private void InitPoints(SensedObject obj)
{
float[,,] interpVals = obj.InterpolatedValues;
int w = interpVals.GetLength(1);
int h = interpVals.GetLength(0);
int d = interpVals.GetLength(2);
d = 1; // TODO remove if points have to be scatters in the whole volume
//float xPos, yPos, zPos;
points = new GameObject[h, w, d];
LoadPointGeometry();
float pointScale = obj.PanelGridStep / PointGeomPrefab.GetComponent <Renderer>().bounds.size.x;
for (int i = 0; i < h; i++)
{
for (int j = 0; j < w; j++)
{
//for (int k = 0; k < d; k++)
for (int k = 0; k < d; k++)
{
points[i, j, k] = Instantiate <GameObject>(PointGeomPrefab);
//points[i, j, k] = GameObject.CreatePrimitive(PrimitiveType.Quad);
points[i, j, k].transform.localScale = Vector3.one * pointScale;
points[i, j, k].transform.position = obj.GetGridPosition(i, j, k);
points[i, j, k].transform.parent = obj.ParentGO.transform;
//points[i, j, k].SetActive(false);
}
}
}
}
private void DrawColoredParticles(SensedObject obj)
{
float[,,] interpVals = obj.InterpolatedValues;
if (points == null)
{
InitPoints(obj);
}
int w = points.GetLength(1);
int h = points.GetLength(0);
int d = points.GetLength(2);
for (int i = 0; i < h; i++)
{
for (int j = 0; j < w; j++)
{
for (int k = 0; k < d; k++)
{
//if (!points[i, j, k].activeSelf)
// points[i, j, k].SetActive(true);
points[i, j, k].GetComponent <Renderer>().material.color = Utilities.ThreeColorLerp(interpVals[i, j, k], Specs.MoistureLowerBound, Specs.MoistureUpperBound, new Color(0F, 0F, 1F), new Color(1F, 1F, 0F), new Color(1F, 0F, 0F));
}
}
}
}
void DrawSizedParticles(SensedObject obj)
{
if (points == null)
{
InitPoints(obj);
}
int w = points.GetLength(1);
int h = points.GetLength(0);
int d = points.GetLength(2);
float pointScale;
//float tempWeight = 60F;
for (int i = 0; i < h; i++)
{
for (int j = 0; j < w; j++)
{
for (int k = 0; k < d; k++)
{
pointScale = Utilities.Map(obj.InterpolatedValues[i, j, k], Specs.MoistureLowerBound, Specs.MoistureUpperBound, obj.PanelGridStep / PointGeomPrefab.GetComponent <Renderer>().bounds.size.x * 2.5F, 0);
//pointScale = Mathf.Lerp(interpVals[i,j,k]/50, 0F, panelGridStep);
//Debug.Log(pointScale);
points[i, j, k].transform.parent = null;
points[i, j, k].transform.localScale = Vector3.one * pointScale;
points[i, j, k].transform.parent = obj.ParentGO.transform;
points[i, j, k].GetComponent <Renderer>().material.color = Color.yellow;
}
}
}
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
//get sheep target
sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");
sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");
sheepMemory = sheepBrain.memory;
sheepMemory.SetValue("BeingEaten", true);
arriveBehaviour = new Arrive();
arriveBehaviour.Init(myLeg);
arriveBehaviour.setTarget(sheepTarget.getObject());
//speed is zero
myBrain.legs.maxSpeed = 0f;
Debug.Log("I'm eating:" + sheepTarget.getObject() + " HP: " + sheepMemory.GetValue<float>("HP"));
yield return null;
}
public void Forget(SensedObject target)
{
if (!SensedObjects.ContainsKey(target))
{
return;
}
GameObject go = target.TargetObject;
SensedObjects.Remove(target);
if (null != go)
{
rememberedObjects.Remove(go);
seenObjects.Remove(go);
heardObjects.Remove(go);
smelledObjects.Remove(go);
implicitDetectedObjects.Remove(go);
}
