public Decomposer(SteeringPipeline pipeline, NavMeshPathGraph navMesh, DynamicCharacter character)
{
Character = character;
Pipeline = pipeline;
aStarPathFinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 150;
}
public Decomposer(SteeringPipeline pipeline, NavMeshPathGraph navMesh, DynamicCharacter character)
{
Character = character;
Pipeline = pipeline;
aStarPathFinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 150;
}
public StandStillActuator(SteeringPipeline pipeline) : base(pipeline)
{
this.StopMovement = new DynamicStop(this.Pipeline.Character)
{
MaxAcceleration = 40.0f,
TimeToStop = 2.0f
};
}
public FollowPathActuator(SteeringPipeline pipeline) : base(pipeline)
{
this.FollowPathMovement = new DynamicFollowPath(this.Pipeline.Character, null)
{
MaxAcceleration = 40.0f,
MaxSpeed = 40.0f
};
}
public FollowPathActuator(SteeringPipeline pipeline)
: base(pipeline)
{
this.FollowPathMovement = new DynamicFollowPath(this.Pipeline.Character,null)
{
MaxAcceleration = 40.0f,
//MaxSpeed = 20.0f
};
}
public StandStillActuator(SteeringPipeline pipeline)
: base(pipeline)
{
this.StopMovement = new DynamicStop(this.Pipeline.Character)
{
MaxAcceleration = 40.0f,
TimeToStop = 2.0f
};
}
public ConstraitColisionWithWalls(SteeringPipeline steeringPipeline, GameObject[] obstacles)
: base(steeringPipeline)
{
this.obstacle = obstacles;
this.MinimumDistance = 500.0f;
aMaxYOffset = 1f;
AvoidMargin = 4f;
MaxLookAhead = 10f;
MaxWhiskersLookAhead = 10f;
WhiskersAngle = MathConstants.MATH_PI_4;
//innit the colliders
this.collider = new Collider[obstacle.Length];
for (int i = 0; i < obstacle.Length; i++)
{
collider[i] = obstacles[i].GetComponent<Collider>();
}
}
public SteeringPipelineComponent(SteeringPipeline pipeline)
{
this.Pipeline = pipeline;
}
public FixedTargeter(SteeringPipeline pipeline) : base(pipeline)
{
this.Target = new SteeringGoal();
}
public Targeter(SteeringPipeline pipeline)
{
Pipeline = pipeline;
}
public DecomposerComponent(SteeringPipeline pipeline) : base(pipeline)
{
}
public PedestrianAvoidanceConstraint(SteeringPipeline pipeline, DynamicCharacter character, List <Pedestrian> pedestrians)
{
this.Pedestrians = pedestrians;
this.Character = character;
}
public ActuatorSwitch(SteeringPipeline pipeline) : base(pipeline)
{
this.ActiveActuator = this.Name;
this.Actuators = new Dictionary <string, ActuatorComponent>();
}
public MouseClickTargeter(SteeringPipeline pipeline, Camera camera)
: base(pipeline)
{
this.Camera = camera;
this.Goal = new SteeringGoal();
}
public SteeringPipeline InitializeSteeringPipeline(DynamicCharacter orig, KinematicData dest)
{
//Pipeline
SteeringPipeline pipe = new SteeringPipeline(orig.KinematicData)
{
MaxAcceleration = 15.0f
};
//Targeter
Targeter MouseClickTargeter = new Targeter()
{
Target = dest
};
pipe.Targeters.Add(MouseClickTargeter);
//Decomposer
pathfindingDecomposer = new PathfindingDecomposer()
{
Graph = this.navMesh,
Heuristic = new EuclideanDistanceHeuristic()
};
pipe.Decomposers.Add(pathfindingDecomposer);
//Actuator - Default: Car behaviour
Actuator actuator = new CarActuator()
{
MaxAcceleration = 15.0f,
Character = orig.KinematicData
};
if (orig.GameObject.tag.Equals("Enemies"))
{
actuator = new TrollActuator()
{
MaxAcceleration = 10.0f,
Character = orig.KinematicData
};
}
pipe.Actuator = actuator;
//Constraints
foreach (DynamicCharacter troll in enemies)
{
TrollConstraint trollConstraint = new TrollConstraint()
{
Troll = troll,
margin = 1.0f
};
pipe.Constraints.Add(trollConstraint);
}
MapConstraint mapConstraint = new MapConstraint()
{
chars = character,
navMeshP = navMesh,
margin = 1.0f
};
pipe.Constraints.Add(mapConstraint);
return pipe;
}
public Targeter(SteeringPipeline pipeline)
{
Pipeline = pipeline;
}
public TargeterComponent(SteeringPipeline pipeline) : base(pipeline)
{
}
public PathFindingDecomposer(SteeringPipeline pipeline, AStarPathfinding pathfindingAlgorithm) : base(pipeline)
{
this.PathfindingAlgorithm = pathfindingAlgorithm;
}
protected ActuatorComponent(SteeringPipeline pipeline) : base(pipeline)
{
}
public DecomposerComponent(SteeringPipeline pipeline)
: base(pipeline)
{
}
public SteeringPipeline InitializeSteeringPipeline(DynamicCharacter orig, KinematicData dest)
{
//Pipeline
SteeringPipeline pipe = new SteeringPipeline(orig.KinematicData)
{
MaxAcceleration = 15.0f
};
//Targeter
Targeter MouseClickTargeter = new Targeter()
{
Target = dest
