//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = colReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planning, engine, agents, obstacles);
}
if (debugText != null)
{
debugText.gameObject.active = false;
}
initialized = true;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = collisionReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planner, engine, agents, obstacles);
}
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
{
neighborhood.Init();
}
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
{
footsteps.Init(analyzer, planner, engine, neighborhood, obstacles);
}
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
{
nObstacles.Init();
}
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
void OnTriggerExit(Collider other)
{
NeighbourAgents na = other.transform.parent.gameObject.GetComponent("NeighbourAgents") as NeighbourAgents;
if (na != null)
{
na.HasLostOfSight(this.gameObject);
}
}
/*
* // Update is called once per frame
* void Update () {
*
* }
*/
void OnTriggerEnter(Collider other)
{
NeighbourAgents na = other.transform.parent.gameObject.GetComponent("NeighbourAgents") as NeighbourAgents;
if (na != null)
{
na.HasDetected(this.gameObject);
}
}
//public GridTimeDomain(AnimationAnalyzer animAnalyzer, NeighbourObstacles o)
public GridTimeDomain(NeighbourObstacles o, NeighbourAgents n)
{
//analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
#if USE_ANGLE_MOV
movAngles = new List<float>();
movAngles.Add(0.0f);
movAngles.Add(22.5f);
movAngles.Add(-22.5f);
movAngles.Add(45.0f);
movAngles.Add(-45.0f);
movAngles.Add(180.0f);
movAngles.Add(157.5f);
movAngles.Add(-157.5f);
#else
Vector3 dir1 = new Vector3(1,0,0);
Vector3 dir2 = new Vector3(-1,0,0);
Vector3 dir3 = new Vector3(0,0,1);
Vector3 dir4 = new Vector3(0,0,-1);
Vector3 dir5 = new Vector3(-1,0,-1);
dir5.Normalize();
Vector3 dir6 = new Vector3(-1,0,1);
dir6.Normalize();
Vector3 dir7 = new Vector3(1,0,-1);
dir7.Normalize();
Vector3 dir8 = new Vector3(1,0,1);
dir8.Normalize();
movDirections = new List<Vector3>();
movDirections.Add(dir1);
movDirections.Add(dir2);
movDirections.Add(dir3);
movDirections.Add(dir4);
movDirections.Add(dir5);
movDirections.Add(dir6);
movDirections.Add(dir7);
movDirections.Add(dir8);
#endif
possibleSpeedIncrements = new List<float>();
possibleSpeedIncrements.Add(0.0f);
possibleSpeedIncrements.Add(SPEED_DELTA);
possibleSpeedIncrements.Add(-SPEED_DELTA);
useTunnel = false;
}
void Awake()
{
// Check license
// 1) Initialize world --> obstacles
// 2) Instantiate agents and final goals
/*
* agents = new GameObject[numberOfAgents];
* for (int id = 0; id < numberOfAgents; id++)
* {
* agents[id] = new GameObject("Agent"+id);
* agents[id].AddComponent(NewManPrefab);
* }
*/
agents = GameObject.FindGameObjectsWithTag("Agent");
// 3) Generate NavMesh (ang goals/waypoints?)
