public NodeGene(NODETYPE nodeType, int id, int layer, float bias, ACTIVATION_FUNCTION activationFunction)
{
this.nodeType = nodeType;
this.id = id;
this.layer = layer;
this.bias = bias;
this.activationFunction = activationFunction;
}
public void RemoveNode(NodeGraph node)
{
Nodes.Remove(node);
if (Nodes.Count == 0)
{
Type = NODETYPE.ACTION;
}
}
public void AddNode(NodeGraph node)
{
node.Parent = this;
Nodes.Add(node);
if (Type == NODETYPE.ACTION)
{
Type = NODETYPE.SEQUENCE;
}
}
/// <summary>
/// 将数据持久到数据库
/// </summary>
public void Persistent()
{
string sql = "INSERT INTO T_PROCESS(NID,ORIGIN,DESTINATION,TRANSITIONID,INSTANCEID,NODETYPE,RNID,OPERATION) VALUES(@NID,@ORIGIN,@DESTINATION,@TRANSITIONID,@INSTANCEID,@NODETYPE,@RNID,@OPERATION)";
Connection.Execute(sql, new
{
NID = Guid.NewGuid().ToString(),
ORIGIN = ORIGIN,
DESTINATION = DESTINATION,
TRANSITIONID = TRANSITIONID,
INSTANCEID = INSTANCEID,
NODETYPE = NODETYPE.ToString(),
RNID = RNID,
OPERATION = OPERATION
});
}
public NodeGene(NODETYPE nodeType, int id, int layer, bool biasExpressed, ACTIVATION_FUNCTION activationFunction)
{
this.nodeType = nodeType;
this.id = id;
this.layer = layer;
neat = GameObject.Find("Scripts").GetComponent <Neat>();
if (biasExpressed)
{
bias = Random.Range(-neat.weightRange, neat.weightRange);
}
else
{
bias = 0;
}
this.activationFunction = activationFunction;
}
public ListNode(NODETYPE data, ListNode nextPtr, ListNode prevPtr)
{
m_NextPtr = nextPtr;
m_PrevPtr = prevPtr;
m_Data = Object.ReferenceEquals(data as ValueType, null) ? (NODETYPE)(((ICloneable)data).Clone()) : data;
}
public ListNode(NODETYPE data, ListNode nextPtr)
{
m_NextPtr = nextPtr;
m_Data = data;
}
public ListNode(ListNode prevPtr, NODETYPE data)
{
m_PrevPtr = prevPtr;
m_Data = data;
}
public ListNode(NODETYPE data)
{
m_Data = data;
}
public bool parseContent()
{
_nCurNodeType = NODETYPE.NODETYPE_NA;
int i = (int)_nCursor;
int imax = _strContent.Length - 1;
if (i > imax)
{
_nCursor = -1; // force next string to be read from file
return(true);
}
string strTemp = _strContent + i;
// pass spaces if we are inside a <...> and not yet processing an attribute value
while ((i <= imax) &&
(_bCurInsideNode && !_bCurInsideAttrib) &&
(_strContent[i] == ' ' || _strContent[i] == 0x0A || _strContent[i] == 0x0D))
{
i++;
}
if (i > imax)
{
_nCursor = -1; // force next string to be read from file
return(true);
}
// are we inside a comment ?
if (_bCurInsideComment)
{
while ((i <= imax - 2) &&
!(_strContent[i] == '-' && _strContent[i + 1] == '-' && _strContent[i + 2] == '>'))
{
i++;
}
if (i <= imax - 2) // found an end-comment
{
_nCurNodeType = NODETYPE.NODETYPE_NA; // tell user we have nothing to provide him with
_nCursor = i + 2 + 1;
// after '-->' we are automatically within a content
_bCurInsideNode = _bCurInsideAttrib = _bCurInsideComment = _bCurInsideCDATA = false;
_bCurInsideContent = true;
_strCurNodeContent = "";
return(true);
}
else // we still are inside an comment
{
_nCurNodeType = NODETYPE.NODETYPE_COMMENT;
_nCursor = imax + 1; // force next string to be read
return(true);
}
}
// are we inside a CDATA section ?
