void CheckPerimeter()
{
if (!perimeter.upToDate)
{
perimeter.upToDate = ResetPerimeter();
}
// determine enemy heading range etc i.e disposition
List <GameObject> bogieGOs = new List <GameObject>(bogies.Count);
for (int i = 0; i < bogies.Count; i++)
{
bogieGOs[i] = bogies[i].bogieObject;
}
NTools.Slice enemyDisposition = NTools.AnalyseGroupDisposition(
perimeter.center,
perimeter.headingFloat,
bogieGOs
);
// Adjust perimeter heading based on enemy positions center of weight
// Determine green and nongreen population of sectors
// Compare population to sector importance, compute importanceMet value
// if needed, add problem of type perimeter
// if there exists a problem with said sector, but is not relevant anymore, remove problem
}
// untested
// determine sector by world coordinates, returning 401 means out of perimeter, 404 generic error
private int DetermineSector(GameObject plot)
{
Vector3 plotBearing3D = plot.gameObject.transform.position - perimeter.center;
float sqrToPlot = Vector3.SqrMagnitude(plotBearing3D);
if (sqrToPlot > (perimeter.Sectors[12].distanceRange.y * perimeter.Sectors[12].distanceRange.y))
{
return(404);
} // if the dbogie*dbogie is farther than an outer sector farther distance*distance, return 404, i.e out of perimeter
float headingToPlot = NTools.HeadingFromVector(new Vector2(plotBearing3D.x, plotBearing3D.y));
float bearing = NTools.GetBearingFromHeadings(perimeter.headingFloat, headingToPlot);
if (bearing > 360 || bearing < 0)
{
return(404);
} // Sanity check
// 13 different sectors exist, loop through all, store the one where it is
for (int i = 0; i <= 12; i++)
{
if (sqrToPlot < Mathf.Pow(perimeter.Sectors[i].headingRange.y, 2f) && sqrToPlot > Mathf.Pow(perimeter.Sectors[i].headingRange.x, 2f))
{
if (perimeter.Sectors[i].headingRange.x > perimeter.Sectors[i].headingRange.y)
{
if (bearing < perimeter.Sectors[i].headingRange.x && bearing > perimeter.Sectors[i].headingRange.y)
{
return(i); // i represents the sector index from the sectors array
}
}
else if (perimeter.Sectors[i].headingRange.x < perimeter.Sectors[i].headingRange.y)
{
if (bearing < perimeter.Sectors[i].headingRange.x || bearing > perimeter.Sectors[i].headingRange.y)
{
return(i); // i represents the sector index from the sectors array
}
}
}
}
Debug.Log("Determine sector: 404");
return(404);
}
// Update is called once per frame
void Update()
{
if (Input.GetKey(KeyCode.Escape) && !LevelManager.isPaused)
{
levelManager.PauseGame(menuCanvas);
}
if (alive)
{
if (!LevelManager.isPaused)
{
switch (camSetting)
{
case SettingsStatic.CamSettings.player:
desiredHeading += Input.GetAxis("Horizontal") * rotationSpeed;
float deltaTime = Time.deltaTime;
ship.Rotate(desiredHeading, deltaTime);
camera.fieldOfView -= Input.GetAxis("MouseScrollWheel") * zoomSpeed;
camera.fieldOfView = Mathf.Clamp(camera.fieldOfView, 30f, 80f);
camera.transform.localPosition = new Vector3(
0,
camera.fieldOfView * 0.1f,
-30f
);
break;
case SettingsStatic.CamSettings.north:
camera.fieldOfView -= Input.GetAxis("MouseScrollWheel") * zoomSpeed;
camera.fieldOfView = Mathf.Clamp(camera.fieldOfView, 30f, 80f);
camera.transform.localPosition = new Vector3(
0,
camera.fieldOfView * 0.1f,
-30f
);
aimX -= Input.GetAxis("Horizontal");
aimY += Input.GetAxis("Vertical");
//Debug.Log("Aimx: " + aimX + " AimY: " + aimY);
Vector2 aimChange = new Vector2(aimX, aimY);
aimpoint += aimChange;
desiredHeading = NTools.HeadingFromVector(aimpoint);
ship.Rotate(desiredHeading, Time.deltaTime);
//Debug.Log(Input.GetAxis("Horizontal"));
aimX = 0f; aimY = 0f;
break;
}
if (Input.GetKey(KeyCode.W))
{
if (!Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustForward(1f);
}
if (Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustForward(2f);
}
}
if (Input.GetKey(KeyCode.A))
{
