public void InitializePathfindingSearch(Vector3 startPosition, Vector3 goalPosition)
{
this.StartPosition = startPosition;
this.GoalPosition = goalPosition;
this.StartNode = this.Quantize(this.StartPosition);
this.GoalNode = this.Quantize(this.GoalPosition);
//if it is not possible to quantize the positions and find the corresponding nodes, then we cannot proceed
if (this.StartNode == null || this.GoalNode == null)
{
return;
}
//I need to do this because in Recast NavMesh graph, the edges of polygons are considered to be nodes and not the connections.
//Theoretically the Quantize method should then return the appropriate edge, but instead it returns a polygon
//Therefore, we need to create one explicit connection between the polygon and each edge of the corresponding polygon for the search algorithm to work
((NavMeshPoly)this.StartNode).AddConnectedPoly(this.StartPosition);
((NavMeshPoly)this.GoalNode).AddConnectedPoly(this.GoalPosition);
this.InProgress = true;
this.TotalProcessedNodes = 0;
this.TotalProcessingTime = 0.0f;
this.MaxOpenNodes = 0;
var initialNode = new NodeRecord
{
gValue = 0,
hValue = this.Heuristic.H(this.StartNode, this.GoalNode),
node = this.StartNode
};
initialNode.fValue = AStarPathfinding.F(initialNode);
this.Open.Initialize();
this.Open.AddToOpen(initialNode);
this.Closed.Initialize();
}
public PathFindingDecomposer(SteeringPipeline pipeline, AStarPathfinding pathfindingAlgorithm)
: base(pipeline)
{
this.PathfindingAlgorithm = pathfindingAlgorithm;
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//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);
this.ResourceInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.CombinedInfluence = new Dictionary<LocationRecord, float>();
//initialization of the movement algorithms
this.aStarPathFinding = new InfluenceMapAStarPathfinding(this.navMesh, new EuclideanDistanceHeuristic(), this.RedInfluenceMap, this.GreenInfluenceMap);
this.aStarPathFinding.NodesPerSearch = 500;
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);
this.CharActuator = new ActuatorSwitch(steeringPipeline);
var followPath = new FollowPathActuator(steeringPipeline);
var standStill = new StandStillActuator(steeringPipeline);
this.CharActuator.Actuators.Add(followPath.Name, followPath);
this.CharActuator.Actuators.Add(standStill.Name, standStill);
this.CharActuator.SwitchActuator(followPath.Name);
steeringPipeline.Actuator = this.CharActuator;
this.Character.Movement = steeringPipeline;
//initialization of the GOB decision making
//let's start by creating 5 main goals
//the eat goal 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, 1.5f);
this.EatGoal = new Goal(EAT_GOAL, 2.5f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.25f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 0.25f);
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);
this.PlaceFlagAction = new PlaceFlag(this);
this.Actions.Add(this.PlaceFlagAction);
this.ActiveResources = new Dictionary<NavigationGraphNode, IInfluenceUnit>();
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(chest.transform.position, 1.0f)));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(tree.transform.position, 1.0f)));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(bed.transform.position, 1.0f)));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.AddResource(new Resource(this.navMesh.QuantizeToNode(boar.transform.position, 1.0f)));
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
this.ResourceInfluenceMap.Initialize(this.ActiveResources.Values.ToList());
//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);
}