if (NearestSensedObject == target)
{
var e = SensedObjects.GetEnumerator();
e.MoveNext();
NearestSensedObject = e.Current.Value;
nearestSensedChanged?.Invoke(target, NearestSensedObject);
}
sensedObjectForgottenListener?.Invoke(target);
}
public void Visualize(SensedObject obj, DateTime t)
{
obj.Interpolate(t); // TODO interpolates only if needed (not in the )
//obj.GO.GetComponent<Renderer>().enabled = false;
if (LastVizMode != Specs.ThisVizMode) // change the visualization mode
{
DestroyOtherViz(Specs.ThisVizMode);
}
switch (Specs.ThisVizMode)
{
case Specs.VIZ_MODE.TEXTURE:
case Specs.VIZ_MODE.TEXTURE_PAINT:
SetTexture2D(obj, 0);
obj.ObjectGO.GetComponent <Renderer>().material = Instantiate <Material>(Specs.TransparenMat);
obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
//obj.GO.GetComponent<Renderer>().enabled = false;
break;
case Specs.VIZ_MODE.PARTICLE_COLOR:
DrawColoredParticles(obj);
obj.ObjectGO.GetComponent <Renderer>().material = Instantiate <Material>(Specs.TransparenMat);
obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
break;
case Specs.VIZ_MODE.PARTICLE_RADIUS:
DrawSizedParticles(obj);
obj.ObjectGO.GetComponent <Renderer>().material = Instantiate <Material>(Specs.TransparenMat);
obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
//CreatParticles(obj.GO);
break;
case Specs.VIZ_MODE.TUBES:
DrawTubes(obj);
break;
//case Specs.VIZ_MODE.PARTICLE_LOOSE:
// Destroy(texGO);
// DestroyPoints();
// CreatParticles(obj.GO);
// obj.GO.GetComponent<Renderer>().material = Instantiate<Material>(Specs.TransparenMat);
// obj.GO.GetComponent<Renderer>().material.color = panelColor;
// break;
}
//DrawTubes(obj);
//// write interpolated values to file (for debugging)
//Utilities.WriteMatrix2File(Utilities.Slicer(obj.InterpolatedValues, 0), "interp/" + Time.frameCount + ".txt");
//// Setting the texture of the same geometry (wall) doesn't work due to irregular messhing
//if (texGO.GetComponent<Renderer>().material.mainTexture == null)
// texGO.GetComponent<Renderer>().material.SetTexture("_MainTex", Tex);
//else
// texGO.GetComponent<Renderer>().material.mainTexture = tex;
//SetTexture2D((Texture2D)obj.GO.GetComponent<Renderer>().material.mainTexture, obj.InterpolatedValues, 0);
}
void DrawTubes(SensedObject obj)
{
//int[] tIndx = obj.FindAllTimeStamps(t);
//if (obj.TimeIndex != null)
if (obj.DataAvailable)
{
if (tubes == null)
{
tubes = new GameObject[obj.Sensors.Length];
//for (int s = 0; s < obj.Sensors.Length; s++)
//{
// // tubes[s] = new GameObject("TubeMesh");
// //tubes[s].AddComponent<MeshFilter>();
// //tubes[s].AddComponent<MeshRenderer>();
//}
}
//List<float> MCPerLayer = new List<float>();
float[] MCPerLayer = new float[obj.LayerCount];
for (int s = 0; s < obj.Sensors.Length; s++)
{
for (int i = 0; i < obj.LayerCount; i++)
{
MCPerLayer[i] = UnityEngine.Random.Range(0.4F * Specs.MoistureUpperBound, 0.8F * Specs.MoistureUpperBound);
}
//DrawOneTube(MCPerLayer.ToArray());
if (tubes[s] == null)
{
tubes[s] = new GameObject("TubeMesh");
tubes[s].AddComponent <MeshFilter>();
tubes[s].AddComponent <MeshRenderer>();
}
DrawOneTube(tubes[s], MCPerLayer);
tubes[s].transform.localRotation = Quaternion.Euler(-90, 0, 0);
tubes[s].transform.position = new Vector3(obj.Sensors[s].Pos.x, obj.Sensors[s].Pos.y, obj.ParentGO.transform.position.z);
