public void initializeController(GameObject[] agents, Vector2[] boundingPoly, World.TrajectoryMap trajectory, Vector2[] formationPositions, float agentHeight,
float deltaX, float deltaY, float simulationFactor, float vehicleDt, bool formationDecreasingGoalVelocity)
{
this.simulationSpeedFactor = simulationFactor;
this.vehicleDt = vehicleDt;
this.agentHeight = agentHeight;
this.agents = agents;
this.formationDecreasingGoalVelocity = formationDecreasingGoalVelocity;
// Get trajectory coordinates
this.trajectory = new Vector3[trajectory.x.Length];
for (int i = 0; i < trajectory.x.Length; i++)
{
this.trajectory [i] = new Vector3(trajectory.x [i], agentHeight, trajectory.y [i]);
}
// Get trajectory orientations
this.trajectoryOrientation = new float[trajectory.theta.Length];
for (int i = 0; i < trajectory.theta.Length; i++)
{
this.trajectoryOrientation [i] = trajectory.theta [i];
}
// Get timestamps for each step of the trajectory
this.trajectoryTimestamps = new float[trajectory.t.Length];
for (int i = 0; i < trajectory.t.Length; i++)
{
this.trajectoryTimestamps [i] = trajectory.t [i];
}
// set formationPositions in parent class to relative positions from the virtual center
setRelativeFormationPositions(formationPositions, formationPositions.Length - 1);
// Get starting absolute positions and relative to the leader positions.
this.desiredRelativePositions = getDesiredPositions(agents.Length - 1, false);
this.desiredAbsolutePositions = getDesiredPositions(agents.Length - 1);
// Visualize starting desired positions
//Visualizer.visualizePoints(this.desiredRelativePositions);
//Visualizer.visualizePoints(this.desiredAbsolutePositions);
// Set a controller within each agent
agents [0].AddComponent <LeaderController> ();
for (int i = 1; i < agents.Length; i++)
{
agents [i].AddComponent <FootballPlayerController> ();
}
formationRectangle = new VirtualStructureRectangle(formationPositions, boundingPoly, deltaX, deltaY, agentHeight);
// Get nearest agent to opponent player
winnerIdx = agents.Length - 1;
for (int t = 1; t < agents.Length - 1; t++)
{
// Get closest player to opponent
float minDistance = float.MaxValue;
for (int i = 1; i < agents.Length - 1; i++)
{
// If this agent has failed moving before, due to moving the formation out of the polygon
float distance = Vector2.Distance(new Vector2(agents[0].transform.position.x, agents[0].transform.position.z), getDesiredPosition(i - 1));
if (distance < minDistance)
{
minDistance = distance;
winnerIdx = i;
}
}
}
currentVelocities = new Vector3[agents.Length];
}
public VirtualStructureRectangle(VirtualStructureRectangle structure)
{
center = new Vector3(structure.center.x, structure.center.y, structure.center.z);
vertices = new PointInfo[structure.vertices.Length];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = new PointInfo(structure.vertices[i].pos, structure.vertices[i].vel, structure.vertices[i].orientation, structure.vertices[i].currentTime);
}
}
private bool moveNearestAgent(Vector3 target, int nearestAgentIdx)
{
// Get next position information of the nearestAgentIdx
FootballPlayerController nearestAgentController = agents[nearestAgentIdx].GetComponent <FootballPlayerController>();
PointInfo lastPos = nearestAgentController.getLastPosInfo();
BaseModel model = nearestAgentController.getMotionModel();
PointInfo nextPoint;
if (formationDecreasingGoalVelocity)
{
PointInfo goalPointInfo = new PointInfo(target, Vector3.zero, Vector3.forward, lastPos.currentTime + vehicleDt);
nextPoint = model.moveTowardsWithDecreasingVelocity(lastPos, goalPointInfo, nearestAgentController.getWorld(), false);
}
else
{
PointInfo goalPointInfo = new PointInfo(target, getAgentVelocity(0), getAgentOrientation(0), lastPos.currentTime + vehicleDt);
List <PointInfo> path = model.completePath(lastPos, goalPointInfo, nearestAgentController.getWorld(), false);
