// This does ALL the settings of values on aiUtilRecs because anything I set in the Inspector
// is not copied when I use GameObject.AddComponent() in ArenaManager
void SetAIUtilRecs()
{
aiUtilRecs = new List <UtilRec>();
UtilRec ur;
// Explore
ur = new UtilRec();
ur.stratType = eStrat.explore;
ur.enabled = true;
ur.utilMinMax = new Vector2(0.0f, 0.4f);
ur.curveFunc = x => x;
ur.strat = new JBS_Explore(ur);
aiUtilRecs.Add(ur);
// Wander
ur = new UtilRec();
ur.stratType = eStrat.wander;
ur.enabled = true;
ur.utilMinMax = new Vector2(0.3f, 0.3f);
ur.curveFunc = x => x;
ur.strat = new JBS_Wander(ur);
aiUtilRecs.Add(ur);
// I've removed the rest of these for you to figure out yourself. – JGB
}
public JBStrat(UtilRec ur)
{
uRec = ur;
}
public JBS_Wander(UtilRec ur) : base(ur) // ": base(ur)" calls the JBStrat constructor and passes in ur
{
}
/// <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);
}
}