//tubes[s].transform.localScale = Vector3.one * obj.ObjectGO.GetComponent<Renderer>().bounds.size.z;
tubes[s].transform.localScale = Vector3.one * 0.003F;
tubes[s].transform.SetParent(obj.Sensors[s].GO.transform);
obj.Sensors[s].GO.GetComponent <Renderer>().enabled = false;
//if (Vector3.Distance(obj.Sensors[0].Pos, obj.Sensors[s].Pos) < 0.1)
//{
// MCPerLayer.Add(obj.Sensors[s].Values[obj.TimeIndex[s]]);
//}
}
//Camera cam = Camera.main;
//tubeGO.transform.rotation = Quaternion.LookRotation(cam.transform.right) * Quaternion.Euler(-90, 0, 0);
//tubeGO.transform.position = cam.transform.position + cam.transform.forward * 1.1F + cam.transform.right * 0.75F;
}
}
private SensedObject RememberSensedObject(GameObject targetObject)
{
SensedObject sensedObject;
if (!rememberedObjects.TryGetValue(targetObject, out sensedObject))
{
sensedObject = new SensedObject(targetObject);
if (null != sensedObject.sensableObject && !sensedObject.sensableObject.IsSensable)
{
sensedObject.sensableObject.onNoLongerSensableListener += () => {
Forget(sensedObject);
};
}
rememberedObjects[targetObject] = sensedObject;
}
return(sensedObject);
}
protected bool RememberSensedObject(GameObject targetObject, out SensedObject sensedObject)
{
if (!rememberedObjects.TryGetValue(targetObject, out sensedObject))
{
sensedObject = new SensedObject(targetObject);
if (null != sensedObject.sensableObject && !sensedObject.sensableObject.IsSensable)
{
var forgettable = sensedObject;
sensedObject.sensableObject.onNoLongerSensableListener += () => {
Forget(forgettable);
};
}
rememberedObjects[targetObject] = sensedObject;
return(true);
}
return(false);
}
void SetTexture2D(SensedObject obj, int depth)
{
float[,,] vals = obj.InterpolatedValues;
int panelW = vals.GetLength(1);
int panelH = vals.GetLength(0);
int i, j;
if (texGO == null)
{
InitTexture(obj);
}
Texture2D tex = (Texture2D)texGO.GetComponent <Renderer>().material.mainTexture;
Color[] colorArray = new Color[tex.width * tex.height];
float alpha = (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT ? 0 : 1);
for (int x = 0; x < tex.width; x++)
{
for (int y = 0; y < tex.height; y++)
{
j = (int)Math.Floor(Utilities.Map(x, 0, tex.width, 0, panelW));
i = (int)Math.Floor(Utilities.Map(y, 0, tex.height, 0, panelH));
//Color c = Color.Lerp(new Color(1F, 1F, 0F), new Color(0F, 1F, 0F), Utilities.Map(vals[i, j , depth], 0F, 30F, 0F, 1F));
Color c = Utilities.ThreeColorLerp(vals[i, j, depth], Specs.MoistureLowerBound, Specs.MoistureUpperBound, new Color(0F, 0F, 1F, alpha), new Color(1F, 1F, 0F, alpha), new Color(1F, 0F, 0F, alpha));
//c.a = (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT ? colorArray[x + (y * tex.width)].a : 1);
colorArray[x + (y * tex.width)] = c;
}
}
tex.SetPixels(colorArray);
//if (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT)
//{
// VertexPaint painter = texGO.GetComponent<VertexPaint>();
// if (painter == null)
// painter = texGO.AddComponent<VertexPaint>();
// //painter.Paint();
//}
//colorArray[0] = Color.black;
//tex.SetPixels(colorArray);
tex.Apply();
}
public SensedObject chooseTarget(List<SensedObject> seenSheep)
{
SensedObject target = null;
foreach (SensedObject sheep in seenSheep)
{
