//load a csv config file
protected void LoadConfigFile()
{
string line;
// Create a new StreamReader, tell it which file to read and what encoding the file
StreamReader theReader = new StreamReader(Application.dataPath + "/" + obstaclesFilename, System.Text.Encoding.Default);
using (theReader)
{
int lineCount = 1;
int qntObstacles = 0;
int qntVertices = 0;
int qntTriangles = 0;
int controlVertice = 0;
int controlTriangle = 0;
Vector3[] vertices = new Vector3[qntVertices];
int[] triangles = new int[qntTriangles];
do
{
line = theReader.ReadLine();
if (line != null && line != "")
{
//in the first line, we have the qntObstacles to instantiante
if (lineCount == 1)
{
string[] entries = line.Split(':');
qntObstacles = System.Int32.Parse(entries[1]);
}
//else, if the line has "Obstacle", it is the name. Here starts a new obstacle, so we activate activeObstacle
else if (line == "Obstacle")
{
vertices = null;
triangles = null;
controlVertice = 0;
controlTriangle = 0;
}
//else, if has qntVertices, starts to list the vertices
else if (line.Contains("qntVertices"))
{
string[] entries = line.Split(':');
qntVertices = System.Int32.Parse(entries[1]);
vertices = new Vector3[qntVertices];
}
//else, if has qntTraingles, starts to list the triangles
else if (line.Contains("qntTriangles"))
{
string[] entries = line.Split(':');
qntTriangles = System.Int32.Parse(entries[1]);
triangles = new int[qntTriangles];
}
else
{
//else, we check if the value has ;. If so, it is a vector3. Otherwise, it is the triangle values
string[] entries = line.Split(';');
if (entries.Length > 1)
{
vertices[controlVertice] = new Vector3(System.Convert.ToSingle(entries[0]), System.Convert.ToSingle(entries[1]), System.Convert.ToSingle(entries[2]));
controlVertice++;
}
else
{
triangles[controlTriangle] = System.Int32.Parse(entries[0]);
controlTriangle++;
//if it is the last one, we create the Object
if (controlTriangle >= qntTriangles)
{
GameObject go = new GameObject();
go.AddComponent <MeshFilter>();
go.AddComponent <MeshRenderer>();
MeshFilter mf = go.GetComponent <MeshFilter>();
var mesh = new Mesh();
mf.mesh = mesh;
mesh.vertices = vertices;
mesh.triangles = triangles;
go.AddComponent <BoxCollider>();
go.GetComponent <BoxCollider>().isTrigger = true;
go.tag = "Obstacle";
go.name = "Obstacle";
//nav mesh obstacle
go.AddComponent <UnityEngine.AI.NavMeshObstacle>();
go.GetComponent <UnityEngine.AI.NavMeshObstacle>().carving = true;
go.GetComponent <UnityEngine.AI.NavMeshObstacle>().carveOnlyStationary = false;
go.GetComponent <UnityEngine.AI.NavMeshObstacle>().size = new Vector3(go.GetComponent <UnityEngine.AI.NavMeshObstacle>().size.x, 1f, go.GetComponent <UnityEngine.AI.NavMeshObstacle>().size.z);
}
}
}
}
lineCount++;
} while (line != null);
}
// Done reading, close the reader and return true to broadcast success
theReader.Close();
int qntCells = 0;
// Create a new StreamReader, tell it which file to read and what encoding the file
theReader = new StreamReader(Application.dataPath + "/" + configFilename, System.Text.Encoding.Default);
Terrain terrain = GameObject.Find("Terrain").GetComponent <Terrain> ();
GameObject camera = GameObject.Find("Camera");
using (theReader)
{
int lineCount = 1;
// While there's lines left in the text file, do this:
do
{
line = theReader.ReadLine();
if (line != null)
{
//in first line, we have the terrain size
if (lineCount == 1)
{
string[] entries = line.Split(':');
entries = entries[1].Split(',');
scenarioSizeX = System.Convert.ToSingle(entries[0]);
scenarioSizeZ = System.Convert.ToSingle(entries[1]);
terrain.terrainData.size = new Vector3(scenarioSizeX, terrain.terrainData.size.y, scenarioSizeZ);
}
//in second line, we have the camera position
else if (lineCount == 2)
{
string[] entries = line.Split(':');
entries = entries[1].Split(',');
camera.transform.position = new Vector3(System.Convert.ToSingle(entries[0]),
