// finding home logic
private void OnHome(Ant pAnt, AntPopulation ap)
{
Vector2 v1 = new Vector2(pAnt.mAIRT.transform.position.x, pAnt.mAIRT.transform.position.z);
Vector2 v2 = new Vector2(pAnt.mNowPositionTarget.x, pAnt.mNowPositionTarget.z);
float dis = Vector2.Distance(v1, v2);
//Debug.Log ("OnHome");
if (pAnt.mNowPositionTarget == Vector3.zero || dis < 0.35f)
{
if (pAnt.mInfoFood > 0.0f)
{
UpdatePheromone(ap.mInfluenceDistinationTag, pAnt.mInfoFood, ap.mRadiationRiaus, pAnt.mPositionIndex, 1600, pAnt.mClosedArray.Count);
}
GameObject g_target = FindTarget(pAnt.mAIRT.transform.position, pAnt.mObserverDistance, ap.mTagDistination);
GameObject g_home = FindTarget(pAnt.mAIRT.transform.position, pAnt.mObserverDistance, ap.mTagHome);
if (g_home != null)
{
pAnt.mInfoFood = -1.0f;
pAnt.mInfoHome = 200.0f;
pAnt.mNowTarget = NowTarget.FOOD;
pAnt.mNowPositionTarget = g_home.transform.position;
pAnt.mClosedArray.Clear();
pAnt.mLastDir = Vector2.zero;
return;
}
if (g_target != null)
{
pAnt.mInfoFood = 200.0f;
pAnt.mInfoHome = -1.0f;
}
pAnt.mNowPositionTarget = ComputeDirction(pAnt, ap);
}
else
{
Vector3 offset = pAnt.mNowPositionTarget - pAnt.mAIRT.transform.position;
offset.Normalize();
offset.y = 0;
pAnt.mAIRT.transform.Translate(offset * Time.deltaTime * 6);
}
}
/*
* @ param pTagAnt:the tag of the Ant
* @ param pTagHome: the tag of the home
* @ param pTagDistination:the tag of the food
* @ param ObserverDistance:the observer distance of the ant
*/
public void Init(string pTagAnt, string pTagHome, string pTagDistination, int ObserverDistance)
{
mInfluenceMap = InfluenceMap.getInstance();
GameObject[] mAntRTs = GameObject.FindGameObjectsWithTag(pTagAnt);
mAnts = new Ant[mAntRTs.Length];
for (int i = 0; i < mAnts.Length; i++)
{
mAnts [i] = new Ant();
mAnts [i].mAIRT = mAntRTs [i];
mAnts [i].mObserverDistance = ObserverDistance;
mAnts [i].mNowTarget = NowTarget.NONE;
mAnts [i].mInfoFood = -1.0f;
mAnts [i].mInfoHome = -1.0f;
mAnts [i].mPositionIndex = mInfluenceMap.getTilefromPosition(new Vector2(mAntRTs[i].transform.position.x, mAntRTs[i].transform.position.z));
}
mTagHome = pTagHome;
mTagDistination = pTagDistination;
mTagAnt = pTagAnt;
mAntPopulationList.Add(this);
mListIndex = mNowListCount;
mNowListCount++;
mInfluenceMap.AddConverage(0.0f, pTagAnt + pTagHome, false, 0.82f);
mInfluenceMap.AddConverage(0.0f, pTagAnt + pTagDistination, false, 0.82f);
}
// compute new dirction
private Vector3 ComputeDirction(Ant pAnt, AntPopulation ap)
{
Vector3 result = Vector3.zero;
Vector2 resultNineGrid = Vector2.zero;
int index = -1;
if (pAnt.mNowTarget == NowTarget.FOOD)
{
index = InfluenceMap.getInstance().mDictionary [ap.mInfluenceDistinationTag];
}
else
{
index = InfluenceMap.getInstance().mDictionary [ap.mInfluenceHomeTag];
}
float tMax = InfluenceMap.getInstance().getMax(pAnt.mPositionIndex, 1, index);
// find the information
if (tMax > 0.0f)
{
//Debug.Log (pAnt.mNowTarget.ToString()+" "+tMax+" infoFood:"+pAnt.mInfoFood+" infoHome"+pAnt.mInfoHome);