if (!Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustLeft(1f);
}
if (Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustLeft(2f);
}
}
if (Input.GetKey(KeyCode.S))
{
if (!Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustBackward(1f);
}
if (Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustBackward(2f);
}
}
if (Input.GetKey(KeyCode.D))
{
if (!Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustRight(1f);
}
if (Input.GetKey(KeyCode.LeftShift))
{
ship.ThrustRight(2f);
}
}
if (Input.GetKey(KeyCode.X))
{
ship.Stop();
}
if (Input.GetKeyDown(KeyCode.C))
{
switch (camSetting)
{
case SettingsStatic.CamSettings.north:
camSetting = SettingsStatic.CamSettings.player;
camPlayerSet = false;
break;
case SettingsStatic.CamSettings.player:
camSetting = SettingsStatic.CamSettings.north;
break;
}
}
if (Input.GetKeyDown(KeyCode.Tab))
{
if (hintsCanvas != null)
{
hintsCanvas.SetActive(true);
}
}
if (Input.GetKeyUp(KeyCode.Tab))
{
if (hintsCanvas != null)
{
hintsCanvas.SetActive(false);
}
}
if (Input.GetKeyDown(KeyCode.Mouse0))
{
ship.FireWeapon(true);
}
if (Input.GetKeyUp(KeyCode.Mouse0))
{
ship.FireWeapon(false);
}
if (Input.GetKeyDown(KeyCode.Mouse1))
{
ship.SetNearestTarget();
}
if (Input.GetKeyDown(KeyCode.R))
{
ship.ToggleRadar(); SetRadarText();
}
if (Input.GetKeyDown(KeyCode.T))
{
ship.SetBoreTarget();
}
if (Input.GetKeyDown(KeyCode.Y))
{
ship.SetNearestTarget();
}
if (Input.GetKeyDown(KeyCode.Alpha1))
{
SelectWeaponByNumber(1);
}
if (Input.GetKeyDown(KeyCode.Alpha2))
{
SelectWeaponByNumber(2);
}
if (Input.GetKeyDown(KeyCode.Alpha3))
{
SelectWeaponByNumber(3);
}
if (Input.GetKeyDown(KeyCode.Alpha4))
{
SelectWeaponByNumber(4);
}
}
UpdateVelocityVector();
UpdateTargetIndicator();
UpdateLeadLine();
UpdateAimAid();
UpdateOwnLockIndicator();
UpdateIncomingLockIndicator();
UpdateCamera();
}
}
// returns TRUE when CA has determined a threat and sucessfully added a WP to solve conflict
// False is returned when either CA failed or no threat was found
bool CollisionAvoidance()
{
Vector2 shipProjectedPos = gameObject.GetComponent <Rigidbody2D>().position
+ (wpList[wpIndex].wpCoordinates - gameObject.GetComponent <Rigidbody2D>().position).normalized * desiredSpeed;
Vector2 shipPos = new Vector2(gameObject.GetComponent <Rigidbody2D>().position.x, gameObject.GetComponent <Rigidbody2D>().position.y);
Vector2 headingToWP = wpList[wpIndex].wpCoordinates - shipPos;
float distanceToWP = Mathf.Sqrt(Vector2.SqrMagnitude(wpList[wpIndex].wpCoordinates - gameObject.GetComponent <Rigidbody2D>().position));
Vector2 closestThreat2D = new Vector2(0f, 0f);
Vector2 closestThreatVelocity2D = new Vector2(0f, 0f);
Vector2 newHeadingVector = new Vector2(0f, 0f);
// Variables for use in loops, to avoid repeditive declarations
float timeToInterWP = 50f / desiredSpeed;
float distanceToNearestThreat = 0f;
float newHeadingLeft = 0f;
float newHeadingRight = 0f;
bool leftHeading = true;
bool solutionFound = false;
// Setting the travel time, by which we set the threat movement amount
if (distanceToWP >= 50f)
{
timeToInterWP = 50f / desiredSpeed;
}
else
{
timeToInterWP = distanceToWP / desiredSpeed;
}
// Sorting the threats, which also fills in missing bits in the threat list
SortCollisionThreats((wpList[wpIndex].wpCoordinates - gameObject.GetComponent <Rigidbody2D>().position), timeToInterWP);
// parsing the POTENTIAL threats for REAL threats, the method also returns a BOOL if there are REAL threats at all
NTools.CollisionThreatsSorted parsedThreats = CheckHeadingClear(shipProjectedPos, wpList[wpIndex].wpCoordinates);
// If no threats are found, exit CA, else clear temporary wps from the wp list and start meaty bit of CA
if (!parsedThreats.realThreatsPresent)
{
return(false);
}
// Determine distance to closest threat and its coordinates -.-- Why do I do it?