System.Convert.ToSingle(entries[1]), System.Convert.ToSingle(entries[2]));
camera.GetComponent <Camera>().orthographicSize = System.Convert.ToSingle(entries[3]);
}
//in the third line, we have the qntCells to instantiante
else if (lineCount == 3)
{
string[] entries = line.Split(':');
qntCells = System.Int32.Parse(entries[1]);
}
//else, if we are in the qntCells+4 line, we have the qntAuxins to instantiante
else if (lineCount == qntCells + 4)
{
string[] entries = line.Split(':');
qntAuxins = System.Int32.Parse(entries[1]);
}
//else, if we are in the qntCells+qntAuxins+5 line, it is the qntAgents to instantiate
else if (lineCount == qntCells + qntAuxins + 5)
{
string[] entries = line.Split(':');
qntAgents = System.Int32.Parse(entries[1]);
}
else
{
//while we are til qntCells+3 line, we have cells. After that, we have auxins and then, agents
if (lineCount <= qntCells + 3)
{
string[] entries = line.Split(';');
if (entries.Length > 0)
{
GameObject newCell = Instantiate(cell, new Vector3(System.Convert.ToSingle(entries[1]), System.Convert.ToSingle(entries[2]), System.Convert.ToSingle(entries[3])),
Quaternion.identity) as GameObject;
//change his name
newCell.name = entries[0];
}
}
else if (lineCount <= qntCells + qntAuxins + 4)
{
string[] entries = line.Split(';');
if (entries.Length > 0)
{
//find his cell
GameObject hisCell = GameObject.Find(entries[5]);
AuxinControllerBase newAuxin = new AuxinControllerBase();
//change his name
newAuxin.name = entries[0];
//this auxin is from this cell
newAuxin.SetCell(hisCell);
//set position
newAuxin.position = new Vector3(System.Convert.ToSingle(entries[1]), System.Convert.ToSingle(entries[2]), System.Convert.ToSingle(entries[3]));
//alter auxinRadius
auxinRadius = System.Convert.ToSingle(entries[4]);
//add this auxin to this cell
hisCell.GetComponent <CellControllerBase>().AddAuxin(newAuxin);
}
}
else
{
string[] entries = line.Split(';');
if (entries.Length > 0)
{
if (lineCount <= qntAuxins + 5 + qntAgents + qntCells)
{
GameObject newAgent = Instantiate(agent, new Vector3(System.Convert.ToSingle(entries[4]),
System.Convert.ToSingle(entries[5]), System.Convert.ToSingle(entries[6])),
Quaternion.identity) as GameObject;
//change his name
newAgent.name = entries[0];
//change his radius
newAgent.GetComponent <AgentControllerBase>().agentRadius = System.Convert.ToSingle(entries[1]);
//change his maxSpeed
newAgent.GetComponent <AgentControllerBase>().maxSpeed = System.Convert.ToSingle(entries[2]);
//change his color
//new Color(Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f))
string[] temp = entries[3].Split('(');
temp = temp[1].Split(')');
temp = temp[0].Split(',');
newAgent.GetComponent <AgentControllerBase>().SetColor(
new Color(System.Convert.ToSingle(temp[0]), System.Convert.ToSingle(temp[1]),
System.Convert.ToSingle(temp[2])));
newAgent.GetComponent <MeshRenderer>().material.color = newAgent.GetComponent <AgentControllerBase>().GetColor();
//goal
newAgent.GetComponent <AgentControllerBase>().go = GameObject.Find(entries[7]);
//cell
GameObject theCell = GameObject.Find(entries[8]);
newAgent.GetComponent <AgentControllerBase>().SetCell(theCell);
//agent radius
newAgent.GetComponent <AgentControllerBase>().agentRadius = agentRadius;
}
}
}
}
}
lineCount++;
}while (line != null);
// Done reading, close the reader and return true to broadcast success
theReader.Close();
}
//just to see how many auxins were generated
GameObject[] qnt = GameObject.FindGameObjectsWithTag("Auxin");
Debug.Log(qnt.Length);
}
//add a new auxin on myAuxins
public void AddAuxin(AuxinControllerBase auxin)
{
myAuxins.Add(auxin);
}
// Use this for initialization
void Awake()
{
//camera height and center position
//scene is 3:2 scale, so we divide for 3 or 2, depending the parameter
//float cameraHeight = scenarioSizeX/3;
//float cameraPositionX = scenarioSizeX/2;
//float cameraPositionZ = scenarioSizeZ/2;
