState)
{
_states[_currentState]?.Exit();
_currentState = newState;
_states[_currentState]?.Enter();
}
public override void _Process(double delta)
{
_states[_currentState]?.Update(delta);
}
}
public interface IState
{
void Enter();
void Update(double delta);
void Exit();
}
public class ChaseState : IState
{
private readonly EnemyFSM _fsm;
private readonly CharacterBody2D _owner;
private NavigationAgent2D _navAgent;
public ChaseState(EnemyFSM fsm)
{
_fsm = fsm;
_owner = fsm.GetParent<CharacterBody2D>();
_navAgent = _owner.GetNode<NavigationAgent2D>("NavigationAgent2D");
}
public void Enter()
{
// 开始追逐动画
_owner.GetNode<AnimationPlayer>("AnimationPlayer").Play("run");
}
public void Update(double delta)
{
var player = GetTree().GetFirstNodeInGroup("player") as Node2D;
if (player == null) return;
// 更新目标位置
_navAgent.TargetPosition = player.GlobalPosition;
// 移动向玩家
var direction = _owner.ToLocal(_navAgent.GetNextPathPosition()).Normalized();
_owner.Velocity = direction * _owner.Speed;
_owner.MoveAndSlide();
// 检查距离
float distance = _owner.GlobalPosition.DistanceTo(player.GlobalPosition);
if (distance < 50)
{
_fsm.ChangeState(EnemyState.Attack);
}
else if (distance > 500)
{
_fsm.ChangeState(EnemyState.Patrol);
}
}
public void Exit()
{
_owner.Velocity = Vector2.Zero;
}
}
复合节点:
Sequence: 顺序执行（一个失败则失败）
Selector: 选择执行（一个成功则成功）
Parallel: 并行执行
装饰节点:
Inverter: 反转结果
Repeater: 重复执行
UntilFail: 直到失败
叶子节点:
Condition: 条件检查
Action: 执行动作
public enum NodeStatus
{
Running,
Success,
Failure
}
public abstract class BTNode
{
public abstract NodeStatus Execute();
}
public class Sequence : BTNode
{
private readonly List<BTNode> _children = new();
private int _currentChild = 0;
public Sequence(params BTNode[] children)
{
_children.AddRange(children);
}
public override NodeStatus Execute()
{
while (_currentChild < _children.Count)
{
var status = _children[_currentChild].Execute();
if (status == NodeStatus.Running)
return NodeStatus.Running;
if (status == NodeStatus.Failure)
{
_currentChild = 0;
return NodeStatus.Failure;
}
_currentChild++;
}
_currentChild = 0;
return NodeStatus.Success;
}
}
public class Selector : BTNode
{
private readonly List<BTNode> _children = new();
private int _currentChild = 0;
public Selector(params BTNode[] children)
{
_children.AddRange(children);
}
public override NodeStatus Execute()
{
while (_currentChild < _children.Count)
{
var status = _children[_currentChild].Execute();
if (status == NodeStatus.Running)
return NodeStatus.Running;
if (status == NodeStatus.Success)
{
_currentChild = 0;
return NodeStatus.Success;
}
_currentChild++;
}
_currentChild = 0;
return NodeStatus.Failure;
}
}
// 使用示例
public class EnemyAI : Node
{
private BTNode _behaviorTree;
public override void _Ready()
{
_behaviorTree = new Selector(
// 优先攻击
new Sequence(
new Condition(IsPlayerInRange),
new Condition(HasAmmo),
new Action(Attack)
),
// 追逐玩家
new Sequence(
new Condition(CanSeePlayer),
new Action(ChasePlayer)
),
// 巡逻
new Action(Patrol)
);
}
public override void _Process(double delta)
{
_behaviorTree.Execute();
}
}
public class AStar
{
private readonly Grid _grid;
public List<Point> FindPath(Point start, Point end)
{
var openSet = new PriorityQueue<Point>();
var cameFrom = new Dictionary<Point, Point>();
var gScore = new Dictionary<Point, float>();
var fScore = new Dictionary<Point, float>();
openSet.Enqueue(start, 0);
gScore[start] = 0;
fScore[start] = Heuristic(start, end);
while (openSet.Count > 0)
{
var current = openSet.Dequeue();
if (current == end)
return ReconstructPath(cameFrom, current);
foreach (var neighbor in _grid.GetNeighbors(current))
{
float tentativeGScore = gScore[current] + _grid.GetCost(current, neighbor);
if (!gScore.ContainsKey(neighbor) || tentativeGScore < gScore[neighbor])
{
cameFrom[neighbor] = current;
gScore[neighbor] = tentativeGScore;
fScore[neighbor] = gScore[neighbor] + Heuristic(neighbor, end);
if (!openSet.Contains(neighbor))
openSet.Enqueue(neighbor, fScore[neighbor]);
}
}
}
return null; // 无路径
}
private float Heuristic(Point a, Point b)
{
// 曼哈顿距离
return Math.Abs(a.X - b.X) + Math.Abs(a.Y - b.Y);
}
private List<Point> ReconstructPath(Dictionary<Point, Point> cameFrom, Point current)
{
var path = new List<Point> { current };
while (cameFrom.ContainsKey(current))
{
current = cameFrom[current];
path.Insert(0, current);
}
return path;
}
}
public class EnemyNavigation : CharacterBody2D
{
private NavigationAgent2D _navAgent;
private Node2D _target;
public override void _Ready()
{
_navAgent = GetNode<NavigationAgent2D>("NavigationAgent2D");
// 配置
_navAgent.PathDesiredDistance = 10.0f;
_navAgent.TargetDesiredDistance = 10.0f;
_navAgent.Radius = 20.0f;
// 连接信号
