/*
* Core agent update function.
*/
void Update()
{
if (this.sensorModule == null || this.knowledgeBase == null)
{
return;
}
float distToGoal = -1;
if (WorldStateManager.CONTROL)
{
// This is control logic for a simple test to compare algos against
// here for now because logic was tightly coupled
// TODO: extract this into separate agent
this.sensorModule.Update();
if (knowledgeBase.GetCurrentGoal() == null)
{
Tile t = WorldStateManager.GetControlTileForAgent(this.ID);
if (t == null)
{
// Debug.Log("Tile is null");
//No goal so just chill out
flightController.SetNextDestination(sensorModule.gps.position);
this.flightController.UpdateMotion(1f);
return;
}
knowledgeBase.SetGoalTile(new SearchTile(t.GetID(), t.GetCenter()));
}
this.flightController.UpdateMotion(distToGoal);
flightController.SetNextDestination(knowledgeBase.GetCurrentGoal().center);
Debug.DrawLine(this.sensorModule.gps.position, new Vector3(this.knowledgeBase.GetCurrentGoal().center.x, this.knowledgeBase.GetCurrentGoal().center.y - 40f, this.knowledgeBase.GetCurrentGoal().center.z), Color.black);
distToGoal = this.GetDistanceToGoal(this.sensorModule.gps.position, knowledgeBase.GetCurrentGoal().center);
if (distToGoal < 5.1f)
{
WorldStateManager.MarkTileAsSearched(knowledgeBase.GetCurrentGoal());
knowledgeBase.SetCurrentGoalAsSearched();
}
return;
}
// Update the knowledge base first
this.sensorModule.Update();
this.knowledgeBase.UpdateKnowledgeBase();
// Check if the agent is in range of the tile
SearchTile goalTile = knowledgeBase.GetCurrentGoal();
if (goalTile != null)
{
distToGoal = this.GetDistanceToGoal(this.sensorModule.gps.position, goalTile.center);
if (distToGoal < 5.1f)
{
WorldStateManager.MarkTileAsSearched(goalTile);
knowledgeBase.SetCurrentGoalAsSearched();
}
}
//This should be used with horizons and stuff
if (shouldUpdateHeading())
{
this.knowledgeBase.ComputeNextHorizon(HEADING_UPDATE_TIME);
Vector3 nextPoint = decisionManager.getNextDesiredPoint();
// Debug.DrawLine( new Vector3(nextPoint.x, nextPoint.y - 50, nextPoint.z), new Vector3(nextPoint.x, nextPoint.y + 20, nextPoint.z));
flightController.SetNextDestination(nextPoint);
}
// Update position
this.flightController.UpdateMotion(distToGoal);
// if(this.knowledgeBase.GetCurrentGoal() != null)
// Debug.DrawLine( this.sensorModule.gps.position, new Vector3(this.knowledgeBase.GetCurrentGoal().center.x, this.knowledgeBase.GetCurrentGoal().center.y-40f, this.knowledgeBase.GetCurrentGoal().center.z), Color.black);
this.knowledgeBase.SendAgentUpdate();
// if(this.ID == 0){
foreach (AgentUpdate upd in this.knowledgeBase.updates)
{
if (Vector3.Distance(this.sensorModule.gps.position, upd.lastUpdate.position) < 200)
{
Debug.DrawLine(this.sensorModule.gps.position, upd.lastUpdate.position, Color.black);
}
}
// }
}
