private GameObject senseClosest(string p_type)
{
GameObject[] sensed = sense(p_type);
if (sensed.Length == 0)
{
return(null);
}
GameObject closest = null;
float closeness = float.PositiveInfinity;
foreach (GameObject ob in sensed)
{
float prox = Vector2Calc.proximity(ob.transform.position, gameObject.transform.position);
if (prox < closeness)
{
closest = ob;
closeness = prox;
}
}
return(closest);
}
private GameObject[] sense(string p_type)
{
GameObject[] all_of_type = ObjectLogger.getByType(p_type);
List <GameObject> in_arc = new List <GameObject>();
foreach (GameObject ob in all_of_type)
{
if (ob == null)
{
continue;
}
Vector3 diff = ob.transform.position - gameObject.transform.position;
if (Vector2Calc.checkAngle(diff, m_forward, m_sense_angle) && diff.magnitude <= m_sense_proximity)
{
in_arc.Add(ob);
}
}
// foreach(GameObject ob in in_arc){
// Debug.DrawLine(gameObject.transform.position, ob.transform.position, Color.cyan, 1f);
// }
return(in_arc.ToArray());
}
private void fitnessUpdate()
{
Vector3 creature_position = gameObject.transform.position;
Task t = Task.Factory.StartNew(() => {
Vector2 proj = Line2D.projection(creature_position, m_controller.GoalLine);
//Prox to Line
// float lineProx = (9.8f-((proj - Vector2Calc.fromVector3(creature_position)).magnitude));
// float fitness = Mathf.Sign(lineProx) > 0 ? Mathf.Pow( lineProx, 2 ) : -Mathf.Pow( lineProx, 2 );
//Prox to Line + Distance From Origin
// float lineProx = (9.8f-((proj - Vector2Calc.fromVector3(creature_position)).magnitude));
// float originDist = (Vector2.zero - Vector2Calc.fromVector3(creature_position)).magnitude;
// float fitness = Mathf.Sign(lineProx*originDist) > 0 ? Mathf.Pow( lineProx*originDist, 2 ) : -Mathf.Pow( lineProx*originDist, 2 );
//Distance from origin only if within prox of line
// float counting = (proj - Vector2Calc.fromVector3(creature_position)).magnitude > 1f ? 0 : 1;
// float originDist = (Vector2.zero - Vector2Calc.fromVector3(creature_position)).magnitude;
// float fitness = counting * originDist;
//Distance from origin only if within prox of line and only above x axis
float counting = (proj - Vector2Calc.fromVector3(creature_position)).magnitude > 1f ? 0 : 1;
float negative = creature_position.x >= 0 ? 1 : -1;
float originDist = (Vector2.zero - Vector2Calc.fromVector3(creature_position)).magnitude;
float fitness = counting * originDist * negative;
fit_samples++;
m_fit_color = fitness;
m_fitness += fitness;
});
// if(m_fit_color > 0){
// m_renderer.color = new Color(0,Mathf.Clamp(0.2f+0.8f*(m_fit_color/98),0,1),0,1);
// } else {
// m_renderer.color = new Color(Mathf.Clamp(0.2f+(-0.8f)*(m_fit_color/98), 0, 1),0,0,1);
// }
//COLOR: Distance from origin only if within prox of line
if (m_fit_color > 0f)
{
m_renderer.color = new Color(0, Mathf.Clamp(0.2f + 0.8f * (m_fit_color / 16), 0, 1), 0, 1);
}
else if (m_fit_color < 0f)
{
m_renderer.color = new Color(Mathf.Clamp(0.2f + (-0.8f) * (m_fit_color / 16), 0, 1), 0, 0, 1);
}
else
{
m_renderer.color = new Color(0, 0, 0.5f, 1);
}
}
private void fitnessUpdate()
{
Vector3 creature_position = gameObject.transform.position;
//Prox to Line
float fitlineProx = (Vector2Calc.fromVector3(gameObject.transform.position) - Line2D.projection(creature_position, m_controller.FitnessLine)).magnitude;
float healthlineProx = (Vector2Calc.fromVector3(gameObject.transform.position) - Line2D.projection(creature_position, m_controller.HealthLine)).magnitude;
Task t = Task.Factory.StartNew(() => {
if ((fitlineProx < healthlineProx) || (healthlineProx > 1))
{
float fitness = 10 - (fitlineProx * 10);
m_fit_color = fitness;
m_fitness += fitness;
}
else
{
if (m_heal_time++ < 2000)
