├── .gitattributes ├── .gitignore ├── Assets ├── FishDemo.meta └── FishDemo │ ├── Materials.meta │ ├── Materials │ ├── FishNormal.mat │ ├── FishNormal.mat.meta │ ├── FoggedGlass.mat │ ├── FoggedGlass.mat.meta │ ├── Glass.mat │ ├── Glass.mat.meta │ ├── Kelp.mat │ ├── Kelp.mat.meta │ ├── LivingRoomSkybox.mat │ ├── LivingRoomSkybox.mat.meta │ ├── Rock.mat │ ├── Rock.mat.meta │ ├── Sand.mat │ ├── Sand.mat.meta │ ├── UnderwaterSkybox.mat │ ├── UnderwaterSkybox.mat.meta │ ├── Vines1.mat │ ├── Vines1.mat.meta │ ├── WaterSurface.mat │ └── WaterSurface.mat.meta │ ├── Meshes.meta │ ├── Meshes │ ├── Goldfish.obj │ ├── Goldfish.obj.meta │ ├── Kelp.obj │ ├── Kelp.obj.meta │ ├── PUSHILIN_stone.obj │ ├── PUSHILIN_stone.obj.meta │ ├── Vines.obj │ └── Vines.obj.meta │ ├── PostProcessing.meta │ ├── PostProcessing │ ├── FishPostProcessing.asset │ └── FishPostProcessing.asset.meta │ ├── Prefabs.meta │ ├── Prefabs │ ├── Goldfish.prefab │ ├── Goldfish.prefab.meta │ ├── Kelp.prefab │ ├── Kelp.prefab.meta │ ├── Vines.prefab │ └── Vines.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ ├── SampleScene.meta │ ├── SampleScene.unity │ ├── SampleScene.unity.meta │ └── SampleScene │ │ ├── LightingData.asset │ │ ├── LightingData.asset.meta │ │ ├── Lightmap-0_comp_dir.png │ │ ├── Lightmap-0_comp_dir.png.meta │ │ ├── Lightmap-0_comp_light.exr │ │ ├── Lightmap-0_comp_light.exr.meta │ │ ├── Lightmap-0_comp_shadowmask.png │ │ ├── Lightmap-0_comp_shadowmask.png.meta │ │ ├── ReflectionProbe-0.exr │ │ └── ReflectionProbe-0.exr.meta │ ├── Scripts.meta │ ├── Scripts │ ├── Fish.cs │ ├── Fish.cs.meta │ ├── TargetCamera.cs │ └── TargetCamera.cs.meta │ ├── Tests.meta │ ├── Tests │ ├── NewTestScript.cs │ ├── NewTestScript.cs.meta │ ├── Tests.asmdef │ └── Tests.asmdef.meta │ ├── Textures.meta │ └── Textures │ ├── Kelp_BaseColor.png │ ├── Kelp_BaseColor.png.meta │ ├── PUSHILIN_stone.png │ ├── PUSHILIN_stone.png.meta │ ├── Sand.jpg │ ├── Sand.jpg.meta │ ├── Sand2.jpg │ ├── Sand2.jpg.meta │ ├── Sand3.png │ ├── Sand3.png.meta │ ├── Sand4.jpg │ ├── Sand4.jpg.meta │ ├── Vines_BaseColor.png │ ├── Vines_BaseColor.png.meta │ ├── coral-reef-underwater-360-vr-footage-073659035_prevstill.jpeg │ ├── coral-reef-underwater-360-vr-footage-073659035_prevstill.jpeg.meta │ ├── living room.jpeg │ └── living room.jpeg.meta ├── Documentation └── Images │ ├── Debug_Aids.jpg │ └── Unity_Fish_AI_Video_Thumb.jpg ├── LICENSE ├── Packages └── manifest.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset └── UnityConnectSettings.asset └── README.md /.gitattributes: -------------------------------------------------------------------------------- 1 | * text=auto 2 | 3 | # Unity files 4 | *.meta -text -merge=unityamlmerge 5 | *.unity -text -merge=unityamlmerge 6 | *.asset -text -merge=unityamlmerge 7 | *.prefab -text -merge=unityamlmerge 8 | 9 | # Image formats 10 | *.psd filter=lfs diff=lfs merge=lfs -text 11 | *.jpg filter=lfs diff=lfs merge=lfs -text 12 | *.png filter=lfs diff=lfs merge=lfs -text 13 | *.gif filter=lfs diff=lfs merge=lfs -text 14 | *.bmp filter=lfs diff=lfs merge=lfs -text 15 | *.tga filter=lfs diff=lfs merge=lfs -text 16 | *.tiff filter=lfs diff=lfs merge=lfs -text 17 | *.iff filter=lfs diff=lfs merge=lfs -text 18 | *.pict filter=lfs diff=lfs merge=lfs -text 19 | *.dds filter=lfs diff=lfs merge=lfs -text 20 | 21 | # Audio formats 22 | *.mp3 filter=lfs diff=lfs merge=lfs -text 23 | *.ogg filter=lfs diff=lfs merge=lfs -text 24 | *.wav filter=lfs diff=lfs merge=lfs -text 25 | *.aiff filter=lfs diff=lfs merge=lfs -text 26 | *.aif filter=lfs diff=lfs merge=lfs -text 27 | *.mod filter=lfs diff=lfs merge=lfs -text 28 | *.it filter=lfs diff=lfs merge=lfs -text 29 | *.s3m filter=lfs diff=lfs merge=lfs -text 30 | *.xm filter=lfs diff=lfs merge=lfs -text 31 | 32 | # Video formats 33 | *.mov filter=lfs diff=lfs merge=lfs -text 34 | *.avi filter=lfs diff=lfs merge=lfs -text 35 | *.asf filter=lfs diff=lfs merge=lfs -text 36 | *.mpg filter=lfs diff=lfs merge=lfs -text 37 | *.mpeg filter=lfs diff=lfs merge=lfs -text 38 | *.mp4 filter=lfs diff=lfs merge=lfs -text 39 | 40 | # 3D formats 41 | *.fbx filter=lfs diff=lfs merge=lfs -text 42 | *.obj filter=lfs diff=lfs merge=lfs -text 43 | *.max filter=lfs diff=lfs merge=lfs -text 44 | *.blend filter=lfs diff=lfs merge=lfs -text 45 | *.dae filter=lfs diff=lfs merge=lfs -text 46 | *.mb filter=lfs diff=lfs merge=lfs -text 47 | *.ma filter=lfs diff=lfs merge=lfs -text 48 | *.3ds filter=lfs diff=lfs merge=lfs -text 49 | *.dfx filter=lfs diff=lfs merge=lfs -text 50 | *.c4d filter=lfs diff=lfs merge=lfs -text 51 | *.lwo filter=lfs diff=lfs merge=lfs -text 52 | *.lwo2 filter=lfs diff=lfs merge=lfs -text 53 | *.abc filter=lfs diff=lfs merge=lfs -text 54 | *.3dm filter=lfs diff=lfs merge=lfs -text 55 | 56 | # Build 57 | *.dll filter=lfs diff=lfs merge=lfs -text 58 | *.pdb filter=lfs diff=lfs merge=lfs -text 59 | *.mdb filter=lfs diff=lfs merge=lfs -text 60 | 61 | # Packaging 62 | *.zip filter=lfs diff=lfs merge=lfs -text 63 | *.7z filter=lfs diff=lfs merge=lfs -text 64 | *.gz filter=lfs diff=lfs merge=lfs -text 65 | *.rar filter=lfs diff=lfs merge=lfs -text 66 | *.tar filter=lfs diff=lfs merge=lfs -text -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | /[Ll]ibrary/ 2 | /[Tt]emp/ 3 | /[Oo]bj/ 4 | /[Bb]uild/ 5 | /[Bb]uilds/ 6 | 7 | /Assets/AssetStoreTools* 8 | 9 | # Visual Studio 2015 cache directory 10 | /.vs/ 11 | 12 | # Autogenerated VS/MD/Consulo solution and project files 13 | ExportedObj/ 14 | .consulo/ 15 | *.csproj 16 | *.unityproj 17 | *.sln 18 | *.suo 19 | *.tmp 20 | *.user 21 | *.userprefs 22 | *.pidb 23 | *.booproj 24 | *.svd 25 | *.pdb 26 | 27 | 28 | # Unity3D generated meta files 29 | *.pidb.meta 30 | 31 | # Unity3D Generated File On Crash Reports 32 | sysinfo.txt 33 | 34 | # Builds 35 | *.apk 36 | *.unitypackage -------------------------------------------------------------------------------- /Assets/FishDemo.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 06c132c9a0a3e4f4db8b09c9b748da6f 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/FishDemo/Materials.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7e409591823aa42198a486e7f422cc52 3 | folderAsset: yes 4 | DefaultImporter: 5 | 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-------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Assertions; 5 | 6 | /// 7 | /// Provides fish behavior including swimming animation, obstacle avoidance, and 8 | /// wandering behavior. 9 | /// 10 | public class Fish : MonoBehaviour 11 | { 12 | 13 | /// 14 | /// A location inside the tank that will be used as a reference point when 15 | /// calculating turns to avoid obstacles. 16 | /// 17 | public Transform tankCenterGoal; 18 | 19 | /// 20 | /// Indicates how close an obstacle must be (in meters) before the fish 21 | /// begins to take evasive action. 22 | /// 23 | public float obstacleSensingDistance = 0.8f; 24 | 25 | /// 26 | /// The minimum speed this fish should move in meters/second. 27 | /// 28 | public float swimSpeedMin = 0.2f; 29 | 30 | /// 31 | /// The maximum speed this fish should move in meters/second. 32 | /// 33 | public float swimSpeedMax = 0.6f; 34 | 35 | /// 36 | /// Controls how quickly the fish can turn. 37 | /// 38 | public float maxTurnRateY = 5f; 39 | 40 | /// 41 | /// When the fish randomly changes direction while wondering, this value 42 | /// controls the maximum allowed change in direction. 