if (path != null && path.Count > 0)
{
nextPoint = path [0];
}
else
{
return(false);
}
}
nearestAgentController.getWorld().currentVelocities[nearestAgentIdx - 1] = nextPoint.vel;
setCurrentVelocity(nearestAgentIdx, nextPoint.vel);
// Get previous position of agent
Vector3 prevPos = new Vector3(agents[nearestAgentIdx].transform.position.x, agents[nearestAgentIdx].transform.position.y, agents[nearestAgentIdx].transform.position.z);
agents[nearestAgentIdx].transform.position = nextPoint.pos;
Vector2[] tmpDesiredRelativePositions = getDesiredPositions(winnerIdx, false, false);
// Store previous positional information
Vector2[] prevRelativeFormationPositions = new Vector2[this.relativeFormationPositions.Length];
for (int i = 0; i < prevRelativeFormationPositions.Length; i++)
{
prevRelativeFormationPositions [i] = new Vector2(this.relativeFormationPositions[i].x, this.relativeFormationPositions[i].y);
}
Vector2[] prevDesiredRelative = getDesiredPositions(winnerIdx, false, false);
Vector2[] prevDesiredAbsolute = getDesiredPositions(winnerIdx, false, true);
// Calculate new positional information
setRelativeFormationPositions(this.relativeFormationPositions, nearestAgentIdx - 1);
this.desiredRelativePositions = getDesiredPositions(winnerIdx, false, false);
this.desiredAbsolutePositions = getDesiredPositions(winnerIdx, false, true);
// Get virtual center controller and its last position
FootballPlayerController virtualCenterController = agents[agents.Length - 1].GetComponent <FootballPlayerController>();
PointInfo lastCenterPos = virtualCenterController.getLastPosInfo();
// Move center in the same way the nearest agent moves, anchoring the formation to the agent
Vector2 desiredCenterPosition = getDesiredPosition(agents.Length - 2);
Vector3 desiredCenter3D = new Vector3(desiredCenterPosition.x, agentHeight, desiredCenterPosition.y);
// Get copy of formation rectangle
VirtualStructureRectangle tmp = new VirtualStructureRectangle(formationRectangle);
// Update rectangle with new desired center
tmp.updateRectangle(desiredCenter3D);
// Check if new rectangle gets out of the bounding polygon in case the agent is not already near the boundary
if (lastPos.currentTime > 30.0f && !tmp.isInPolygon(nearestAgentController.getWorld().boundingPolygon))
{
// If it is not entirely inside, restore changes and return false
agents[nearestAgentIdx].transform.position = prevPos;
this.relativeFormationPositions = prevRelativeFormationPositions;
this.desiredAbsolutePositions = prevDesiredAbsolute;
this.desiredRelativePositions = prevDesiredRelative;
return(false);
}
// Otherwise make all necessary changes to variables of the closest agent and formation center
agents[nearestAgentIdx].transform.position = prevPos;
agents [nearestAgentIdx].transform.LookAt(agents[nearestAgentIdx].transform.position + (target - agents[nearestAgentIdx].transform.position).normalized);
PointInfo nextPos = new PointInfo(nextPoint.pos, Vector3.zero, nextPoint.orientation, nextPoint.currentTime + vehicleDt);
nearestAgentController.setNextPosInfo(nextPoint);
agents [agents.Length - 1].transform.position = desiredCenter3D;
lastCenterPos.pos = desiredCenter3D;
lastCenterPos.vel = nextPoint.vel;
lastCenterPos.orientation = nextPoint.orientation;
lastCenterPos.currentTime = nextPoint.currentTime;
formationRectangle = tmp;
agents [agents.Length - 1].transform.LookAt(agents[agents.Length - 1].transform.position + (target - agents[agents.Length - 1].transform.position).normalized);
virtualCenterController.setLastPosInfo(lastCenterPos);
nextPos = new PointInfo(lastCenterPos.pos, Vector3.zero, lastCenterPos.orientation, lastCenterPos.currentTime + vehicleDt);
virtualCenterController.setNextPosInfo(nextPos);
virtualCenterController.setPlay(false);
return(true);
}