};
pipe.Targeters.Add(MouseClickTargeter);
//Decomposer
pathfindingDecomposer = new PathfindingDecomposer()
{
Graph = this.navMesh,
Heuristic = new EuclideanDistanceHeuristic()
};
pipe.Decomposers.Add(pathfindingDecomposer);
//Actuator - Default: Car behaviour
Actuator actuator = new CarActuator()
{
MaxAcceleration = 15.0f,
Character = orig.KinematicData
};
if (orig.GameObject.tag.Equals("Enemies"))
{
actuator = new TrollActuator()
{
MaxAcceleration = 10.0f,
Character = orig.KinematicData
};
}
pipe.Actuator = actuator;
//Constraints
foreach (DynamicCharacter troll in enemies)
{
TrollConstraint trollConstraint = new TrollConstraint()
{
Troll = troll,
margin = 1.0f
};
pipe.Constraints.Add(trollConstraint);
}
MapConstraint mapConstraint = new MapConstraint()
{
chars = character,
navMeshP = navMesh,
margin = 1.0f
};
pipe.Constraints.Add(mapConstraint);
return(pipe);
}
public BasicActuator(SteeringPipeline pipeline) : base(pipeline)
{
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.3f;
this.people = new DynamicCharacter[this.peopleAvatar.Length];
for(int i = 0; i < this.peopleAvatar.Length;i++)
{
this.people[i] = new DynamicCharacter(this.peopleAvatar[i]);
}
var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
SteeringPipeline steeringPipeline = new SteeringPipeline();
steeringPipeline.Character = character.KinematicData;
steeringPipeline.Targeters.Add(targeter = new TargetPosition());
steeringPipeline.Decomposers.Add(decomposerAStar = new NodeAStarDecomposer());
steeringPipeline.Constraints.Add(
constraint = new ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 7f,
MaxWhiskersLookAhead = 5f
});
steeringPipeline.Constraints.Add(
constraint2 = new ConstraitColisionWithPeople(peopleAvatar, 15f)
{
});
steeringPipeline.Actuator = actuator = new PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
character.Movement = steeringPipeline;
for (int i = 0; i < this.people.Length; i++)
{
SteeringPipeline personSteeringPipeline = new SteeringPipeline();
TargetPersonPosition personTargeter = new TargetPersonPosition(10.0f);
personSteeringPipeline.Targeters.Add(personTargeter);
DecomposerPersonPathCreation personDecomposer = new DecomposerPersonPathCreation();
personSteeringPipeline.Decomposers.Add(personDecomposer);
personSteeringPipeline.Constraints.Add(
constraint = new ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 15f,
MaxWhiskersLookAhead = 10f
});
personSteeringPipeline.Actuator = personActuator = new PersonActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 20.0f,
PathOffset = 0.05f,
Movement = new DynamicPedestrianSeek()
},
};
personSteeringPipeline.Character = this.people[i].KinematicData;
people[i].Movement = personSteeringPipeline;
}
StringPullingPathSmoothing.MinWidth = 10f;
StringPullingPathSmoothing.MinDistanceToCharacter = 10f;
}
public PedestrianAvoidanceConstraint(SteeringPipeline pipeline, DynamicCharacter character, List<Pedestrian> pedestrians)
{
this.Pedestrians = pedestrians;
this.Character = character;
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List <Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
//flags used for the influence map
this.RedFlags = new List <IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List <IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
}
protected ActuatorComponent(SteeringPipeline pipeline)
: base(pipeline)
{
}
public MouseClickTargeter(SteeringPipeline pipeline, Camera camera) : base(pipeline)
{
this.Camera = camera;
this.Goal = new SteeringGoal();
}
protected ConstraintComponent(SteeringPipeline pipeline) : base(pipeline)
{
this.SuggestionUsed = false;
}
protected ConstraintComponent(SteeringPipeline pipeline)
: base(pipeline)
{
this.SuggestionUsed = false;
}
public PathFindingDecomposer(SteeringPipeline pipeline, AStarPathfinding pathfindingAlgorithm)
: base(pipeline)
{
this.PathfindingAlgorithm = pathfindingAlgorithm;
}
public SteeringPipelineComponent(SteeringPipeline pipeline)
{
this.Pipeline = pipeline;
}
public FixedTargeter(SteeringPipeline pipeline)
: base(pipeline)
{
this.Target = new SteeringGoal();
}
public TargeterComponent(SteeringPipeline pipeline)
: base(pipeline)
{
}
public ActuatorSwitch(SteeringPipeline pipeline)
: base(pipeline)
{
this.ActiveActuator = this.Name;
this.Actuators = new Dictionary<string, ActuatorComponent>();
}
public BasicActuator(SteeringPipeline pipeline)
: base(pipeline)
{
}