43 | /// 44 | public float maxWanderAngle = 45f; 45 | 46 | /// 47 | /// Sets the duration of each wander period (in seconds). At the start of 48 | /// each wander period the fish is given an opportunity to change direction. 49 | /// The likelihood of changing direction at each period is controlled by 50 | /// wanderProbability. 51 | /// 52 | public float wanderPeriodDuration = 0.8f; 53 | 54 | /// 55 | /// Indicates how likely the fish is to turn while wondering. A value from 56 | /// 0 through 1. 57 | /// 58 | public float wanderProbability = 0.15f; 59 | 60 | 61 | // The current speed of the fish in meters/second. 62 | [HideInInspector] 63 | public float swimSpeed; 64 | 65 | // The fish's current direction of movement. 66 | private Vector3 swimDirection 67 | { 68 | get { return transform.TransformDirection(Vector3.forward); } 69 | } 70 | 71 | // Flag to track whether an obstacle has been detected. 72 | private bool obstacleDetected = false; 73 | 74 | // The timestamp indicating when the current wander period started. 75 | private float wanderPeriodStartTime; 76 | 77 | // The orientation goal that the fish is rotating toward over time. 78 | private Quaternion goalLookRotation; 79 | 80 | // Cached reference to the fish body's transform. 81 | private Transform bodyTransform; 82 | 83 | // A random value set dynamically so that each fish's behavior is slightly 84 | // different. 85 | private float randomOffset; 86 | 87 | // Location variables used to draw debug aids. 88 | private Vector3 hitPoint; 89 | private Vector3 goalPoint; 90 | 91 | 92 | /* ----- MonoBehaviour Methods ----- */ 93 | 94 | 95 | void Start() 96 | { 97 | // Warn the developer loudly if they haven't set tankCenterGoal. 98 | if (tankCenterGoal == null) 99 | { 100 | Debug.LogError("[" + name + "] The tankCenterGoal parameter is required but is null."); 101 | UnityEditor.EditorApplication.isPlaying = false; 102 | } 103 | 104 | bodyTransform = transform.Find("Body"); 105 | randomOffset = Random.value; 106 | } 107 | 108 | 109 | private void Update() 110 | { 111 | Wiggle(); 112 | Wander(); 113 | AvoidObstacles(); 114 | 115 | DrawDebugAids(); 116 | UpdatePosition(); 117 | } 118 | 119 | 120 | private void OnDrawGizmos() 121 | { 122 | DrawDebugAids(); 123 | } 124 | 125 | 126 | /* ----- Fish Methods ----- */ 127 | 128 | 129 | /// 130 | /// Updates the fish's wiggle animation. 131 | /// 132 | void Wiggle() 133 | { 134 | // Calculate a wiggle speed (wiggle cycles per second) based on the 135 | // fish's forward speed. 136 | float speedPercent = swimSpeed / swimSpeedMax; 137 | float minWiggleSpeed = 12f; 138 | float maxWiggleSpeed = minWiggleSpeed + 1f; 139 | float wiggleSpeed = Mathf.Lerp(minWiggleSpeed, maxWiggleSpeed, speedPercent); 140 | 141 | // Use sine and game time to animate the wiggle rotation of the fish. 142 | float angle = Mathf.Sin(Time.time * wiggleSpeed) * 5f; 143 | var wiggleRotation = Quaternion.AngleAxis(angle, Vector3.up); 144 | bodyTransform.localRotation = wiggleRotation; 145 | } 146 | 147 | 148 | /// 149 | /// Defines the fish's wander behavior. 150 | /// 151 | void Wander() 152 | { 153 | // User Perlin noise to change the fish's speed over time in a random 154 | // but smooth fashion. 155 | float noiseScale = .5f; 156 | float speedPercent = Mathf.PerlinNoise(Time.time * noiseScale + randomOffset, randomOffset); 157 | speedPercent = Mathf.Pow(speedPercent, 2); 158 | swimSpeed = Mathf.Lerp(swimSpeedMin, swimSpeedMax, speedPercent); 159 | 160 | if (obstacleDetected) return; 161 | 162 | if (Time.time > wanderPeriodStartTime + wanderPeriodDuration) 163 | { 164 | // Start a new wander period. 