Brain sheepBrain = sheep.getObject().GetComponent<Brain>();
Memory sheepMem = sheepBrain.memory;
float sheepHP = sheepMem.GetValue<float>("HP");
float sheepDistanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
float sheepChasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
float sheepCourage = sheepMem.GetValue<float>("cowardLevel");
if (sheepHP > sheepHPLimit)
{
if (sheepDistanceWithSheperd > sheepDistanceSheperdLimit)
{
target = sheep;
break;
}
else
{
if (sheepChasedBy > sheepChasedByLimit)
{
if (sheepCourage <= sheepCourageLimit)
{
target = sheep;
break;
}
}
}
}
}
return target;
}
//void CreatParticlesInObject(GameObject go)
//// There is a problem with setting the colors of points in the run time (bug?) when using material all particles have the same color, when using start color, color is not applied
//{
// ParticleSystem prtclSys;
// if (!(prtclSys = go.GetComponent<ParticleSystem>()))
// {
// prtclSys = go.AddComponent<ParticleSystem>();
// //go.GetComponent<ParticleSystemRenderer>().material = new Material(Shader.Find("Diffuse"));
// }
// var shp = prtclSys.shape;
// shp.enabled = true;
// shp.shapeType = ParticleSystemShapeType.Box;
// shp.position = go.GetComponent<Renderer>().bounds.center - go.transform.position;
// shp.scale = go.GetComponent<Renderer>().bounds.size;
// var main = prtclSys.main;
// main.startSpeed = 0F;
// main.startSize = 0.05F;
// main.startLifetime = 1F;
// main.prewarm = true;
// Material m = go.GetComponent<ParticleSystemRenderer>().material;
// m.color = Color.red;
// //main.startColor = Color.red;
// //go.GetComponent<ParticleSystemRenderer>().material = null;
// var emssn = prtclSys.emission;
// emssn.rateOverTime = 200F;
// //var rndr = prtclSys.GetComponent<Renderer>();
// int count = prtclSys.particleCount;
// ParticleSystem.Particle[] prtcls = new ParticleSystem.Particle[count];
// count = prtclSys.GetParticles(prtcls);
// main.startColor = new Color(0, 0, 1);
// for (int i = 0; i < count; i++)
// {
// prtcls[i].startSize = 5 * prtcls[i].startSize;
// }
// //Debug.Log(go.transform.position - go.GetComponent<Renderer>().bounds.center);
//}
///
//void SetTexture3D(float[,,] vals)
//{
// Color[] colorArray = new Color[Tex.width * Tex.height * Tex.depth];
// //Texture3D texture = new Texture3D(size, size, size, TextureFormat.RGBA32, true);
// float r = 1.0f / (Tex.width - 1.0f);
// for (int x = 0; x < Tex.width; x++)
// {
// for (int y = 0; y < Tex.height; y++)
// {
// for (int z = 0; z < Tex.depth; z++)
// {
// Color c = new Color(x * r, y * r, z * r, 1.0f);
// colorArray[x + (y * Tex.width) + (z * Tex.width * Tex.height)] = c;
// }
// }
// }
// Tex.SetPixels(colorArray);
// Tex.Apply();
// //return texture;
//}
public void InitTexture(SensedObject obj)
{
//texGO = GameObject.CreatePrimitive(PrimitiveType.Quad);
//texGO = GameObject.CreatePrimitive(PrimitiveType.Plane);
Bounds b = obj.ObjectGO.GetComponent <Renderer>().bounds;
texGO = Utilities.CreatePlane(b.size.x, b.size.y, obj.InterpolatedValues.GetLength(2), obj.InterpolatedValues.GetLength(1), "TexturePlane");
//texGO = Utilities.CreatePlane(1,2 , 2, 6, "TexturePlane");
//texGO.name = "TexturePlane";
// Put the plane in front of wall (this only works with this iorientation of wall?) // TODO find a better way ?