else if (parsedThreats.realThreatsLeft.Count != 0 && parsedThreats.realThreatsRight.Count != 0)
{
ClearTemporaryWaypoints();
if (parsedThreats.realThreatsLeft[0].sqrDistance < parsedThreats.realThreatsRight[0].sqrDistance)
{
distanceToNearestThreat = Vector2.Distance(
shipPos,
parsedThreats.realThreatsLeft[0].threatCoordinates
);
closestThreat2D = parsedThreats.realThreatsLeft[0].threatCoordinates;
closestThreatVelocity2D = parsedThreats.realThreatsLeft[0].threatVelocity;
}
else
{
distanceToNearestThreat = Vector2.Distance(
shipPos,
parsedThreats.realThreatsRight[0].threatCoordinates
);
closestThreat2D = parsedThreats.realThreatsRight[0].threatCoordinates;
closestThreatVelocity2D = parsedThreats.realThreatsRight[0].threatVelocity;
}
}
else if (parsedThreats.realThreatsLeft.Count == 0 && parsedThreats.realThreatsRight.Count != 0)
{
ClearTemporaryWaypoints();
distanceToNearestThreat = Vector2.Distance(
shipPos,
parsedThreats.realThreatsRight[0].threatCoordinates
);
closestThreat2D = parsedThreats.realThreatsRight[0].threatCoordinates;
closestThreatVelocity2D = parsedThreats.realThreatsRight[0].threatVelocity;
}
else if (parsedThreats.realThreatsLeft.Count != 0 && parsedThreats.realThreatsRight.Count == 0)
{
ClearTemporaryWaypoints();
distanceToNearestThreat = Vector2.Distance(
shipPos,
parsedThreats.realThreatsLeft[0].threatCoordinates
);
closestThreat2D = parsedThreats.realThreatsLeft[0].threatCoordinates;
closestThreatVelocity2D = parsedThreats.realThreatsLeft[0].threatVelocity;
}
Vector2 vectorToThreat = closestThreat2D - shipPos;
// statusText.text = vectorToThreat.ToString();
// Ceck if the WP is closer than the threat, in that case, return and stop CA, return false
if (distanceToWP < distanceToNearestThreat)
{
return(false);
}
headingToWP = headingToWP.normalized * distanceToNearestThreat;
// parse intermittently left and right for a clear initial passage
int iterations = 0;
do
{
switch (leftHeading)
{
case true:
newHeadingLeft -= 1;
parsedThreats = CheckHeadingClear(shipPos, shipPos + NTools.RotateVector2(headingToWP, newHeadingLeft));
if (SettingsStatic.debugEnabled)
{
DrawDebugLine(shipPos, shipPos + NTools.RotateVector2(headingToWP, newHeadingLeft));
}
leftHeading = false;
iterations++;
break;
case false:
newHeadingRight += 1;
parsedThreats = CheckHeadingClear(shipPos, shipPos + NTools.RotateVector2(headingToWP, newHeadingRight));
if (SettingsStatic.debugEnabled)
{
DrawDebugLine(shipPos, shipPos + NTools.RotateVector2(headingToWP, newHeadingLeft).normalized);
}
leftHeading = true;
iterations++;
break;
}
// exit failsafes:
if (newHeadingLeft < -90 || newHeadingRight > 90)
{
solutionFound = false;
break;
}
} while (parsedThreats.realThreatsPresent);
if (newHeadingLeft > -90 && newHeadingRight < 90)
{
float newHeading;
if (leftHeading)
{
newHeading = newHeadingRight;
}
else
{
newHeading = newHeadingLeft;
}
solutionFound = true;
//Debug.Log("Clear relative heading found: " + newHeading.ToString());
}
if (!solutionFound)
{
Debug.Log("Heading not found in " + iterations + " iterations."); return(false);
}
// Determine new direction from projected ship position
if (leftHeading)
{
newHeadingVector = NTools.RotateVector2(headingToWP, newHeadingRight); /*Debug.Log("New Heading: " + newHeadingRight); */
}
else
{
newHeadingVector = NTools.RotateVector2(headingToWP, newHeadingLeft); /*Debug.Log("New Heading: " + newHeadingLeft); */
}
float newWPDistance = 1f;
do
{
newWPDistance += 0.1f;
parsedThreats = CheckHeadingClear(shipPos + newHeadingVector * newWPDistance, wpList[wpIndex].wpCoordinates);
// check to limit the possible distance of the intermittent WP to the distance of the original WP