165 | wanderPeriodStartTime = Time.time; 166 | 167 | if (Random.value < wanderProbability) 168 | { 169 | // Pick new wander direction. 170 | var randomAngle = Random.Range(-maxWanderAngle, maxWanderAngle); 171 | var relativeWanderRotation = Quaternion.AngleAxis(randomAngle, Vector3.up); 172 | goalLookRotation = transform.rotation * relativeWanderRotation; 173 | } 174 | } 175 | 176 | // Turn toward the fish's goal rotation. 177 | transform.rotation = Quaternion.Slerp(transform.rotation, goalLookRotation, Time.deltaTime / 2f); 178 | } 179 | 180 | 181 | /// 182 | /// Defines the fish's obstacle avoidance behavior. 183 | /// 184 | void AvoidObstacles() 185 | { 186 | // Look ahead to see if an obstacle is within range. 187 | RaycastHit hit; 188 | obstacleDetected = Physics.Raycast(transform.position, swimDirection, out hit, obstacleSensingDistance); 189 | 190 | if (obstacleDetected) 191 | { 192 | hitPoint = hit.point; 193 | 194 | // Calculate a point (which we're calling "reflectedPoint") indicating 195 | // where the fish would end up if it bounced off of the obstacle and 196 | // continued travelling. This will be one of our points of reference 197 | // for determining a new safe goal point. 198 | Vector3 reflectionVector = Vector3.Reflect(swimDirection, hit.normal); 199 | float goalPointMinDistanceFromHit = 1f; 200 | Vector3 reflectedPoint = hit.point + reflectionVector * Mathf.Max(hit.distance, goalPointMinDistanceFromHit); 201 | 202 | // Set the goal point to halfway between the reflected point above 203 | // and the tank center goal. 204 | goalPoint = (reflectedPoint + tankCenterGoal.position) / 2f; 205 | 206 | // Set the rotation we eventually want to achieve. 207 | Vector3 goalDirection = goalPoint - transform.position; 208 | goalLookRotation = Quaternion.LookRotation(goalDirection); 209 | 210 | // Determine a danger level using a exponential scale so that danger 211 | // ramps up more quickly as the fish gets nearer obstacle. 212 | float dangerLevel = Mathf.Pow(1 - (hit.distance / obstacleSensingDistance), 4f); 213 | 214 | // Clamp minimum danger level to 0.01. 215 | dangerLevel = Mathf.Max(0.01f, dangerLevel); 216 | 217 | // Use dangerLevel to influence how quickly the fish turns toward 218 | // its goal direction. 219 | float turnRate = maxTurnRateY * dangerLevel; 220 | 221 | // Rotate the fish toward its goal direction. 222 | Quaternion rotation = Quaternion.Slerp(transform.rotation, goalLookRotation, Time.deltaTime * turnRate); 223 | transform.rotation = rotation; 224 | } 225 | } 226 | 227 | 228 | /// 229 | /// Draws visual debug aids that can be seen in the editor viewport. 230 | /// 231 | void DrawDebugAids() 232 | { 233 | // Draw lines from the fish illustrating what it "sees" and what 234 | // evasive action it may be taking. 235 | 236 | Color rayColor = obstacleDetected ? Color.red : Color.cyan; 237 | Debug.DrawRay(transform.position, swimDirection * obstacleSensingDistance, rayColor); 238 | 239 | if (obstacleDetected) 240 | { 241 | Debug.DrawLine(hitPoint, goalPoint, Color.green); 242 | } 243 | 244 | } 245 | 246 | 247 | /// 248 | /// Updates the fish's position as it swims. 249 | /// 250 | private void UpdatePosition() 251 | { 252 | Vector3 position = transform.position + swimDirection * swimSpeed * Time.fixedDeltaTime; 253 | transform.position = position; 254 | } 255 | } 256 | -------------------------------------------------------------------------------- /Assets/FishDemo/Scripts/Fish.