if (_bCurInsideCDATA)
{
while ((i <= imax - 2) &&
!(_strContent[i] == ']' && _strContent[i + 1] == ']' && _strContent[i + 2] == '>'))
{
i++;
}
if (i <= imax - 2) // found an end-comment
{
_nCurNodeType = NODETYPE.NODETYPE_NA; // tell user we have nothing to provide him with
_nCursor = i + 2 + 1;
// after ']]>' we are automatically within a content
_bCurInsideNode = _bCurInsideAttrib = _bCurInsideComment = _bCurInsideCDATA = false;
_bCurInsideContent = true;
_strCurNodeContent = "";
return(true);
}
else // we still are inside an CDATA section
{
_nCurNodeType = NODETYPE.NODETYPE_CDATA;
_nCursor = imax + 1; // force next string to be read
return(true);
}
}
if (_bCurInsideAttrib) // extracting the attrib value, possibly in multiple passes
{
if (_strCurAttribValue.Length == 0)
{
// pass EOL
while ((i <= imax) && (_strContent[i] == ' ' || _strContent[i] == 0x0A || _strContent[i] == 0x0D))
{
i++;
}
if (i > imax)
{
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i;
return(true);
}
char quotechar = _strContent[i++];
_strCurAttribValue += quotechar; // start with something whatsoever!
// in fact, we don't check the quotechar is an actual quotechar, ie " or '
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i;
return(true);
}
else
{
long ibegin = i;
// pass until we find spaces or EOL or >
while ((i <= imax) && _strContent[i] != '\"' &&
_strContent[i] != '\'' &&
_strContent[i] != 0x0A &&
_strContent[i] != 0x0D &&
_strContent[i] != '>')
{
i++;
}
// TODO : properly manage the case of a multiple-line attrib-value
// (we should in this case return a N/A nodetype as long as we haven't
// encountered the ending quotechar, while buffering all the chars in
// the strAttribValue member).
long iend = i;
_strCurAttribValue += _strContent.Substring((int)ibegin, (int)(iend - ibegin));
if (i > imax)
{ // don't forget to add the EOL as well
_strCurAttribValue += "\r\n";
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i;
return(true);
}
// and remove the prefixed quote char
while (_strCurAttribValue.Length != 0 &&
(_strCurAttribValue[0] == '\"' || _strCurAttribValue[0] == '\''))
{
_strCurAttribValue = _strCurAttribValue.Substring(1);
}
_nCurNodeType = NODETYPE.NODETYPE_ATTRIB;
_bCurInsideAttrib = false;
if (_strContent[i] != '>')
{
i++; // pass ending quote char
}
_nCursor = i;
return(true);
}
} // end if _bCurInsideAttrib==true
if (_bCurInsideContent)
{
long ibegin = i;
// pass until we find spaces or EOL or >
while ((i <= imax) && _strContent[i] != 0x0A &&
_strContent[i] != 0x0D &&
_strContent[i] != '<')
{
i++;
}
long iend = i;
if ((i <= imax) && _strContent[i] == '<')
{
_bCurInsideContent = false;
}
_strCurNodeContent = _strContent.Substring((int)ibegin, (int)(iend - ibegin));
if (_strCurNodeContent.Length == 0)
{
_nCurNodeType = NODETYPE.NODETYPE_NA;
}
else
{
_nCurNodeType = NODETYPE.NODETYPE_CONTENT;
}
_nCursor = i;
return(true);
} // end if (_bCurInsideContent)
//
char c = _strContent[i];
// a node ?