if (newWPDistance * newHeadingVector.magnitude > distanceToWP)
{
Debug.Log("WP solution not found.");
break;
}
} while (parsedThreats.realThreatsPresent);
if (newWPDistance < 10f)
{
solutionFound = true;
}
// This happens, when the collisionAvoidance has done its job and can add a new intermediate waypoint
// also entering this loop will return true - the method has parsed successfully and added a wp
if (solutionFound)
{
NTools.Waypoint newInbetweenWP = new NTools.Waypoint(shipPos + newHeadingVector * (newWPDistance - 0.2f), 4f, false, true);
wpList.Add(newInbetweenWP);
wpIndex = wpList.Count - 1;
return(true);
}
return(false);
}
public static AttackPlanF GetAttackPlanF(AttackTypeF type, Vector3 leadPos, Vector3 enemyPos, List <Vector3> nearbyFriendlies)
{
AttackPlanF attackPlan = new AttackPlanF(true);
switch (type)
{
case AttackTypeF.sentry:
float SQRSep = 900f;
float sentryRange = 30f;
float searchDegrees = 30f;
Vector3 offset = (enemyPos - leadPos).normalized * sentryRange;
Vector3 sentryPos = enemyPos + offset;
List <Vector3> nbfSentryPos = new List <Vector3>(nearbyFriendlies.Count);
foreach (Vector3 fv in nearbyFriendlies)
{
Vector3 fspos = enemyPos + (fv - enemyPos).normalized * sentryRange;
nbfSentryPos.Add(fspos);
}
bool clear = true;
int failsafe = 20, i = 1;
while (!clear)
{
foreach (Vector3 fspos in nbfSentryPos)
{
float SQRDist = (fspos - sentryPos).sqrMagnitude;
if (SQRDist < SQRSep)
{
clear = false;
}
}
if (!clear)
{
float direction = 1f;
if ((i + 1) % 2 == 0)
{
direction = 1;
}
else
{
direction = -1;
}
direction = direction * i * searchDegrees;
offset = NTools.RotateVector3(offset, searchDegrees);
sentryPos = enemyPos + offset;
}
i++;
if (i >= failsafe)
{
clear = true;
}
}
break;
case AttackTypeF.bracket:
break;
case AttackTypeF.charge:
break;
default:
break;
}
return(attackPlan);
}
private bool ResetPerimeter()
{
if (objective.objectiveIsFriendly && objective.objectiveObject)
{
perimeter.center = objective.objectiveObject.transform.position;
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.center.x,
enemyGeneralPosition.y - perimeter.center.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
perimeter.isMoving = objective.isMoving;
}
else if (!objective.objectiveIsFriendly && objective.objectiveObject)
{
if (capitalShips.Count != 0)
{
perimeter.center = NTools.GetCenterOfObjects3D(capitalShips);
perimeter.center.z = 0f;
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.center.x,
enemyGeneralPosition.y - perimeter.center.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
perimeter.isMoving = objective.isMoving;
}
else
{
//She-f*****g-nanigans
List <GameObject> leads = new List <GameObject>(formations.Count);
for (int i = 0; i < formations.Count; i++)
{
leads[i] = formations[i].Lead;
}
perimeter.center = NTools.GetCenterOfObjects3D(leads);
perimeter.center.z = 0f;
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.center.x,
enemyGeneralPosition.y - perimeter.center.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
}
}
int mood = (int)teamMood;
// Adds an importance to each sector based on tabel in LFAI
switch (teamState)
{
case TeamState.Scouting:
return(AssignSectorPriorities(sectorImportancePresets.scouting[mood]));
case TeamState.Attacking:
return(AssignSectorPriorities(sectorImportancePresets.attacking[mood]));
case TeamState.MaintainPerimeter:
return(AssignSectorPriorities(sectorImportancePresets.defending[mood]));
case TeamState.Regrouping:
return(AssignSectorPriorities(sectorImportancePresets.regrouping[mood]));
default:
return(false);
}
}
// Used to determine for example in which direction the enemy lies and how widespread they are.
