private void SelectNodeType(out BrainNode t_node, string t_nodeName, string t_nodeType)
{
switch (t_nodeType)
{
case "Task":
t_node = new BrainTask();
MethodInfo method = typeof(Brain).GetMethod(t_nodeName, BindingFlags.NonPublic | BindingFlags.Instance | BindingFlags.FlattenHierarchy);
((BrainTask)t_node).taskAction = (BrainAction)Delegate.CreateDelegate(typeof(BrainAction), this, method);
break;
case "Sequence":
t_node = new BrainSequence();
break;
case "Selector":
t_node = new BrainSelector();
method = typeof(Brain).GetMethod(t_nodeName, BindingFlags.NonPublic | BindingFlags.Instance | BindingFlags.FlattenHierarchy);
((BrainSelector)t_node).condition = (BrainSelectorCondition)Delegate.CreateDelegate(typeof(BrainSelectorCondition), this, method);
break;
case "State":
t_node = new BrainState();
break;
default:
t_node = new BrainNode();
break;
}
t_node.nodeName = t_nodeName;
}
// Update is called once per frame
private void Update()
{
BrainTransition triggeredTransition = null;
foreach (KeyValuePair <string, BrainTransition> transition in sm_currentState.transitions)
{
if (transition.Value.isTriggered)
{
triggeredTransition = transition.Value;
transition.Value.isTriggered = false;
break;
}
}
if (triggeredTransition != null)
{
BrainNode targetState = triggeredTransition.targetState;
triggeredTransition.ExecuteTransition();
sm_currentState = targetState;
}
else
{
sm_currentState.Execute();
if (m_nextState != null)
{
sm_currentState = m_nextState;
m_nextState = null;
}
}
}
private void LoadBeaviorTree(BrainState t_state)
{
// Read JSON...
string jsonPath = Application.persistentDataPath + "/" + t_state.nodeName + ".json";
string jsonString = File.ReadAllText(jsonPath);
JSONObject SMJson = (JSONObject)JSON.Parse(jsonString);
BehaviorTree bt = new BehaviorTree
{
btName = t_state.nodeName
};
bt.bt_initialNode = new BrainNode();
SelectNodeType(out bt.bt_initialNode, SMJson["entryNode"]["nodeName"], SMJson["entryNode"]["nodeType"]);
if (!bt_nodes.ContainsKey(bt.bt_initialNode.nodeName))
{
bt_nodes.Add(bt.bt_initialNode.nodeName, bt.bt_initialNode);
}
// Rest of the states
foreach (JSONObject btNode in SMJson["nodes"])
{
BrainNode newNode = new BrainNode();
SelectNodeType(out newNode, btNode["nodeName"], btNode["nodeType"]);
if (!bt_nodes.ContainsKey(newNode.nodeName))
{
bt_nodes.Add(newNode.nodeName, newNode);
}
}
// Entry point transitions
foreach (JSONArray jsonTransition in SMJson["entryNode"]["outputs"])
{
BrainTransition transition = new BrainTransition
{
targetState = bt_nodes[jsonTransition[1]]
};
bt.bt_initialNode.transitions.Add(jsonTransition[1], transition);
}
// Rest of the transitions
foreach (JSONObject state in SMJson["nodes"])
{
foreach (JSONArray jsonTransition in state["outputs"])
{
BrainTransition transition = new BrainTransition
{
targetState = bt_nodes[jsonTransition[1]]
};
bt_nodes[jsonTransition[0]].transitions.Add(jsonTransition[1], transition);
}
}
t_state.behavior = bt;
}
private void LoadBrain()
{
// Read JSON...