agentsPos = new Vector3[agents.Length];
agentsInit = new bool[agents.Length];
//foreach (GameObject agent in agents)
for (int i = 0; i < agents.Length; i++)
{
GameObject agent = agents[i];
//agent.active = false;
agentsPos[i] = agent.transform.position;
agent.transform.position = new Vector3(int.MaxValue, int.MaxValue, int.MaxValue);
agentsInit[i] = false;
NeighbourAgents neighbourAgents = agent.GetComponent("NeighbourAgents") as NeighbourAgents;
if (neighbourAgents != null)
{
neighbourAgents.Init();
}
NeighbourObstacles neighbourObstacles = agent.GetComponent("NeighbourObstacles") as NeighbourObstacles;
if (neighbourObstacles != null)
{
neighbourObstacles.Init();
}
}
initCount = 0;
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0, 0, 0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles, neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
//public GridTimeDomain(AnimationAnalyzer animAnalyzer, NeighbourObstacles o)
public GridTimeDomain(NeighbourObstacles o, NeighbourAgents n)
{
//analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
#if USE_ANGLE_MOV
movAngles = new List <float>();
movAngles.Add(0.0f);
movAngles.Add(22.5f);
movAngles.Add(-22.5f);
movAngles.Add(45.0f);
movAngles.Add(-45.0f);
movAngles.Add(180.0f);
movAngles.Add(157.5f);
movAngles.Add(-157.5f);
#else
Vector3 dir1 = new Vector3(1, 0, 0);
Vector3 dir2 = new Vector3(-1, 0, 0);
Vector3 dir3 = new Vector3(0, 0, 1);
Vector3 dir4 = new Vector3(0, 0, -1);
Vector3 dir5 = new Vector3(-1, 0, -1);
dir5.Normalize();
Vector3 dir6 = new Vector3(-1, 0, 1);
dir6.Normalize();
Vector3 dir7 = new Vector3(1, 0, -1);
dir7.Normalize();
Vector3 dir8 = new Vector3(1, 0, 1);
dir8.Normalize();
movDirections = new List <Vector3>();
movDirections.Add(dir1);
movDirections.Add(dir2);
movDirections.Add(dir3);
movDirections.Add(dir4);
movDirections.Add(dir5);
movDirections.Add(dir6);
movDirections.Add(dir7);
movDirections.Add(dir8);
#endif
possibleSpeedIncrements = new List <float>();
possibleSpeedIncrements.Add(0.0f);
possibleSpeedIncrements.Add(SPEED_DELTA);
possibleSpeedIncrements.Add(-SPEED_DELTA);
useTunnel = false;
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = collisionReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planner,engine,agents,obstacles);
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
neighborhood.Init();
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
footsteps.Init(analyzer,planner,engine,neighborhood,obstacles);
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
nObstacles.Init();
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = colReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planning,engine,agents,obstacles);
if (debugText != null)
debugText.gameObject.active = false;
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
if (rightFoot.position[1] < leftFoot.position[1])
{
auxHeight = rightFoot.position[1];
}
else
{
auxHeight = leftFoot.position[1];
}
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
// Use this for initialization
public void InitializeAgentBrain()
{
// NAV MESH AGENT TEST
GetComponent <NavMeshAgent>().Stop();
GetComponent <NavMeshAgent>().updatePosition = false;
GetComponent <NavMeshAgent>().updateRotation = false;
locomotionSystem = GetComponent <SoldierLocomotion>();
// initializing neighbor lists
neighborObstacles = GetComponent <NeighbourObstacles>();
neighborObstacles.Init();
neighborAgents = GetComponent <NeighbourAgents>();
neighborAgents.Init();
currentState = new State(transform.position);
if (GlobalNavigator.usingDynamicNavigationMesh)
{
currentPolygonIndex = GlobalNavigator.recastSteeringManager.GetClosestPolygon(currentState.getPosition());
}
if (goal == null)
{
Debug.LogError("Goal has not been initialized for this agent");
}
goalState = goal.goalState;
passableMask = 1; // this could be part of the goal
globalPath = new List <State> ();
numGlobalPathWaypoints = 0;
globalPathPolygonIndices = new List <uint> ();
localPaths = new List <List <State> > ();
spaceTimePaths = new List <List <State> > ();
currentPlanExecutionIndex = 0;
offMeshLinkWayPoint = new List <bool>();
taskManager = new TaskManager();
// creating global navigation task
globalNavigationTask = new GlobalNavigationtask(currentState, goalState, passableMask,
TaskPriority.RealTime, taskManager);
globalNavigationTask.taskName = "globalNavigationTask";
// EVENT: AgentBrain is triggered by the globalNavigationTask when GLOBAL_PATH_CHANGED
globalNavigationTask.registerObserver(Event.GLOBAL_PATH_CHANGED, this);
gridNavigationTasks = new List <GridNavigationTask>();
// creating grid navigation and grid time tasks for each statically allocated global waypoint
// -- we can statically allocate how many ever we want
for (int i = 0; i < 1; i++)
{
_addNewEmptyGlobalPathWayPointAtIndex(i);
}
curves = new AnimationCurve[4];
curves[0] = new AnimationCurve(); // x
curves[1] = new AnimationCurve(); // y
curves[2] = new AnimationCurve(); // z
curves[3] = new AnimationCurve(); // speed
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
// Use this for initialization
//public void Init (FootstepPlanningTest planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles, RootMotionComputer computer) {
public void Init(Planner planner, SteeringManager steeringManager, AnimationAnalyzer analyzer, NeighbourAgents agents, NeighbourObstacles obstacles)
{
steering = steeringManager;
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
navMeshLayer = 1 << LayerMask.NameToLayer("StaticWorld");
initialized = true;
}
public FootstepPlanningDomain(AnimationAnalyzer animAnalyzer, NeighbourAgents n, NeighbourObstacles o)
{
analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
}
// Use this for initialization
void InitAgent(int i)
{
AnimationAnalyzer analyzer = null;
// Initialize different components of the agents
// ( Animation Engine, Planner, Neighbors, ...)