{
m_heal_amount = 3 - (3 * (healthlineProx));
m_health.add(m_heal_amount);
m_fit_color = 0;
}
else
{
m_fit_color = -10f;
}
}
fit_samples++;
});
// if(m_fit_color > 0){
// m_renderer.color = new Color(0,Mathf.Clamp(0.2f+0.8f*(m_fit_color/98),0,1),0,1);
// } else {
// m_renderer.color = new Color(Mathf.Clamp(0.2f+(-0.8f)*(m_fit_color/98), 0, 1),0,0,1);
// }
if (m_fit_color > 0f)
{
m_renderer.color = new Color(0, 0, Mathf.Clamp(0.2f + 0.8f * (m_fit_color / 10), 0, 1), 1);
}
else if (m_fit_color < 0f)
{
m_renderer.color = new Color(Mathf.Clamp(0.2f - 0.8f * (m_fit_color / 10), 0, 1), 0, 0, 1);
}
else
{
m_renderer.color = new Color(0, Mathf.Clamp(0.2f + 0.8f * (m_heal_amount / 3), 0, 1), 0, 1);
}
}
private bool canGather()
{
GameObject[] obs = sense("RESOURCE");
foreach (GameObject o in obs)
{
if (Vector2Calc.proximity(gameObject.transform.position, o.transform.position) < 1f)
{
return(true);
}
}
return(false);
}
// Update is called once per frame
// Using Fixed update because it's easy to speed up. When in real time, should probably split decision making into Update() from action activation in FixedUpdate()
void FixedUpdate()
{
if (!m_is_initialized)
{
Debug.LogError("Creatures require initilization after Instantiation");
}
//Tick Event Managers
m_tm.tick(Time.fixedDeltaTime);
m_im.tick(Time.fixedDeltaTime);
//Set forward to correct forward vector
m_forward = Vector2Calc.fromAngle(gameObject.transform.rotation.eulerAngles.z + 90);
//Actiavte and flush the actions priority list
m_actions.activate();
}
public static DOutput aim_at_nearest_creature(ResourceFightDNCreature p_cre)
{
return((float p_input) =>
{
GameObject creature = p_cre.senseClosest("CREATURE");
if (creature)
{
float angle = Vector2Calc.getAngle(p_cre.m_forward, creature.transform.position - p_cre.transform.position);
p_cre.m_actions.add("ROTATE", p_input, () => { p_cre.transform.Rotate(0, 0, -2 * Mathf.Sign(angle)); });
}
else
{
return;
}
});
}
// Using Fixed update because it's easy to speed up. When in real time, should probably split decision making into Update() from action activation in FixedUpdate()
void FixedUpdate()
{
if (!m_is_initialized)
{
Debug.LogError("Creatures require initilization after Instantiation");
}
//Tick the timeout event manager
m_tm.tick(Time.fixedDeltaTime);
m_im.tick(Time.fixedDeltaTime);
m_cooldowns.tickAll(Time.fixedDeltaTime);
//Set forward to correct forward vector
m_forward = Vector2Calc.fromAngle(gameObject.transform.rotation.eulerAngles.z + 90);
if (!m_brain_stop)
{
if (m_decision_time)
{
m_actions.flush();
//Call fixed update of Controller to do one brain iteration
setBehaviours();
m_decision_time = false;
}
//Actiavte and flush the actions priority list
m_actions.activate();
}
//Update fitness for this frame
m_fitness += fitnessUpdate();
energyConsumer(Time.fixedDeltaTime * 0.2f);
consumeMoveEnergy(Time.fixedDeltaTime);
if (m_energy.isMin())
{
m_renderer.color = Color.red;
}
else
{
m_renderer.color = Color.green;
}
}
public static DOutput search_resource(ResourceFightDNCreature p_cre)
{
return((float p_input) =>
{
GameObject resource = p_cre.senseClosest("RESOURCE");
if (resource)
{
float angle = Vector2Calc.getAngle(p_cre.m_forward, resource.transform.position - p_cre.transform.position);
p_cre.m_actions.add("ROTATE", p_input, () => { p_cre.transform.Rotate(0, 0, -2 * Mathf.Sign(angle)); });
if (angle < 10f)
{
p_cre.m_actions.add("MOVE", p_input, () => { p_cre.move(p_cre.m_forward); });
}
}
else
{
p_cre.m_actions.add("ROTATE", p_input, () => { p_cre.transform.Rotate(0, 0, 1); });
}
});
}
//Dodging
public static DInput bulletCollisionImminent(ResourceFightDNCreature p_cre)