if (c == '<')
{
if (_bCurInsideNode) // error, we were already inside one
{
_strLastError = IDS_BADBEGINNODESYMBOL;
return(false);
}
_bCurInsideNode = true;
_bCurInsideAttrib = _bCurInsideContent = _bCurInsideComment = _bCurInsideCDATA = false;
i++;
// pass spaces
while (_strContent[i] == ' ' || _strContent[i] == 0x0A || _strContent[i] == 0x0D)
{
i++;
}
if (i > imax)
{
_strLastError = IDS_NOBEGINNODESYMBOLINEOL;
return(false);
}
// here we have either a node name, a PI, or a begin comment
if (imax - i >= 2) // is it a begin comment ? ( <!-- )
{
if (_strContent[i + 0] == '!' &&
_strContent[i + 1] == '-' &&
_strContent[i + 2] == '-')
{
_nCurNodeType = NODETYPE.NODETYPE_COMMENT;
_bCurInsideComment = true;
i += 3; // go to actual comment content
_nCursor = i;
return(true);
}
}
if (imax - i >= 7) // is it a begin cdatasection ? ( <![CDATA[ )
{
if (_strContent[i + 0] == '!' &&
_strContent[i + 1] == '[' &&
_strContent[i + 2] == 'C' &&
_strContent[i + 3] == 'D' &&
_strContent[i + 4] == 'A' &&
_strContent[i + 5] == 'T' &&
_strContent[i + 6] == 'A' &&
_strContent[i + 7] == '[')
{
_nCurNodeType = NODETYPE.NODETYPE_CDATA;
_bCurInsideCDATA = true;
i += 8; // go to actual cdata section content
_nCursor = i;
return(true);
}
}
// the node name begins at position i
long ibegin = i;
// pass until we find spaces or EOL or >
while ((i <= imax) && _strContent[i] != ' ' &&
_strContent[i] != 0x0A &&
_strContent[i] != 0x0D &&
(_strContent[i] != '/' || (i == ibegin)) && // don't forget empty elements (for instance <br/>)
_strContent[i] != '>')
{
i++;
}
long iend = i;
_strCurNodeName = _strContent.Substring((int)ibegin, (int)(iend - ibegin));
if (_strCurNodeName.Length == 0)
{
_strLastError = IDS_EMPTYELEMENTNAME;
return(false);
}
if (_strCurNodeName[0] == '?' || _strCurNodeName[0] == '!')
{
_nCurNodeType = NODETYPE.NODETYPE_PI;
_strCurPInstruction = _strCurNodeName;
_strCurNodeName = ""; // erase the PI instruction so it does not appear as a node name
}
else if (_strCurNodeName[0] == '/')
{
_nCurNodeType = NODETYPE.NODETYPE_ENDELEMENT;
_strCurNodeName = _strCurNodeName.Substring(1); // remove /
}
else
{
_nCurNodeType = NODETYPE.NODETYPE_BEGINELEMENT;
}
_nCursor = i;
return(true);
}
else // >, or ?, or content or attribute
{
if (c == '?')
{
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i + 1;
return(true);
}
else if (c == '/')
{
i++;
// pass node name
long ibegin = i;
// pass until we find spaces or EOL or >
while ((i <= imax) && _strContent[i] != ' ' &&
_strContent[i] != 0x0A &&
_strContent[i] != 0x0D &&
_strContent[i] != '>')
{
i++;
}
long iend = i;
_nCurNodeType = NODETYPE.NODETYPE_ENDELEMENT;
_nCursor = i;
return(true);
}
else if (c == '>')
{
_bCurInsideNode = _bCurInsideAttrib = false;
_bCurInsideContent = true;
_strCurNodeContent = "";
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i + 1;
return(true);
}
if (_bCurInsideNode) // attributes
{
if (!_bCurInsideAttrib)
{
if (c == '=')
{
_nCurNodeType = NODETYPE.NODETYPE_NA;
_bCurInsideAttrib = true; // enable extraction of the associated attribute value
i++; // pass '=' symbol
_nCursor = i;
return(true);
}
// get attribute name
long ibegin = i;
// pass until we find spaces or EOL or >
while ((i <= imax) && _strContent[i] != ' ' &&
_strContent[i] != 0x0A &&
_strContent[i] != 0x0D &&
_strContent[i] != '=' &&
_strContent[i] != '>') // check against > is just for safety
{
i++;
}
long iend = i;
_strCurAttribName = _strContent.Substring((int)ibegin, (int)(iend - ibegin));
