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 Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
            {
                MaxAcceleration = 40.0f,
                MaxConstraintSteps = 2,
                Character = this.Character.KinematicData,
            };

            this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
            this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
            steeringPipeline.Targeters.Add(this.Targeter);
            steeringPipeline.Decomposers.Add(this.decomposer);
            steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
            {
                movement = new DynamicFollowPath()
                {
                    MaxAcceleration = 40.0f,
                    PathOffset = 0.05f,
                    Movement = new DynamicCarSeek()
                    {
                        MaxSpeed = this.Character.MaxSpeed,
                        MinSpeed = 4f
                    }
                },
                SecondsToSmooth = 2f
            };

            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);
        }
        public void Start()
        {
            this.draw = true;
            this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
            this.Character = new DynamicCharacter(this.gameObject) { Drag = 0.3f};

            //initialization of the movement algorithms
            this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
            this.aStarPathFinding.NodesPerSearch = 100;

            var steeringPipeline = new Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
            {
                MaxAcceleration = 40.0f,
                MaxConstraintSteps = 2,
                Character = this.Character.KinematicData,
            };

            this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
            this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
            steeringPipeline.Targeters.Add(this.Targeter);
            steeringPipeline.Decomposers.Add(this.decomposer);
            var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
            steeringPipeline.Constraints.Add(
                new Assets.Scripts.IAJ.Unity.SteeringPipeline.ConstraitColisionWithWalls(obstacles, 500.0f)
                {
                AvoidMargin = 7f,
                MaxLookAhead = 5f,
                MaxWhiskersLookAhead = 7f
            });
            steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
            {
                movement = new DynamicFollowPath()
                {
                    MaxAcceleration = 40.0f,
                    PathOffset = 0.05f,
                    Movement = new DynamicCarSeek()
                    {
                        MaxSpeed = this.Character.MaxSpeed,
                        MinSpeed = 4f
                    }
                },
                SecondsToSmooth = 2f
            };

            this.Character.Movement = steeringPipeline;

            //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.Goals = new List<Goal>();
            this.Goals.Add(this.SurviveGoal);
            this.Goals.Add(this.EatGoal);
            this.Goals.Add(this.GetRichGoal);
            this.Goals.Add(this.RestGoal);

            //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));
            }
        }