texGO.transform.position = b.center - obj.SurfaceNormal * b.extents.z;
//texGO.transform.localScale = b.size;
//texGO.transform.Rotate(new Vector3(0, 90, -90));
//texGO.GetComponent<Renderer>().bounds.SetMinMax(b.min, b.max);
texGO.transform.SetParent(obj.ParentGO.transform);
// make sure texture dimensions are power of 2 and close to dimensions of interpolated values
int texW = (int)Mathf.Max(Mathf.Pow(2, Mathf.Round(Mathf.Log(obj.InterpolatedValues.GetLength(1), 2))), 4);
int texH = (int)Mathf.Max(Mathf.Pow(2, Mathf.Round(Mathf.Log(obj.InterpolatedValues.GetLength(0), 2))), 4);
texGO.GetComponent <Renderer>().material = Instantiate <Material>(Specs.TransparenMat);
texGO.GetComponent <Renderer>().material.SetColor("_Color", Color.white); // Make sure the alpha is set to 1
texGO.GetComponent <Renderer>().material.SetTexture("_MainTex", new Texture2D(texW, texH));
if (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT)
{
texGO.AddComponent <VertexPaint>();
}
//obj.GO.GetComponent<Renderer>().material = new Material(texGO.GetComponent<Renderer>().material);
//obj.GO.GetComponent<Renderer>().material.SetTexture("_MainTex", new Texture2D(256,256));
// remove collider
}
int Scariest(SensedObject wolf1, SensedObject wolf2)
{
Legs wolfLeg1 = wolf1.getObject().GetComponent<Brain>().legs;
Vector2 sheepPos = myBrain.legs.getPosition();
Vector2 wolfPos1 = wolfLeg1.getPosition();
float distance1 = Vector2.Distance(sheepPos, wolfPos1);
Vector2 wolfFacing1 = new Vector2(wolfLeg1.transform.forward.x, wolfLeg1.transform.forward.z);
float relativeVelocity1 = Vector2.Dot(wolfFacing1, sheepPos - wolfPos1);
float scariness1 = (1 / distance1) * (relativeVelocity1 + 1);
Legs wolfLeg2 = wolf2.getObject().GetComponent<Brain>().legs;
Vector2 wolfPos2 = wolfLeg2.getPosition();
float distance2 = Vector2.Distance(sheepPos, wolfPos2);
Vector2 wolfFacing2 = new Vector2(wolfLeg2.transform.forward.x, wolfLeg2.transform.forward.z);
float relativeVelocity2 = Vector2.Dot(wolfFacing2, sheepPos - wolfPos2);
float scariness2 = (1 / distance2) * (relativeVelocity2 + 1);
if(scariness1 > scariness2) {
return 1;
}
if(scariness1 < scariness2) {
return -1;
}
return 0;
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
arriveBehaviour = new PathfindToPoint();
seekBehaviour = new Seek();
arriveBehaviour.Init(myLeg, myBrain.levelGrid);
seekBehaviour.Init(myLeg);
myLeg.addSteeringBehaviour(arriveBehaviour);
myLeg.addSteeringBehaviour(seekBehaviour);
myLeg.maxSpeed = 11f;
time = 0f;
ferocityRate = controller.memory.GetValue<float>("ferocity");
sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");
sheepMemory = sheepTarget.getMemory();
sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");
arriveBehaviour.setTarget(sheepTarget.getObject());
//for machine learning
float panic = sheepBrain.memory.GetValue<float>("Panic");
float courage = sheepBrain.memory.GetValue<float>("cowardLevel");
float chasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
float distanceWithMe = Vector2.Distance(sheepBrain.legs.getPosition(), myBrain.legs.getPosition());
float distanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
float hungry = myBrain.memory.GetValue<float>("hungryLevel");
float sheepHP = sheepBrain.memory.GetValue<float>("HP");
string sheep = panic + "," + courage + "," + chasedBy + "," + distanceWithMe + "," + distanceWithSheperd + "," + hungry + "," + sheepHP;
myBrain.memory.SetValue("targeting", sheep);
yield return null;
}
/// <summary>
/// The main method that you should override in your Agent subclass is AIUpdate().
/// </summary>
/// <param name="inputs"></param>
public override void AIUpdate(List <SensoryInput> inputs)
{
base.AIUpdate(inputs);
// THE FIRST LINE OF YOUR AIUpdate() override MUST be: base.AIUpdate(inputs);
// AIUpdate copies inputs into sensed
if (!inited)
{
Init();
}
// AIUpdate copies inputs into sensed
SensedObject sawSomeone = null;
toClosestEnemy = Vector3.one * 1000;
closestEnemy = null;
foreach (SensoryInput si in sensed)
{
switch (si.sense)
{
case SensoryInput.eSense.vision:
if (si.type == eSensedObjectType.enemy)
{
sawSomeone = si.obj;
// Check to see whether the Enemy is within the firing arc
// The dot product of two vectors is the magnitude of A * the magnitude of B * cos(the angle between them)
Vector3 toEnemy = si.pos - pos;
if (toEnemy.magnitude < toClosestEnemy.magnitude)
{
toClosestEnemy = toEnemy;
closestEnemy = si.obj as Agent;
}
// float dotProduct = Vector3.Dot(headTrans.forward, toEnemy.normalized);
// float theta = Mathf.Acos(dotProduct) * Mathf.Rad2Deg;
// if (theta <= ArenaManager.AGENT_SETTINGS.bulletAimVarianceDeg) {
// if (ammo > 0) {
// Fire();
// }
// }
}
break;
}
// Regardless of the sense type, I want to know if it was a PickUp and what it was
if (si.type == eSensedObjectType.item)
{
PickUp.eType puType = (si.obj as PickUp).puType;
// Check the position of this item relative to the position of known item SpawnPoints
if (MEM[PickUp.eType.none].Count > 0)
{
SpawnPoint foundSP = null;
foreach (SpawnPoint sp in MEM[PickUp.eType.none])
{
if ((sp.pos - si.obj.pos).magnitude < 0.1f) // We found it!