{
DActivationFunction prox_activate = ActivationFactory.generateSigmoid(1.5f, 2, false, true, true);
DActivationFunction angle_activate = ActivationFactory.generateSigmoid(10f, 2, false, true, true);
DActivationFunction full_activate = ActivationFactory.generateSigmoid(1, 1, false, true, false);
return(() =>
{
GameObject[] bullets = p_cre.sense("BULLET");
List <GameObject> bullets_close_and_coming_towards = new List <GameObject>();
foreach (GameObject bul in bullets)
{
if (Vector2Calc.proximity(bul.transform.position, p_cre.transform.position) < 2 && Vector2Calc.checkAngle(p_cre.transform.position - bul.transform.position, bul.GetComponent <Rigidbody2D>().velocity, 10))
{
bullets_close_and_coming_towards.Add(bul);
}
}
float activation = 0;
foreach (GameObject bul in bullets_close_and_coming_towards)
{
float bul_prox = prox_activate(Vector2Calc.proximity(bul.transform.position, p_cre.transform.position) - 0.5f);
float bul_angle = angle_activate(Mathf.Abs(Vector2Calc.getAngle(p_cre.transform.position - bul.transform.position, bul.GetComponent <Rigidbody2D>().velocity)));
float bul_active = full_activate(bul_prox * bul_angle);
if (bul_active > activation)
{
activation = bul_active;
}
}
//if(activation >0 ) Debug.Log(activation);
return activation;
});
}
public static DInputFactory <ResourceFightDNCreature> isInRangeFactory(string p_type, float p_range)
{
return((ResourceFightDNCreature p_cre) =>
{
return () =>
{
GameObject[] sensed = p_cre.sense(p_type);
bool any_in_range = false;
foreach (GameObject ob in sensed)
{
if (Vector2Calc.proximity(ob.transform.position, p_cre.transform.position) <= p_range)
{
any_in_range = true;
break;
}
}
// if (any_in_range) Debug.Log("InRange " + p_type);
return any_in_range ? 1f : 0f;
};
});
}
public void rotate(float degrees)
{
m_direction = Vector2Calc.rotateDirectionVector(m_direction, degrees);
}
public Line2D(Vector2 p_point, Vector2 p_direction)
{
m_point = Vector2Calc.clone(p_point);
m_direction = Vector2Calc.clone(p_direction);;
}
public static Vector2 projection(Vector2 p_point, Line2D p_normal)
{
Vector2 norm_point = p_normal.Point;
return(Vector2Calc.projection(p_point - norm_point, p_normal.Direction) + norm_point);
}
private void gather()
{
//Get list of gatherable resources
GameObject[] obs = sense("RESOURCE");
List <GameObject> resources = new List <GameObject>();
Vector3 this_position = gameObject.transform.position;
foreach (GameObject o in obs)
{
if (Vector2Calc.proximity(this_position, o.transform.position) < 1f)
{
resources.Add(o);
}
}
//If there are none, return
if (resources.Count == 0)
{
return;
}
//Get the closest resource in gather arc
float closeness = float.PositiveInfinity;
GameObject to_harvest = null;
foreach (GameObject o in resources)
{
float proximity = Vector2Calc.proximity(this_position, o.transform.position);
if (!(proximity < closeness))
{
continue;
}
closeness = proximity;
to_harvest = o;
}
//Gather the resource
m_brain_stop = true;
m_rb.velocity = Vector3.zero;
m_rb.angularVelocity = 0;
m_actions.flush();
m_cooldowns.activate("GATHER", 0.5f);
GameObject line = LineCreator.createLine(this_position + (Vector3Calc.fromVec2(m_forward) * 0.1f), to_harvest.transform.position, Color.green, 0.05f, 0.5f);
Resource harvesting = to_harvest.GetComponent <Resource>();
DIntervalListener energy_suck = () =>
{
float harvest_power = m_energy.Max - m_energy.Value;
if (harvest_power > 10f)
{
harvest_power = 10f;
}
if (to_harvest != null)
{
m_energy.add(harvesting.collect(harvest_power));
}
};
m_im.addListener(0.1f, energy_suck);
m_tm.addTimeout(0.5f, () =>
{
m_im.removeListener(0.1f, energy_suck);
m_brain_stop = false;
});
}