string jsonPath = Application.persistentDataPath + "/StateMachine.json";
string jsonString = File.ReadAllText(jsonPath);
JSONObject SMJson = (JSONObject)JSON.Parse(jsonString);
// Entry point
BrainState sm_entryState = new BrainState
{
nodeName = SMJson["entryNode"]["nodeName"]
};
sm_states.Add(sm_entryState.nodeName, sm_entryState);
sm_initialState = sm_entryState;
LoadBeaviorTree(sm_entryState);
// Rest of the states
foreach (JSONObject state in SMJson["nodes"])
{
BrainState newState = new BrainState
{
nodeName = state["nodeName"]
};
sm_states.Add(newState.nodeName, newState);
LoadBeaviorTree(newState);
}
// Entry point transitions
foreach (JSONArray jsonTransition in SMJson["entryNode"]["outputs"])
{
BrainTransition transition = new BrainTransition
{
targetState = sm_states[jsonTransition[1]]
};
sm_entryState.transitions.Add(jsonTransition[1], transition);
}
// Rest of the transitions
foreach (JSONObject state in SMJson["nodes"])
{
foreach (JSONArray jsonTransition in state["outputs"])
{
BrainTransition transition = new BrainTransition
{
targetState = sm_states[jsonTransition[1]]
};
sm_states[jsonTransition[0]].transitions.Add(jsonTransition[1], transition);
}
}
}
//public BrainNode(int inIndex, Vector3 loc, string inRegion, string inDescription)
//{
// node = Instantiate(node, loc, Quaternion.identity);
// index = inIndex;
// node.name = "RollerBall" + index;
// region = inRegion;
// desc = inDescription;
//}
public static BrainNode CreateBrainNode(GameObject node, int ind, string inRegion, string inDescription)
{
BrainNode myBrainNode = node.AddComponent <BrainNode>();
myBrainNode.index = ind;
myBrainNode.region = inRegion;
myBrainNode.desc = inDescription;
node.name = inRegion;
return(myBrainNode);
}
public CharacterBrain(BaseCharacter character, BrainNode brainNode)
{
this.character = character;
this.brainNode = brainNode;
this.brainNode.SetCharacter(character);
this.currentTask = null;
/* this.taskRunner.onEndTask = delegate {
* if (this.taskRunner.task.taskStatus == TaskStatus.Success) {
* ///Debug.Log("Clearing task (success)");
* this.currentTaskData = null;
* } else if (this.taskRunner.task.taskStatus == TaskStatus.Failed) {
* //Debug.Log("Clearing task (failed)");
* this.currentTaskData = null;
* }
* };
*/
}
//public GameObject[] child = new GameObject[96];
private void Start()
{
brain = new GameObject[96];
float[][] positions = ReadCSVFile();
string[] regions = ReadRegions();
SetFrameData();
for (int i = 0; i < 96; i++)
{
Vector3 loc = new Vector3(positions[i][0], positions[i][1], positions[i][2]);
brain[i] = Instantiate(visualizer, loc, Quaternion.identity);
//placeholder sphere object
GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere.transform.position = loc;
//make sphere child component of brain node, with no particular use by now...
//comment it bacuase rollerball prefab moves ...? comment it out if rollerball works fine
//sphere.transform.parent = brain[i].transform;
BrainNode.CreateBrainNode(brain[i], i, "a" + i, "a" + i);
if (brain[i].GetComponent <LineRenderer>() == null)
{
brain[i].AddComponent <LineRenderer>();
}
//assign text
MeshFilter meshFilter = brain[i].GetComponent <MeshFilter>();
DestroyImmediate(meshFilter);
brain[i].AddComponent <TextMesh>();
brain[i].GetComponent <TextMesh>().text = regions[i];
//make text invisible for now; text will be visible in laser script
//brain[i].GetComponent<MeshRenderer>().enabled = false;
}
/**for (int i = 0; i < NUM_FRAMES; ++i)
* {
* //RenderAllLines(GetFrameData(i));
* //StartCoroutine(ClearChords());
* }**/
//RenderAllLines(GetFrameData(0));
StartCoroutine(ClearChords());
//RenderAllLines(GetFrameData(20));
//StartCoroutine(ClearChords());
}
private void GoIdle()
{
m_nextState = sm_states["Idle"];
print("I am transitioning to Idle!!");
}
private void GoEat()
{
m_nextState = sm_states["Eat"];
print("I am transitioning to Eat!!");
}
private void GoDrink()
{
m_nextState = sm_states["Drink"];
print("I am transitioning to Drink!!");
}
public void SetUpStateMachine()
{
sm_currentState = sm_initialState;
}