_navAgent.VelocityComputed += OnVelocityComputed;
}
public void SetTarget(Node2D target)
{
_target = target;
UpdatePath();
}
private async void UpdatePath()
{
if (_target == null) return;
// 异步计算路径
_navAgent.TargetPosition = _target.GlobalPosition;
await ToSignal(_navAgent, NavigationAgent2D.SignalName.PathChanged);
}
public override void _PhysicsProcess(double delta)
{
if (_navAgent.IsNavigationFinished())
return;
var nextPos = _navAgent.GetNextPathPosition();
var direction = GlobalPosition.DirectionTo(nextPos);
var velocity = direction * Speed;
// 避障
_navAgent.Velocity = velocity;
}
private void OnVelocityComputed(Vector2 safeVelocity)
{
Velocity = safeVelocity;
MoveAndSlide();
}
}
public class Boid : Node2D
{
private Vector2 _velocity;
private List<Boid> _neighbors = new();
public override void _Process(double delta)
{
// 更新邻居列表
UpdateNeighbors();
// 计算三个力
var separation = CalculateSeparation();
var alignment = CalculateAlignment();
var cohesion = CalculateCohesion();
// 合并力
var acceleration = separation * 1.5f + alignment * 1.0f + cohesion * 1.0f;
// 更新速度和位置
_velocity += acceleration * (float)delta;
_velocity = _velocity.LimitLength(MaxSpeed);
Position += _velocity * (float)delta;
}
private Vector2 CalculateSeparation()
{
var steer = Vector2.Zero;
int count = 0;
foreach (var neighbor in _neighbors)
{
float distance = Position.DistanceTo(neighbor.Position);
if (distance > 0 && distance < SeparationRadius)
{
var diff = Position - neighbor.Position;
diff = diff.Normalized() / distance;
steer += diff;
count++;
}
}
if (count > 0)
steer /= count;
return steer;
}
private Vector2 CalculateAlignment()
{
var avgVelocity = Vector2.Zero;
int count = 0;
foreach (var neighbor in _neighbors)
{
if (Position.DistanceTo(neighbor.Position) < AlignmentRadius)
{
avgVelocity += neighbor._velocity;
count++;
}
}
if (count > 0)
{
avgVelocity /= count;
avgVelocity = avgVelocity.Normalized() * MaxSpeed;
return avgVelocity - _velocity;
}
return Vector2.Zero;
}
private Vector2 CalculateCohesion()
{
var center = Vector2.Zero;
int count = 0;
foreach (var neighbor in _neighbors)
{
if (Position.DistanceTo(neighbor.Position) < CohesionRadius)
{
center += neighbor.Position;
count++;
}
}
if (count > 0)
{
center /= count;
return (center - Position).Normalized() * MaxSpeed - _velocity;
}
return Vector2.Zero;
}
}
public class UtilityAI
{
private readonly List<UtilityAction> _actions = new();
public void AddAction(UtilityAction action)
{
_actions.Add(action);
}
public UtilityAction ChooseBestAction()
{
float bestScore = float.MinValue;
UtilityAction bestAction = null;
foreach (var action in _actions)
{
float score = action.CalculateScore();
// 添加随机性
score += GD.Randf() * 0.1f;
if (score > bestScore)
{
bestScore = score;
bestAction = action;
}
}
return bestAction;
}
}
public abstract class UtilityAction
{
public abstract float CalculateScore();
public abstract void Execute();
}
public class AttackAction : UtilityAction
{
private readonly Enemy _enemy;
public AttackAction(Enemy enemy)
{
_enemy = enemy;
}
public override float CalculateScore()
{
float score = 0f;
// 玩家距离近，分数高
float distance = _enemy.DistanceToPlayer();
score += Mathf.Clamp(1.0f - distance / 200.0f, 0, 1) * 0.5f;
// 有弹药，分数高
score += _enemy.HasAmmo ? 0.3f : 0.0f;
// 生命值高，更倾向于攻击
score += _enemy.HealthPercent * 0.2f;
return score;
}
public override void Execute()
{
_enemy.Attack();
}
}
public class VisionSensor : Node2D
{
[Export] public float ViewDistance = 300.0f;
[Export] public float ViewAngle = 90.0f;
[Export] public LayerMask VisionLayer;
public Node2D Target { get; private set; }
public override void _Process(double delta)
{
Target = null;
var players = GetTree().GetNodesInGroup("player");
foreach (Node2D player in players)
{
if (CanSee(player))
{
Target = player;
break;
}
}
}
private bool CanSee(Node2D target)
{
var direction = target.GlobalPosition - GlobalPosition;
float distance = direction.Length();
// 检查距离
if (distance > ViewDistance)
return false;
// 检查角度
float angle = Mathf.RadToDeg(direction.Angle());
float angleDiff = Mathf.Abs(Mathf.AngleDifference(angle, GlobalRotationDegrees));
if (angleDiff > ViewAngle / 2)
return false;
// 射线检测
var space = GetWorld2D().DirectSpaceState;
var query = new PhysicsRayQueryParameters2D
{
From = GlobalPosition,
To = target.GlobalPosition,
CollisionMask = VisionLayer
};
var result = space.IntersectRay(query);
if (result.Count > 0)
{
var collider = result["collider"].As<Node>();
return collider == target;
}
return true;
}
// 可视化调试
public override void _Draw()
{
// 绘制视野扇形
DrawArc(Vector2.Zero, ViewDistance, -ViewAngle / 2, ViewAngle / 2, 32, Colors.Yellow, 1.0f);
}
}
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