if (_strCurAttribName.Length == 0)
{
_strLastError = IDS_MISSINGATTRIBNAME;
return(false);
}
_strCurAttribValue = ""; // make sure the attrib value is empty for the moment
_nCurNodeType = NODETYPE.NODETYPE_NA;
_nCursor = i;
return(true);
}
}
}
// this code never executes
_strLastError = IDS_GENERICSYNTAXERROR;
return(false);
}
float moveByPanel(string panelName)
{
GraphNode node = null;
NODETYPE type = NODETYPE.NOTEXIST;
if ((panelName.CompareTo("Go") == 0 || panelName.CompareTo("Jump") == 0 || panelName.CompareTo("Action") == 0))
{
node = findFrontNode(curNode.Neighbour);
if (node != null)
{
type = getNodeType(node);
}
}
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.Animators[selectedRobot.transform.GetChild(0).GetChild(i).name].speed = Constants.Time * speed;
}
float time = AnimationAgent.Instance.Animators[selectedRobot.transform.GetChild(0).GetChild(0).name].GetCurrentAnimatorClipInfo(0)[0].clip.length;
selectedRobot.transform.position = curNode.BoxData.Position + new Vector3(0, 0.23f, 0);
switch (panelName)
{
case "Go":
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 2);
}
time = ResourcesManager.Instance.animationClips["robot_walk"].length - 0.1f;
if (node != null && !node.Equals(curNode) && type == NODETYPE.MID && node.BoxData.Traversable == true)
{
MoveAgent.Instance.MoveTo(selectedRobot.gameObject, node.BoxData.Position, time / speed);
curNode = node;
}
break;
case "Jump":
if (node != null && node.BoxData.Traversable == true)
{
if (type == NODETYPE.TOP)
{
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 4);
}
AnimationAgent.Instance.Animators[selectedRobot.name].speed = Constants.Time * speed;
AnimationAgent.Instance.Animators[selectedRobot.name].Play("JumpUp", 0, 0);
time = ResourcesManager.Instance.animationClips["JumpUp"].length;
curNode = node;
}
else if (type == NODETYPE.BOTTOM)
{
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 3);
}
AnimationAgent.Instance.Animators[selectedRobot.name].speed = Constants.Time * speed;
AnimationAgent.Instance.Animators[selectedRobot.name].Play("JumpDown", 0, 0);
time = ResourcesManager.Instance.animationClips["JumpDown"].length;
curNode = node;
}
}
break;
case "Left":
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 5);
}
time = ResourcesManager.Instance.animationClips["robot_turn_L"].length - 0.1f;
StartCoroutine(MoveAgent.Instance.turnLeft(selectedRobot, time / speed));
break;
case "Right":
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 6);
}
time = ResourcesManager.Instance.animationClips["robot_turn_R"].length - 0.1f;
StartCoroutine(MoveAgent.Instance.turnRight(selectedRobot, time / speed));
break;
case "Action":
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 0);
}
time = ResourcesManager.Instance.animationClips["robot_idle1"].length;
if (type != NODETYPE.NOTEXIST && node != null && !curNode.BoxData.Name.Contains("warp"))
{
if (!node.BoxData.Name.Contains("pollution"))
{
GameObject oilTank = null;
for (int i = 0; i < objectsParent.transform.childCount; i++)
{
var child = objectsParent.transform.GetChild(i);
if (!child.name.Contains("BoringMachine"))
{
continue;
}
if (node.BoxData.Position + new Vector3(0, 0.55f, 0) == child.position)
{
oilTank = child.gameObject;
}
}
if (oilTank != null && oilTank.transform.GetChild(1).gameObject.activeSelf)
{
Utility.Instance.delayAction(0.5f, () => oilTank.transform.GetChild(1).GetComponent <Boringmachine>().playAnimation(speed));
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 7);
