void FixedUpdate()
{
if (agentController.isStriker && Vector3.Distance(ball.position, currentBallRegion) > 0.1f)
{
Transform nearestTeammateToBall = utils.GetNearestTeammateToPoint(ball.position);
foreach (Transform teammate in utils.teammates)
{
teammate.GetComponent <RCAgent>().isOptimalBallCharger = teammate == nearestTeammateToBall;
}
isOptimalBallCharger = transform == utils.GetNearestTeammateToPoint(ball.position);
currentBallRegion = ball.position;
}
StreamWriter writer;
string path = "";
if ((Vector3.Distance(transform.position, currentTargetPosition) < config.decisionRadius && !isOptimalBallCharger) || (wasOptimalBallCharger && !isOptimalBallCharger))
{
readyForDecision = true;
wasOptimalBallCharger = false;
if (Application.isEditor && GetComponent <Rigidbody>().isKinematic == false)
{
path = "Assets/Resources/target_data" + (agentController.isLeftSide?"_left":"_right") + ".txt";
writer = new StreamWriter(path, true);
writer.WriteLine(string.Format("{0} {1}", currentTargetPosition.x.ToString(), currentTargetPosition.z.ToString()));
writer.Close();
stepsSinceTargetWrite = 0;
}
}
if (Application.isEditor && GetComponent <Rigidbody>().isKinematic == false && stepsSincePositionWrite > 3)
{
path = "Assets/Resources/position_data" + (agentController.isLeftSide?"_left":"_right") + ".txt";
writer = new StreamWriter(path, true);
writer.WriteLine(string.Format("{0} {1}", Mathf.Clamp(transform.position.x, -fieldSize.x, fieldSize.x).ToString(), Mathf.Clamp(transform.position.z, -fieldSize.z, fieldSize.z).ToString()));
writer.Close();
stepsSincePositionWrite = 0;
}
if (framesSinceDecision > config.decisionInterval && readyForDecision)
{
RequestDecision();
framesSinceDecision = 0;
readyForDecision = false;
}
Act();
framesSinceDecision++;
stepsSinceStart++;
if (isOptimalBallCharger)
{
wasOptimalBallCharger = true;
}
}