{
foundSP = sp;
break;
}
}
if (foundSP != null)
{
MEM[PickUp.eType.none].Remove(foundSP);
if (!MEM.ContainsKey(puType))
{
MEM.Add(puType, new List <SpawnPoint>());
}
MEM[puType].Add(foundSP);
}
else
{
// No big deal, this just means that we already know about the SpawnPoint at that loc.
}
}
}
if (si.type == eSensedObjectType.enemy)
{
// tracker.Track(si);
}
}
if (sawSomeone == null)
{
LookCenter();
// leadObj = null;
}
else
{
// Turn head to track enemies
// How far is the enemy from current headTrans.forward
float dotProdToClosest = Vector3.Dot(toClosestEnemy.normalized, headTrans.forward);
// Account for the NaN errors that happen if Mathf.Acos(x) is called for x outside of -1 < x < 1
dotProdToClosest = Mathf.Clamp(dotProdToClosest, -1, 1);
float angToClosest = Mathf.Acos(dotProdToClosest) * Mathf.Rad2Deg;
// This shouldn't be needed because of the Clamp above
// if (Mathf.Approximately(dotProdToClosest,1)) {
// angToClosest = 0;
// } else if (Mathf.Approximately(dotProdToClosest,-1)) {
// angToClosest = 180;
// } else {
// angToClosest = Mathf.Acos( dotProdToClosest ) * Mathf.Rad2Deg;
// }
// // The following is here because the Acos of 1 is NaN.
// if (float.IsNaN(angToClosest)) {
// angToClosest = 0;
// }
// A dot product of toEnemy and transform.right will tell you whether to look left or right
float posNeg = (Vector3.Dot(toClosestEnemy.normalized, headTrans.right) < 0) ? -1 : 1;
angToClosest *= posNeg;
// print("AngleToClosest: "+angToClosest);
LookTheta(angToClosest);
if (angToClosest <= ArenaManager.AGENT_SETTINGS.bulletAimVarianceDeg)
{
if (ammo > 0)
{
Fire();
}
}
}
// Utility AI – Iterate through all the aiUtilRecs and find the one with the highest utility
float maxUtil = -1;
UtilRec uRecBest = null;
foreach (UtilRec ur in aiUtilRecs)
{
if (ur.strat.Utility(this) > maxUtil)
{
uRecBest = ur;
maxUtil = ur.u;
}
}
aiU = maxUtil;
aiStrat = uRecBest.stratType;
if (uRecBest.dest != nmAgent.destination && health > 0)
{
nmAgent.SetDestination(uRecBest.dest);
navMeshTargetLoc = uRecBest.dest;
}
// report on knowledge
spawnPointKnowledge.x = MEM.ContainsKey(PickUp.eType.none) ? MEM[PickUp.eType.none].Count : 0;
spawnPointKnowledge.y = MEM.ContainsKey(PickUp.eType.health) ? MEM[PickUp.eType.health].Count : 0;
spawnPointKnowledge.z = MEM.ContainsKey(PickUp.eType.ammo) ? MEM[PickUp.eType.ammo].Count : 0;
if (health > 0)
{
nmAgent.SetDestination(nmAgent.destination);
}
}
protected override void OnUpdateSenses()
{
if (!HasAdrenaline && frame++ < frequency)
{
return;
}
frame = 0;
float nearest = float.MaxValue;
Collider[] colliders = null;
GameObject[] gameObjects = null;
int possibleTargetCount;
if (useSphereCast)
{
colliders = Physics.OverlapSphere(transform.position, maxSenseRange, targetMask);
possibleTargetCount = colliders.Length;
}
else
{
gameObjects = SensableObject.Registry;
possibleTargetCount = gameObjects.Length;
}
seenObjects.Clear();
heardObjects.Clear();
smelledObjects.Clear();
// TODO: We may want to think about creating a new set each frame. This was just updating
// the set, but I was getting a concurrent modification exception from AnimalUtilityData since
// it is operating in a coroutine instead of on the main thread. Let's discuss how to properly
// optimize this. We could potentially go with a static list and create a copy for consumers
// that request the list when they want it. We can also optimize consumers of the list to use
// the OnNewObjectsSensed listener for updates
var sensedObjects = new SortedSet <SensedObject>();
var newlySensedObjects = new HashSet <SensedObject>();
float detectionTime = Time.fixedTime;
for (int i = 0; i < possibleTargetCount; i++)
{
GameObject targetObject = useSphereCast ? colliders[i].gameObject : gameObjects[i];