//foreach (GameObject agent in agents)
//for(int i = 0; i < agents.Length; i++)
{
GameObject agent = agents[i];
//agent.active = true;
agent.transform.position = agentsPos[i];
//if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
//analyzer.ReadAnalysisFromFile(animationsFileName);
}
}
/*
* else
* {
* Vector3 startPos = agent.transform.position;
* Quaternion startRot = agent.transform.rotation;
* analyzer.RemoveAnimations(agent.animation);
* agent.transform.position = startPos;
* agent.transform.rotation = startRot;
* }
*/
NeighbourAgents neighbourAgents = agent.GetComponent("NeighbourAgents") as NeighbourAgents;
//if (neighbourAgents != null)
// neighbourAgents.Init();
NeighbourObstacles neighbourObstacles = agent.GetComponent("NeighbourObstacles") as NeighbourObstacles;
//if (neighbourObstacles != null)
// neighbourObstacles.Init();
Planner planning;
if (ADAFootstepTest.ADA_PLANNER_IN_USE)
{
ADAFootstepTest ADAplanning = agent.GetComponent("ADAFootstepTest") as ADAFootstepTest;
planning = ADAplanning as Planner;
}
else
{
FootstepPlanningTest FPTplanning = agent.GetComponent("FootstepPlanningTest") as FootstepPlanningTest;
planning = FPTplanning as Planner;
}
if (planning != null)
{
planning.Init(analyzer, neighbourAgents, neighbourObstacles);
}
AnimationEngine engine = agent.GetComponent("AnimationEngine") as AnimationEngine;
if (engine != null)
{
engine.Init(analyzer, planning, neighbourAgents, neighbourObstacles);
}
CollisionReaction collider = agent.GetComponent("CollisionReaction") as CollisionReaction;
if (collider != null)
{
collider.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
NavMeshWayPoints waypoints = agent.GetComponent("NavMeshWayPoints") as NavMeshWayPoints;
if (waypoints != null)
{
waypoints.Init(planning, steering, analyzer, neighbourAgents, neighbourObstacles);
}
PlaceFootSteps footsteps = agent.GetComponent("PlaceFootSteps") as PlaceFootSteps;
if (footsteps != null)
{
footsteps.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
EventsMonitor events = agent.GetComponent("EventsMonitor") as EventsMonitor;
if (events != null)
{
events.Init(analyzer, planning, engine, collider, waypoints, steering, neighbourAgents, neighbourObstacles, footsteps);
events.enabled = false;
}
DebugScript debug = agent.GetComponent("DebugScript") as DebugScript;
if (debug != null)
{
debug.Init(analyzer, engine, planning, neighbourAgents, neighbourObstacles, collider);
}
if (analyzer != null)
{
analyzer.RemoveAnimations(agent.animation);
}
}
}
////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
// Use this for initialization
public void InitializeAgentBrain()
{
// NAV MESH AGENT TEST
GetComponent<NavMeshAgent>().Stop ();
GetComponent<NavMeshAgent>().updatePosition = false;
GetComponent<NavMeshAgent>().updateRotation = false;
locomotionSystem = GetComponent<SoldierLocomotion>();
// initializing neighbor lists
neighborObstacles = GetComponent<NeighbourObstacles>();
neighborObstacles.Init ();
neighborAgents = GetComponent<NeighbourAgents>();
neighborAgents.Init();
currentState = new State(transform.position);
if (GlobalNavigator.usingDynamicNavigationMesh)
{
currentPolygonIndex = GlobalNavigator.recastSteeringManager.GetClosestPolygon(currentState.getPosition());
}
if ( goal == null ) Debug.LogError("Goal has not been initialized for this agent");
goalState = goal.goalState;
passableMask = 1; // this could be part of the goal
globalPath = new List<State> ();
numGlobalPathWaypoints = 0;
globalPathPolygonIndices = new List<uint> ();
localPaths = new List<List<State>> ();
spaceTimePaths = new List<List<State>> ();
currentPlanExecutionIndex = 0;
offMeshLinkWayPoint = new List<bool>();
taskManager = new TaskManager ();
