// Store information on whether each red unit is carrying a civilian or not
void updateRedUnitDatabase()
{
// Clear
redUnitDatabase.Clear();
// Get all red units
redUnits = new List <GameObject>();
redUnits.AddRange(GameObject.FindGameObjectsWithTag("RedTruck"));
redUnits.AddRange(GameObject.FindGameObjectsWithTag("RedDismount"));
// Loop through all actor beliefs and update the database
foreach (Belief_Actor b in actorBeliefs)
{
// We care only about red units
Belief_Actor ba = (Belief_Actor)b;
if (ba.getAffiliation().Equals((int)Affiliation.RED))
{
// Save the info if the belief is new enough
// Note: Watch out for the difference of two unsigned numbers!
if (thisSoaActor.getCurrentTime_ms() <= ba.getBeliefTime() ||
(float)(thisSoaActor.getCurrentTime_ms() - ba.getBeliefTime()) <= beliefTimeout_ms)
{
RedUnitInfo redUnitInfo = new RedUnitInfo(ba, redUnits, redBases, protectedSites);
if (redUnitInfo.distToClosestRedBase > redBaseKeepoutDist * SimControl.KmToUnity)
{
redUnitDatabase.Add(ba.getId(), new RedUnitInfo(ba, redUnits, redBases, protectedSites));
}
}
}
}
}
// Keeps track of a pursue list (really map) with hysterisis distances to closest base as condition
// for being added/removed from map. Each key is an actor ID for a red unit and the value is the
// updated distance to closest base
void markPursueCandidates()
{
// Look at each red unit in the database and determine if it should be a candidate to be pursued
foreach (int id in redUnitDatabase.Keys)
{
// Get the record
RedUnitInfo redUnitInfo = redUnitDatabase[id];
// Estimate how long it takes for me to get there
float myTravelTime = GetRangeTo(redUnitInfo.closestRedBasePos) / thisNavAgent.speed;
// Estimate red unit round trip time
float redRoundTripTime;
if (redUnitInfo.hasCivilian)
{
// Guess that it is going straight to closest base
redRoundTripTime = redUnitInfo.distToClosestRedBase / redUnitInfo.maxSpeed;
// Determine if I can get it before it returns to base (include some inefficiencies)
if (myTravelTime < redRoundTripTime)
{
// Mark as someone who can be caught in time
redUnitInfo.isCatchable = true;
}
}
else
{
if (redUnitInfo.distToClosestRedBase > redBaseKeepoutDist * SimControl.KmToUnity)
{
// Guess that it will first go to closest protected site and then to closest base
redRoundTripTime = (redUnitInfo.distToClosestProtectedSite +
Vector3.Distance(redUnitInfo.closestProtectedSitePos, redUnitInfo.closestRedBasePos))
/ redUnitInfo.maxSpeed;
// Determine if I can get it before it returns to base (include some inefficiencies)
if (myTravelTime < redRoundTripTime)
{
// Mark as someone who can be caught in time
redUnitInfo.isCatchable = true;
}
}
}
}
}
// Assigns a task to current police unit based on the pursueList
public void assignTask()
{
if (redUnitDatabase.Keys.Count == 0)
{
// Transition from pursue to patrol
if (currTask != Task.PATROL)
{
// Pick a new patrol target
currTask = Task.PATROL;
patrolTarget = assignNewProtectedSite(patrolTarget);
}
else if (Vector3.Distance(transform.position, patrolTarget.transform.position) <= clearPatrolRange * SimControl.KmToUnity)
{
// We are close enough to a target to clear it, choose to stay or leave with some probability
if (Random.value <= transitionProbability)
{
patrolTarget = assignNewProtectedSite(patrolTarget);
}
else
{
// We choose to stay here for another update, keep the same task
}
}
else
{
// We are patrolling but have not gotten to target yet, keep the same task
}
}
else
{
// Set intent to pursue
currTask = Task.PURSUE;
// Create 4 lists for determining who to chase after
List <int> isCatchableHasCivilian = new List <int>();
List <int> isCatchableNoCivilian = new List <int>();
List <int> notCatchableHasCivilian = new List <int>();
List <int> notCatchableNoCivilian = new List <int>();
// Pick a pursuit candidate with civilian to pursue
float minCost = float.PositiveInfinity;
// Categorize the candidates
foreach (int id in redUnitDatabase.Keys)
{
// Get the record
RedUnitInfo redUnitInfo = redUnitDatabase[id];
if (redUnitInfo.isCatchable && redUnitInfo.hasCivilian)
{
isCatchableHasCivilian.Add(id);
}
else if (redUnitInfo.isCatchable && !redUnitInfo.hasCivilian)
{
isCatchableNoCivilian.Add(id);
}
else if (!redUnitInfo.isCatchable && redUnitInfo.hasCivilian)
{
notCatchableHasCivilian.Add(id);
}
else
{
notCatchableNoCivilian.Add(id);
}
}
// Find the pursuit target based on priority and min cost
if (isCatchableHasCivilian.Count != 0)
{
// First priority: is catchable and has civilian
foreach (int id in isCatchableHasCivilian)
{
float actorCost = GetRangeTo(redUnitDatabase[id].pos);
if (actorCost < minCost)
{
minCost = actorCost;
pursueActorID = id;
}
}
}
if (float.IsInfinity(minCost) && isCatchableNoCivilian.Count != 0)
{
// Second priority: is catchable but no civilian
foreach (int id in isCatchableNoCivilian)
{
float actorCost = GetRangeTo(redUnitDatabase[id].pos);
if (actorCost < minCost)
{
minCost = actorCost;
pursueActorID = id;
}
}
}
if (float.IsInfinity(minCost) && notCatchableHasCivilian.Count != 0)
{
// Third priority: not catchable but has civilian
foreach (int id in notCatchableHasCivilian)
{
float actorCost = GetRangeTo(redUnitDatabase[id].pos);
if (actorCost < minCost)
{
minCost = actorCost;
pursueActorID = id;
}
}
}
if (float.IsInfinity(minCost) && notCatchableNoCivilian.Count != 0)
{
// Last priority: not catchable and no civilian
foreach (int id in notCatchableNoCivilian)
{
float actorCost = GetRangeTo(redUnitDatabase[id].pos);
if (actorCost < minCost)
{
minCost = actorCost;
pursueActorID = id;
}
}
}
}
}