//GameObject camera = GameObject.Find ("Camera");
//camera.transform.position = new Vector3(cameraPositionX, camera.transform.position.y, cameraPositionZ);
//camera.GetComponent<Camera>().orthographicSize = cameraHeight;
Terrain terrain = GameObject.Find("Terrain").GetComponent <Terrain>();
//change terrain size according informed
terrain.terrainData.size = new Vector3(scenarioSizeX, terrain.terrainData.size.y, scenarioSizeZ);
//Get map size
spawnPositionX = (int)Mathf.Floor(terrain.terrainData.size.x - 1f);
spawnPositionZ = (int)Mathf.Floor(terrain.terrainData.size.z - (terrain.terrainData.size.z - 2f));
//if loadConfigFile is checked, we do not generate the initial scenario. We load it from the Config.xml (or something like this) file
if (loadConfigFile)
{
LoadConfigFile();
//build the navmesh at runtime
UnityEditor.AI.NavMeshBuilder.BuildNavMesh();
}
else
{
//build the navmesh at runtime
UnityEditor.AI.NavMeshBuilder.BuildNavMesh();
//draw Obstacles
//DrawObstacles();
//first of all, create all cells (with this scene and this agentRadius = 1 : 150 cells)
//since radius = 1; diameter = 2. So, iterate 2 in 2
//if the radius varies, this 2 operations adjust the cells
Vector3 newPosition = new Vector3(cell.transform.position.x * agentRadius,
cell.transform.position.y * agentRadius, cell.transform.position.z * agentRadius);
Vector3 newScale = new Vector3(cell.transform.localScale.x * agentRadius,
cell.transform.localScale.y * agentRadius, cell.transform.localScale.z * agentRadius);
for (float i = 0; i < terrain.terrainData.size.x; i = i + agentRadius * 2)
{
for (float j = 0; j < terrain.terrainData.size.z; j = j + agentRadius * 2)
{
//instantiante a new cell
GameObject newCell = Instantiate(cell, new Vector3(newPosition.x + i, newPosition.y, newPosition.z + j), Quaternion.identity) as GameObject;
//change his name
newCell.GetComponent <CellControllerBase>().cellName = newCell.name = "cell" + i + "-" + j;
//change scale
newCell.transform.localScale = newScale;
}
}
//just to see how many cells were generated
GameObject[] allCells = GameObject.FindGameObjectsWithTag("Cell");
//Debug.Log(allCells.Length);
//lets set the qntAuxins for each cell according the density estimation
float densityToQnt = PORC_QTD_Marcacoes;
densityToQnt *= 2f / (2.0f * auxinRadius);
densityToQnt *= 2f / (2.0f * auxinRadius);
qntAuxins = (int)Mathf.Floor(densityToQnt);
//Debug.Log(qntAuxins);
//for each cell, we generate his auxins
for (int c = 0; c < allCells.Length; c++)
{
//Dart throwing auxins
//use this flag to break the loop if it is taking too long (maybe there is no more space)
int flag = 0;
for (int i = 0; i < qntAuxins; i++)
{
float x = Random.Range(allCells[c].transform.position.x - 0.99f, allCells[c].transform.position.x + 0.99f);
float z = Random.Range(allCells[c].transform.position.z - 0.99f, allCells[c].transform.position.z + 0.99f);
//see if there are auxins in this radius. if not, instantiante
List <AuxinControllerBase> allAuxinsInCell = allCells[c].GetComponent <CellControllerBase>().GetAuxins();
bool canIInstantiante = true;
for (int j = 0; j < allAuxinsInCell.Count; j++)
{
float distanceAA = Vector3.Distance(new Vector3(x, 0f, z), allAuxinsInCell[j].position);
//if it is too near, i cant instantiante. found one, so can Break
if (distanceAA < auxinRadius)
{
canIInstantiante = false;
break;
}
}
//if i have found no auxin, i still need to check if is there obstacles on the way
if (canIInstantiante)
{
//sphere collider to try to find the obstacles
Collider[] hitColliders = Physics.OverlapSphere(new Vector3(x, 0f, z), auxinRadius);
{
//if found some
if (hitColliders.Length > 0)
{
//for each of them, verify if it is an Obstacle. If it is, i cannot instantiate
for (int s = 0; s < hitColliders.Length; s++)
{
if (hitColliders[s].gameObject.tag == "Obstacle")
{
canIInstantiante = false;
break;
}
}
}
}
}
//canIInstantiante???