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fb060075b18c5488fabc5f6e6613f514 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/FishDemo/Scripts/TargetCamera.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | /// 6 | /// Camera behavior which tracks the position of a target object. 7 | /// 8 | public class TargetCamera : MonoBehaviour 9 | { 10 | /// 11 | /// The object the camera should follow. 12 | /// 13 | public Transform targetObject; 14 | 15 | /// 16 | /// The number of seconds it should take for the camer to catch up to the 17 | /// target when not pointed directy at it. 18 | /// 19 | public float followSpeed = 1.0f; 20 | 21 | 22 | void Update() 23 | { 24 | var goalDirection = targetObject.position - transform.position; 25 | var goalRotation = Quaternion.LookRotation(goalDirection, Vector3.up); 26 | var interimRotation = Quaternion.Slerp(transform.rotation, goalRotation, Time.deltaTime / followSpeed); 27 | 28 | transform.rotation = interimRotation; 29 | } 30 | 31 | } -------------------------------------------------------------------------------- /Assets/FishDemo/Scripts/TargetCamera.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f4842fbf000544dd4a42b1bacaf3147e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/FishDemo/Tests.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e191d0aa69bd5404f9d6bddd2f814951 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/FishDemo/Tests/NewTestScript.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.TestTools; 3 | using NUnit.Framework; 4 | using System.Collections; 5 | 6 | public class NewTestScript 7 | { 8 | 9 | [Test] 10 | public void NewTestScriptSimplePasses() 11 | { 12 | Vector3 direction = new Vector3(1f, 0f, -1f).normalized; 13 | Vector3 normal = new Vector3(0f, 0, 1f).normalized; 14 | float result = Vector3.Dot(direction, normal); 15 | Debug.Log("result: " + result); 16 | } 17 | 18 | } 19 | -------------------------------------------------------------------------------- /Assets/FishDemo/Tests/NewTestScript.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e7fd379d628ef45f8991d461a3229859 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 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/Documentation/Images/Unity_Fish_AI_Video_Thumb.jpg: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:08cf4039a081751b6a7c21f2de8da6f1379eff06591236a3e5fe49de283c7a04 3 | size 604061 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Kris Schultz 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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Unity Fish AI Experiment 2 | 3 | A Unity experiment in programming AI for fish in a tank. 4 | 5 | [![](Documentation/Images/Unity_Fish_AI_Video_Thumb.jpg)](https://vimeo.com/280649279) 6 | 7 | 8 | 9 | ## Dev Requirements 10 | 11 | - Unity 2018.1.5 12 | - Git LFS (most Git clients will install this automatically when you clone this repo) 13 | 14 | 15 | 16 | ## Notes 17 | 18 | After openning the Unity project, open the following scene to try it out: `FishDemo/Scenes/SampleScene` 19 | 20 | The fish behavior is all defined in the file [`FishDemo/Scripts/Fish.cs`](Assets/FishDemo/Scripts/Fish.cs) 21 | 22 | While the app is running, be sure to take a look at the editor viewport. It will show some debugging aids in the form of colored lines that communicate what each fish is "seeing", when it detects an obstacle, and how it plans to avoid the obstacle. 23 | 24 | ![Debug Aid Visuals](Documentation/Images/Debug_Aids.jpg) 25 | 26 | *Debug aids as seen in the editor viewport during play.* 27 | 28 | --------------------------------------------------------------------------------