public void UpdateState(float t, PhysicalState physical, SensorData sensor)
{
var closestFood = sensor.GetClosestByType(ObjectType.Food);
var closestMate = sensor.GetClosestByType(ObjectType.Mate);
this.H(t, physical, closestFood);
this.L(t, physical, closestMate);
this.F(t, physical, sensor.GetVisiable(ObjectType.Predator));
}
private float L(float t, PhysicalState ps, SensorObject target)
{
var Ht = this.hunger;
var internalUrge = ps.Lx(ps.timeSinceLastMating) * (1 - Ht);
var externalStimuli = this.Sl(target);
var L = math.min(internalUrge + externalStimuli, 1);
this.libido = L;
return(this.libido);
}
private float H(float t, PhysicalState ps, SensorObject target)
{
var internalUrge = 1 - ps.foodEaten * ps.Rx(ps.timeSinceLastMeal) / ps.appetite;
var externalStimuli = ps.alphah * this.Sh(target);
var H = math.min(internalUrge + externalStimuli, 1);
this.hunger = H;
return(this.hunger);
}
private float F(float t, PhysicalState ps, List <SensorObject> targets)
{
var externalStimuli = 0f;
var internalUrge = 0;
foreach (var p in targets)
{
externalStimuli += ps.Fi(p.distance);
}
var F = math.min(internalUrge + externalStimuli, 1);
this.fear = F;
return(this.fear);
}
public Intension Generate(Perception perception, Habits habits, MentalState mental, PhysicalState ps, float t)
{
Intension intension = default;
var sensorData = perception.GetSensorData();
var distance = sensorData.closestDangerObj == null ? -1 : sensorData.closestDangerObj.distance;
if (distance > 0)
{
var mono = sensorData.closestDangerObj.obj as MonoBehaviour;
intension = new AvoidIntension(mono.gameObject);
if (this.intensionStack.Count == 0 || this.intensionStack.Last.Value.IntensionType != Intension.Type.Avoid)
{
this.intensionStack.AddLast(intension);
}
}
else
{
//fear of most dangerous predator m
var p = sensorData.GetClosestByType(ObjectType.Predator);
var Fm = p != null?ps.Fi(p.distance) : 0;
var F = mental.fear;
if (F > this.f0)
{
if (Fm < this.f1 && habits.schooling)
{
intension = new SchoolIntension();
}
else
{
var mono = p.obj as MonoBehaviour;
intension = new EscapedIntension(mono.gameObject);
}
}
else
{
if (this.IsLastEatOrMate())
{
intension = this.intensionStack.Last.Value;
this.intensionStack.RemoveLast();
}
else
{
intension = this.GenerateNewIntension(perception, habits, mental, ps, t);
}
}
}
if (this.intensionStack.Count > 1)
{
this.intensionStack.RemoveFirst();
}
LogTool.AssertIsTrue(intension != null);
return(intension);
}
protected Intension GenerateNewIntension(Perception perception, Habits habits, MentalState mental, PhysicalState ps, float t)
{
Intension intension = default;
var H = mental.hunger;
var L = mental.libido;
if (this.r < math.max(H, L))
{
if (H == L)
{
if (ThreadSafeRandom.NextFloat() > 0.5f)
{
intension = new EatIntension();
}
else
{
intension = new MateIntension();
}
}
else
{
if (H > L)
{
intension = new EatIntension();
}
else
{
intension = new MateIntension();
}
}
}
else
{
//perception.temperatureSensor;
//perception.visionSensor;
//generate wonder or leave
intension = new WanderIntension();
}
return(intension);
}