// works in CCW mode
public static NTools.Slice AnalyseGroupDisposition(Vector3 originPos, float originHeading, List <GameObject> objects)
{
NTools.Slice slice = new NTools.Slice(originPos, originHeading, 0, 0, 0, 0, new Vector3(0, 0, 0));
// sanity check, no objects means return of 000000 !!!
if (objects.Count == 0)
{
return(slice);
}
float tempBear, leftBear = 0, rightBear = 0;
// statistical analysis floats:
float meanbearing = 0f, sumDiffFromMean = 0f;
float[] bearings = new float[objects.Count];
slice.centerOfMass = NTools.GetCenterOfObjects3D(objects);
for (int i = 0; i < objects.Count; i++)
{
// left bearing is positive, right bearing is negative, clamped between -180 to 180
tempBear = Mathf.Clamp(
NTools.GetBearingFromHeadings(
originHeading,
NTools.HeadingFromVector(objects[i].transform.position - originPos)
), -180f, 180f);
// storing for later analysis
bearings[i] = tempBear;
// with the first heading set both left and right bearings
if (i == 0)
{
leftBear = tempBear; rightBear = tempBear;
}
else
{
if (tempBear > leftBear)
{
leftBear = tempBear;
}
else if (tempBear < rightBear)
{
rightBear = tempBear;
}
}
}
// disperison computation
for (int i = 0; i < bearings.Length; i++)
{
meanbearing += bearings[i];
}
meanbearing = meanbearing / bearings.Length;
for (int i = 0; i < bearings.Length; i++)
{
sumDiffFromMean += bearings[i] - meanbearing;
}
// Filling the slice !!!
slice.leftmostBearing = leftBear;
slice.rightmostBearing = rightBear;
slice.bearingRange = leftBear - rightBear;
slice.stdDeviation = Mathf.Sqrt(Mathf.Pow(sumDiffFromMean, 2f) / (bearings.Length - 1));
return(slice);
}
void CheckPerimeter()
{
if (!perimeter.upToDate)
{
perimeter.upToDate = ReassignSectorPriorities();
if (!perimeter.upToDate)
{
Debug.Log("Reassigning sector priorities failed.");
}
}
List <GameObject> bogieGOs = new List <GameObject>(bogies.Capacity);
NTools.Disposition enemyDisposition;
// determine enemy heading range etc i.e disposition
if (bogies.Count != 0)
{
for (int i = 0; i < bogies.Count; i++)
{
if (bogies[i].bogieObject != null)
{
bogieGOs.Add(bogies[i].bogieObject);
}
}
enemyDisposition = NTools.AnalyseGroupDisposition(
perimeter.center,
perimeter.headingFloat,
bogieGOs
);
enemyGeneralPosition = enemyDisposition.centerOfMass;
}
else
{
enemyGeneralPosition = new Vector3(0f, 0f, 0f);
}
//TODO Optimize - determines perimeter anchor, heading2D and headingFloat. Is gud.
if (objective.objectiveSet)
{
// If this happens, the game is lost or won, which will be caught by CheckObjective method
if (!objective.objectiveObject)
{
return;
}
if (objective.objectiveIsFriendly)
{
perimeter.perimeterAnchor = objective.objectiveObject;
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.perimeterAnchor.transform.position.x,
enemyGeneralPosition.y - perimeter.perimeterAnchor.transform.position.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
}
else if (!objective.objectiveIsFriendly)
{
perimeter.perimeterAnchor = DeterminePerimeterAnchor();
if (perimeter.perimeterAnchor != null)
{
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.perimeterAnchor.transform.position.x,
enemyGeneralPosition.y - perimeter.perimeterAnchor.transform.position.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
}
else
{
missionState = MissionState.lost;
}
}
}
else
{
perimeter.perimeterAnchor = DeterminePerimeterAnchor();
if (perimeter.perimeterAnchor != null)
{
perimeter.heading2D = new Vector2(
enemyGeneralPosition.x - perimeter.perimeterAnchor.transform.position.x,
enemyGeneralPosition.y - perimeter.perimeterAnchor.transform.position.y
);
perimeter.headingFloat = NTools.HeadingFromVector(perimeter.heading2D);
}
else
{
missionState = MissionState.lost;
}
}
}