float minusRate = 0.0002f;
if (Random.Range(0.0f, 1.0f) < minusRate)
{
// just a little rate for random dir
int RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
if (pAnt.mLastDir != Vector2.zero)
{
resultNineGrid = pAnt.mLastDir;
}
float minusRate_ = 0.2f;
if (Random.Range(0.0f, 1.0f) < minusRate_)
{
RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
}
int count = 0;
while ((InfluenceMap.getInstance().isWall(resultNineGrid + pAnt.mPositionIndex) || pAnt.Contains(resultNineGrid + pAnt.mPositionIndex)) && count < 10)
{
RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
count++;
}
}
else
{
// compute the new dir by RW with rate
float sum = 0.0f;
float max = -1.0f;
for (int i = 0; i < InfluenceMap.getInstance().NineGrid.Length; i++)
{
Vector2 delta = InfluenceMap.getInstance().NineGrid [i];
Vector2 real = pAnt.mPositionIndex + delta;
if (real.x >= 0 && real.x < InfluenceMap.getInstance().wtileCount&&real.y >= 0 && real.y < InfluenceMap.getInstance().htileCount)
{
sum += InfluenceMap.getInstance().IMData [index] [(int)real.x] [(int)real.y];
}
}
int index1 = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
for (int i = 0; i < InfluenceMap.getInstance().NineGrid.Length; i++)
{
int realI = (i + index1) % InfluenceMap.getInstance().NineGrid.Length;
Vector2 delta = InfluenceMap.getInstance().NineGrid [realI];
Vector2 real = pAnt.mPositionIndex + delta;
float tRate = 0.0f;
if (real.x >= 0 && real.x < InfluenceMap.getInstance().wtileCount&&real.y >= 0 && real.y < InfluenceMap.getInstance().htileCount)
{
tRate = InfluenceMap.getInstance().IMData [index] [(int)real.x] [(int)real.y] / sum;
}
if (Random.Range(0.0f, 1.0f) < tRate && !InfluenceMap.getInstance().isWall(delta + pAnt.mPositionIndex))
{
resultNineGrid = new Vector2(delta.x, delta.y);
break;
}
}
}
}
else
{
// no find the information so the new dirtion is a random dir
int RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
if (pAnt.mLastDir != Vector2.zero)
{
resultNineGrid = pAnt.mLastDir;
}
float minusRate_ = 0.2f;
if (Random.Range(0.0f, 1.0f) < minusRate_)
{
RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
}
int count = 0;
while ((InfluenceMap.getInstance().isWall(resultNineGrid + pAnt.mPositionIndex) || pAnt.Contains(resultNineGrid + pAnt.mPositionIndex)) && count < 10)
{
RandomIndex = Random.Range(0, InfluenceMap.getInstance().NineGrid.Length);
resultNineGrid = InfluenceMap.getInstance().NineGrid [RandomIndex];
count++;
}
//Debug.Log (pAnt.Contains(resultNineGrid+pAnt.mPositionIndex));
}
pAnt.mLastDir = new Vector2(resultNineGrid.x, resultNineGrid.y);
float tx = pAnt.mPositionIndex.x + resultNineGrid.x;
float ty = pAnt.mPositionIndex.y + resultNineGrid.y;
tx = Mathf.Clamp(tx, 0, InfluenceMap.getInstance().wtileCount - 1);
ty = Mathf.Clamp(ty, 0, InfluenceMap.getInstance().htileCount - 1);
Vector2 tile = new Vector2(tx, ty);
// Debug.Log (pAnt.Contains(tile));
result = InfluenceMap.getInstance().GetPositionByTile(tile);
return(result);
}