SensedObject sensedObject;
float actualDistance = Vector3.Distance(targetObject.transform.position, transform.position);
if (actualDistance > maxSenseRange)
{
continue;
}
if (targetObject == gameObject)
{
continue;
}
if (null != sensedObjectValidationListener && !sensedObjectValidationListener(targetObject))
{
continue;
}
sensedObject = RememberSensedObject(targetObject);
float sensedDistance = actualDistance;
// Detection from least accurate to most.
if (actualDistance < scentRange)
{
smelledObjects.Add(targetObject);
if (sensedObject.actualPosition != targetObject.transform.position)
{
sensedObject.position = targetObject.transform.position + UnityEngine.Random.insideUnitSphere * scentAccuracyRadius;
}
sensedDistance = Vector3.Distance(targetObject.transform.position, transform.position);
sensedObject.smelled = true;
}
if (CanSee(targetObject))
{
seenObjects.Add(targetObject);
sensedObject.position = targetObject.transform.position;
sensedObject.seen = true;
}
if (actualDistance < implicitDetectionRange)
{
implicitDetectedObjects.Add(targetObject);
sensedObject.position = targetObject.transform.position;
sensedObject.implicitlyDetected = true;
}
sensedObject.actualPosition = targetObject.transform.position;
sensedObject.distance = sensedDistance;
if (lastSenseTime != sensedObject.lastDetection)
{
newlySensedObjects.Add(sensedObject);
}
sensedObject.lastDetection = detectionTime;
SensedObjects[sensedObject] = sensedObject;
while (SensedObjects.Count > nearbySenseCapacity)
{
SensedObjects.RemoveAt(nearbySenseCapacity);
}
}
if (newlySensedObjects.Count > 0)
{
OnSensedNewObjects(newlySensedObjects);
}
lastSenseTime = detectionTime;
SensedObject old = NearestSensedObject;
NearestSensedObject = SensedObjects.Count > 0 ? SensedObjects.First().Value : null;
if (null != NearestSensedObject && Time.fixedTime - NearestSensedObject.lastDetection > timeToRetainNearest)
{
NearestSensedObject = null;
nearest = float.PositiveInfinity;
nearestSensedChanged?.Invoke(old, null);
}
else if (old != NearestSensedObject)
{
nearestSensedChanged?.Invoke(old, null);
}
}
public override IEnumerator Run(Brain controller)
{
bool thereIsShepherd = false;
float highestLeaderLevel = 0f;
List<SensedObject> seenSheep = new List<SensedObject>();
List<SensedObject> seenWolf = new List<SensedObject>();
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Sheep))
{
seenSheep.Add(obj);
}
else if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
Memory wolfMemory = obj.getMemory();
if (highestLeaderLevel <= wolfMemory.GetValue<float>("leaderLevel"))
{
highestLeaderLevel = wolfMemory.GetValue<float>("leaderLevel");
}
seenWolf.Add(obj);
}
else if(obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsShepherd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
controller.memory.SetValue("shouldHide", 3f);
}
myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
if(thereIsShepherd) {
UpdateCaution(playerTrans);
} else {
myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
}
myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
if(myBrain.memory.GetValue<float>("watched") > 0)
{
//Debug.Log (myBrain.memory.GetValue<float>("watched"));
}
//check if this wolf has been given command to attack or not
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
//decrease leaderLevel because it has been given command by others
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decreaseLeaderLevel * Time.deltaTime));
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//Change to hunting phase
Debug.Log("I've received command. I'm hunting! Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
else
{
if (seenSheep.Count > 0)
{
//choose the target