}
//time = ResourcesManager.Instance.animationClips["robot_attack"].length - 0.1f;
time = 1.5f;
level.Count--;
//curNode = node;
node.BoxData.Traversable = true;
}
}
else if (node.BoxData.Name.Contains("pollution") && !listOfEnemy.Contains(node.BoxData))
{
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 8);
}
time = ResourcesManager.Instance.animationClips["robot_spell2"].length + ResourcesManager.Instance.animationClips["robot_spell2"].length - 0.1f;
node.BoxData.Traversable = true;
level.Count--;
for (int i = 0; i < boxParent.transform.childCount; i++)
{
var box = boxParent.transform.GetChild(i);
if (box.position == node.BoxData.Position)
{
Utility.Instance.delayAction(time / speed, () =>
{
box.GetComponent <Renderer>().material.mainTexture = ResourcesManager.Instance.sprites["box_basic"].texture;
});
}
}
listOfEnemy.Add(node.BoxData);
}
}
else if (curNode.BoxData.Name.Contains("warp"))
{
Debug.Log("warp");
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 1);
}
time = ResourcesManager.Instance.animationClips["robot_idle1"].length - 0.1f;
if (step == 1 && stage == 3)
{
level.Count--;
}
for (int j = 0; j < curNode.Neighbour.Count; j++)
{
var neighbour = curNode.Neighbour[j];
if (curNode.BoxData.Position == neighbour.BoxData.Position || curNode.BoxData.Name.CompareTo(neighbour.BoxData.Name) != 0)
{
continue;
}
Debug.Log(neighbour.BoxData.Position);
Debug.Log(neighbour.BoxData.Name);
curNode = neighbour;
}
}
else
{
GameObject oilTank = null;
for (int i = 0; i < objectsParent.transform.childCount; i++)
{
var child = objectsParent.transform.GetChild(i);
if (!child.name.Contains("BoringMachine"))
{
continue;
}
int rotationY = (int)Mathf.Round(selectedRobot.transform.localEulerAngles.y / 10) * 10;
switch (rotationY)
{
case 0:
if (child.position == selectedRobot.transform.position + new Vector3(0, 0.07f, -0.25f) ||
child.position == selectedRobot.transform.position + new Vector3(0, -0.18f, -0.25f) ||
child.position == selectedRobot.transform.position + new Vector3(0, 0.32f, -0.25f))
{
oilTank = child.gameObject;
}
break;
case 90:
if (child.position == selectedRobot.transform.position + new Vector3(-0.25f, 0.07f, 0) ||
child.position == selectedRobot.transform.position + new Vector3(-0.25f, -0.18f, 0) ||
child.position == selectedRobot.transform.position + new Vector3(-0.25f, 0.32f, 0))
{
oilTank = child.gameObject;
}
break;
case 180:
if (child.position == selectedRobot.transform.position + new Vector3(0, 0.07f, 0.25f) ||
child.position == selectedRobot.transform.position + new Vector3(0, -0.18f, 0.25f) ||
child.position == selectedRobot.transform.position + new Vector3(0, 0.32f, 0.25f))
{
oilTank = child.gameObject;
}
break;
case 270:
if (child.position == selectedRobot.transform.position + new Vector3(0.25f, 0.07f, 0) ||
child.position == selectedRobot.transform.position + new Vector3(0.25f, -0.18f, 0) ||
child.position == selectedRobot.transform.position + new Vector3(0.25f, 0.32f, 0))
{
oilTank = child.gameObject;
}
break;
}
}
if (oilTank != null && oilTank.transform.GetChild(1).gameObject.activeSelf)
{
Debug.Log(oilTank.transform.position);
Utility.Instance.delayAction(0.5f, () => oilTank.transform.GetChild(1).GetComponent <Boringmachine>().playAnimation(speed));
for (int i = 0; i < selectedRobot.transform.GetChild(0).childCount; i++)
{
AnimationAgent.Instance.setInteger(selectedRobot.transform.GetChild(0).GetChild(i).name, "State", 7);
}
time = 1.5f;
level.Count--;
}
}
break;
}
return(time / speed);
}