if (canIInstantiante)
{
AuxinControllerBase newAuxin = new AuxinControllerBase();
//change his name
newAuxin.name = "auxin" + c + "-" + i;
//this auxin is from this cell
newAuxin.SetCell(allCells[c]);
//set position
newAuxin.position = new Vector3(x, 0f, z);
//add this auxin to this cell
allCells[c].GetComponent <CellControllerBase>().AddAuxin(newAuxin);
//reset the flag
flag = 0;
}
else
{
//else, try again
flag++;
i--;
}
//if flag is above qntAuxins (*2 to have some more), break;
if (flag > qntAuxins * 2)
{
//reset the flag
flag = 0;
break;
}
}
}
//to avoid a freeze
int doNotFreeze = 0;
//instantiate qntAgents Agents
for (int i = 0; i < qntAgents; i++)
{
//if we are not finding space to set the agent, lets update the maxZ position to try again
if (doNotFreeze > qntAgents)
{
doNotFreeze = 0;
spawnPositionZ += 2;
}
//default
//scenarioType 0
//sort out a cell
float x = (int)Random.Range(3f, spawnPositionX);
float z = (int)Random.Range(3f, spawnPositionZ);
//need to me uneven, for the cells are too
while (x % 2 == 0 || z % 2 == 0)
{
x = (int)Random.Range(1f, spawnPositionX);
z = (int)Random.Range(1f, spawnPositionZ);
}
//Debug.Log (x+"--"+z);
GameObject[] allGoals = GameObject.FindGameObjectsWithTag("Goal");
GameObject choosen = new GameObject();
float menorDist = float.PositiveInfinity;
foreach (GameObject g in allGoals)
{
float dist = Vector3.Distance(new Vector3(x, 0, z), g.transform.position);
if (dist < menorDist)
{
menorDist = dist;
choosen = g;
}
}
GameObject thisGoal = choosen;
if (scenarioType == 1)
{
//scenarioType 1
//half agents, so
if (i % 2 != 0)
{
//z size = 20
z = (int)Random.Range(terrain.terrainData.size.z, terrain.terrainData.size.z - spawnPositionZ);
//need to me uneven, for the cells are too
while (z % 2 == 0)
{
z = (int)Random.Range(terrain.terrainData.size.z, terrain.terrainData.size.z - spawnPositionZ);
}
thisGoal = allGoals[1];
}
}
//find the cell in x - z coords, using his name
int nameX = (int)x - 1;
int nameZ = (int)z - 1;
GameObject foundCell = CellControllerBase.GetCellByName("cell" + nameX + "-" + nameZ);
//generate the agent position
x = Random.Range(foundCell.transform.position.x - 1f, foundCell.transform.position.x + 1f);
z = Random.Range(foundCell.transform.position.z, foundCell.transform.position.z + 5f);
//see if there are agents in this radius. if not, instantiante
Collider[] hitColliders = Physics.OverlapSphere(new Vector3(x, 0, z), 0.5f);
//here we have all colliders hit, where we can have auxins too. So, lets see which of these are Player
int pCollider = 0;
for (int j = 0; j < hitColliders.Length; j++)
{
if (hitColliders[j].gameObject.tag == "Player")
{
//if we find one, it is enough. Break!
pCollider++;
break;
}
}
//if found a player in the radius, do not instantiante. try again
if (pCollider > 0)
{
//try again
i--;
doNotFreeze++;
continue;
}
else
{
GameObject newAgent = Instantiate(agent, new Vector3(x, 0f, z), Quaternion.identity) as GameObject;
//change his name
newAgent.name = "agent" + i;
//random agent color
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f)));
//agent cell
newAgent.GetComponent <AgentControllerBase>().SetCell(foundCell);
//agent radius
newAgent.GetComponent <AgentControllerBase>().agentRadius = agentRadius;
//if lane scene, black and white
if (scenarioType == 1)
{
//scenarioType 1
//half agents, so
if (i % 2 != 0)
{
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(0f, 0f, 0f));
}
else
{
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(1f, 1f, 1f));
}
}
newAgent.GetComponent <MeshRenderer>().material.color = newAgent.GetComponent <AgentControllerBase>().GetColor();
//agent goal
newAgent.GetComponent <AgentControllerBase>().go = thisGoal;
}
}
}
Debug.Log("Termino");
}