// creating global navigation task
globalNavigationTask = new GlobalNavigationtask(currentState,goalState,passableMask,
TaskPriority.RealTime, taskManager);
globalNavigationTask.taskName = "globalNavigationTask";
// EVENT: AgentBrain is triggered by the globalNavigationTask when GLOBAL_PATH_CHANGED
globalNavigationTask.registerObserver(Event.GLOBAL_PATH_CHANGED, this);
gridNavigationTasks = new List<GridNavigationTask>();
// creating grid navigation and grid time tasks for each statically allocated global waypoint
// -- we can statically allocate how many ever we want
for (int i=0; i < 1; i ++ )
{
_addNewEmptyGlobalPathWayPointAtIndex(i);
}
curves = new AnimationCurve[4];
curves[0] = new AnimationCurve(); // x
curves[1] = new AnimationCurve(); // y
curves[2] = new AnimationCurve(); // z
curves[3] = new AnimationCurve(); // speed
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning, agents, obstacles);
reacting = false;
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
reacting = false;
initialized = true;
}
public FootstepPlanningDomain(AnimationAnalyzer animAnalyzer, NeighbourAgents n, NeighbourObstacles o)
{
analyzer = animAnalyzer;
neighborhood = n;
obstacles = o;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0,0,0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
if (rightFoot.position[1] < leftFoot.position[1])
auxHeight = rightFoot.position[1];
else
auxHeight = leftFoot.position[1];
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
public virtual void Init(AnimationAnalyzer aa, NeighbourAgents na, NeighbourObstacles no)
{
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles,neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
public void HasDetected(GameObject other)
{
if (!initialized)
{
return;
}
int colliderId = other.GetInstanceID();
// if the object that collided is not the gameObject to which this script is attached
if (colliderId != gameObject.GetInstanceID())
{
// if the object that collided is an agent
if (other.layer.Equals(agentsLayer))
{
NeighbourAgents otherNeighborhood = other.GetComponent("NeighbourAgents") as NeighbourAgents;
Dictionary <int, Neighbor> otherNeighbors = otherNeighborhood.neighbors;
// if the agent has not the current agent as a neighbor
if (!otherNeighbors.ContainsKey(gameObject.GetInstanceID()))
{
// if the agent is not already a possible neighbor
if (!neighbors.ContainsKey(colliderId))
{
// Add the object that collided to the possible neighbors
Neighbor neighborAgent = new Neighbor();
neighborAgent.triggers = 1;
neighborAgent.planning = null;
neighborAgent.gameObject = other;
neighbors.Add(colliderId, neighborAgent);
//Debug.Log(colliderId + " is a possible neighbor of " + gameObject.GetInstanceID());
}
else // if it is already a possible neighbor
{
neighbors.Remove(colliderId);
Neighbor neighborAgent = new Neighbor();
// Increase the number of triggers
neighborAgent.triggers = 2;
if (!ADAFootstepTest.ADA_PLANNER_IN_USE)
{
neighborAgent.planning = other.GetComponent("FootstepPlanningTest") as Planner;
neighborAgent.animationInterface = other.GetComponent(animationInterfaceComponentName) as AnimationInterface;
}
else
{
neighborAgent.planning = other.GetComponent("ADAFootstepTest") as Planner;
neighborAgent.animationInterface = other.GetComponent(animationInterfaceComponentName) as AnimationInterface;
}
neighborAgent.gameObject = other;
neighbors.Add(colliderId, neighborAgent);
// MUBBASIR -- WE WENT FROM 1 TO 2 -- WE SHOULD REPLAN
observable.notifyObservers(Event.NEIGBHOR_AGENTS_CHANGED, null);
newNeighbor = true;
// If it has triggered the two triggers it will be considered as a neighbor by the domain
//Debug.Log(colliderId + " is neighbor of " + gameObject.GetInstanceID());
}
}
}
}
}