//if the wolf hasn't have his target, pick it
target = chooseTarget(seenSheep);
if (target != null)
{
//target is alive
if (target.getObject().GetComponent<Brain>().memory.GetValue<float>("HP") > 0)
{
//set the target for this wolf
controller.memory.SetValue("hasCommand", target);
//calling sheep that it is being targeted
Memory sheepMemory = target.getMemory();
//get a list of wolves that are chasing this sheep
List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");
//add itself in
if (wolvesChasing != null)
{
wolvesChasing.Add(this.myBrain);
sheepMemory.SetValue("chasedBy", wolvesChasing);
}
//send signal to other wolf in its sensing radius, tell them to change to hunting phase
if (controller.memory.GetValue<float>("leaderLevel") >= highestLeaderLevel)
{
//increase its leaderLevel whenever it issue a decision to hunt
if (controller.memory.GetValue<float>("leaderLevel") < 100f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") + increaseLeaderLevel);
}
//set the maximum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") > 100f)
{
controller.memory.SetValue("leaderLevel", 100f);
}
//call other to change to hunting phase
foreach (SensedObject objWolf in seenWolf)
{
//give out command to attack the same target
Memory wolfMemory = objWolf.getMemory();
wolfMemory.SetValue("hasCommand", target);
Debug.Log("I'm the leader! I sent command!");
}
}
//Change to hunting phasemyBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
Debug.Log("I'm hunting. Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
}
}
}
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
time = 0f;
//decrease its hungryLevel when it change to hunting state
//controller.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - 4f);
mainMachine.RequestStateTransition(hunting.GetTarget());
}
else
{
if (time >= 20f) //wait for 20 sec
{
//decrease its leaderLevel if it can't find any sheep or cant issue and command
if (controller.memory.GetValue<float>("leaderLevel") > 10f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decayLeaderLevel / myBrain.memory.GetValue<float>("ferocity")));
}
if (controller.memory.GetValue<float>("hungryLevel") > 0f)
{
myBrain.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - (decayHungryLevel * (myBrain.memory.GetValue<float>("ferocity") / 5)));
}
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//set the minimum hungryLevel for wolf
if (controller.memory.GetValue<float>("hungryLevel") < 0f)
{
controller.memory.SetValue("hungryLevel", 0f);
Debug.Log("I died because I'm too hungry");
myBrain.getGameObject().SetActiveRecursively(false);
controller.memory.GetValue<Genome>("Genome").manager.SpawnWolf(controller.memory.GetValue<Vector2>("StartPoint"));
}
}
else
{
time += Time.deltaTime;
}
}
yield return null;
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
time = 0f;
if (firstActivation)
{
target = null;//set leaderLevel for wolf
myBrain.memory.SetValue("leaderLevel", Random.value * 100);
myBrain.memory.SetValue("hasCommand", null);
myBrain.memory.SetValue("hungryLevel", 60f);
myBrain.memory.SetValue("damage", 20f);
myBrain.memory.SetValue("caution", 10f);
myBrain.memory.SetValue ("watched", 0f);
myBrain.memory.SetValue<float>("ferocity", (float)myBrain.memory.GetValue<Genome>("Genome").getGene("Ferocity"));
/* Removed ferocity override limit
if (myBrain.memory.GetValue<float>("ferocity") < 0.8f)
{
myBrain.memory.SetValue("ferocity", 0.8f);
}*/
myBrain.memory.SetValue ("shouldHide", 0f);
firstActivation = false;
}
else
{
Debug.Log("I'm roaming");
//delete its target
myBrain.memory.SetValue("hasCommand", null);
myBrain.memory.SetValue("targeting", null);
}
myLeg.maxSpeed = 8.0f;
generatedModel();
yield return null;
}
