// pushes event onto perceived events list
// restarts lifetimeTimer
public void PerceiveEvent(MemoryEvent newEvent)
{
#if UNITY_EDITOR
if (newEvent == null)
{
Debug.LogWarning("Trying to register null as MemoryEvent");
return;
}
#endif
// check if in memory there is any event caused by the same unit as newEvent
if (newEvent.perceiveUnit)
{
for (int i = 0; i < memoryEvents.Length; ++i)
{
if (memoryEvents[i] != null && memoryEvents[i].perceiveUnit == newEvent.perceiveUnit)
{
memoryEvents[i] = null;
break;
}
}
}
lastAddedEvent = (lastAddedEvent + 1) % memoryEvents.Length;
memoryEvents[lastAddedEvent] = newEvent;
newEvent.lifetimeTimer.Restart();
}
new void Awake()
{
base.Awake();
//// initialize focus
painStorage = RegisterSenseInBlackboard(BehaviourPack.painId);
var healthController = GetComponentInParent <HealthController>();
healthController.onDamageCallback += (data) =>
{
if (!tPain.IsReadyRestart())
{
return;
}
MemoryEvent ev = new MemoryEvent();
ev.exactPosition = data.position;
ev.forward = data.direction;
// we have no information about hit velocity; just assume it is stationary
ev.velocity = Vector2.zero;
ev.lifetimeTimer.Restart();
painStorage.PerceiveEvent(ev);
Debug.DrawRay(ev.position, Vector3.up, Color.blue, 0.25f);
};
}
void ReactToNoise(NoiseData data)
{
if (data.fraction && myUnit.fraction.GetAttitude(data.fraction) != Fraction.EAttitude.EEnemy)
{
return;
}
Vector2 toNoise = (Vector2)transform.position - data.position;
if (toNoise.sqrMagnitude > hearingDistance * hearingDistance || Random.value > reactionChance)
{
return;
}
MemoryEvent ev = new MemoryEvent();
ev.velocity = data.velocity * velocityPredictionScale;
ev.forward = data.velocity;
ev.exactPosition = data.position;
ev.lifetimeTimer.Restart();
noiseStorage.PerceiveEvent(ev);
#if UNITY_EDITOR
Debug.DrawRay(ev.exactPosition, Vector3.up, Color.blue, 0.5f);
#endif
}
void InsertEvent(MemoryEvent ev, Fraction.EAttitude attitude)
{
switch (attitude)
{
case Fraction.EAttitude.EEnemy:
if (trackEnemy)
{
enemyStorage.PerceiveEvent(ev);
}
break;
case Fraction.EAttitude.EFriendly:
if (trackAlly)
{
allyStorage.PerceiveEvent(ev);
}
break;
case Fraction.EAttitude.ENeutral:
if (trackNeutrals)
{
neutralStorage.PerceiveEvent(ev);
}
break;
}
}
private void OnCollisionEnter2D(Collision2D collision)
{
// omit too weak touches
if (collision.relativeVelocity.sqrMagnitude < minimalRelativeVelocity * minimalRelativeVelocity)
{
return;
}
// only targets with perceive unit will report
// mostly to allow to tune what is perceived
PerceiveUnit otherUnit = collision.gameObject.GetComponent <PerceiveUnit>();
if (!otherUnit)
{
return;
}
// only report every given seconds
if (!tTouch.IsReadyRestart())
{
return;
}
var otherRigidbody = collision.rigidbody;
var otherTransform = collision.transform;
MemoryEvent ev = new MemoryEvent();
ev.exactPosition = otherTransform.position;
ev.forward = otherTransform.up;
ev.velocity = otherRigidbody ? otherRigidbody.velocity : Vector2.zero;
ev.lifetimeTimer.Restart();
touchStorage.PerceiveEvent(ev);
#if UNITY_EDITOR
Debug.DrawRay(ev.exactPosition, Vector3.up, Color.blue);
#endif
}
// returns best event from registered ones by measureEventMethod
// the one with greatest evaluation value will be returned or null if none is valid
// Events are considered as valid if they are not null and they are not older than maxEventLifeTime
public MemoryEvent FindBestEvent(MeasureEventMethod measureEventMethod)
{
MemoryEvent bestEvent = null;
float bestUtility = float.MinValue;
foreach (var it in memoryEvents)
{
if (it == null || it.elapsedTime > maxEventLifetime)
{
continue;
}
float utility = measureEventMethod(it);
if (utility > bestUtility)
{
bestUtility = utility;
bestEvent = it;
}
}
return(bestEvent);
}
public StimuliStorage(int nEvents, float maxEventLifetime)
{
memoryEvents = new MemoryEvent[nEvents];
this.maxEventLifetime = maxEventLifetime;
}
public void SetDestination(MemoryEvent memoryEvent)
{
this._memoryEvent.velocity = memoryEvent.velocity;
this._memoryEvent.exactPosition = memoryEvent.exactPosition;
this._memoryEvent.lifetimeTimer.actualTime = memoryEvent.lifetimeTimer.actualTime;
}
void PerformSearch()
{
Fraction myFraction = myUnit.fraction;
if (!myFraction)
{
#if UNITY_EDITOR
Debug.LogWarning("No fraction in perceive unit but trying to use sight");
#endif
// there's no way to determine where to put events
return;
}
// perform cast
int n = Physics.OverlapSphereNonAlloc(cachedTransform.position, searchDistance, StaticCacheLists.colliderCache,
memorableMask);
// preselect targets
// they have to be in proper angle and contain PerceiveUnit
for (int i = 0; i < n; ++i)
{
var it = StaticCacheLists.colliderCache[i];
Transform itTransform = it.transform;
//// check if the target is in proper angle
Vector3 toIt = itTransform.position - cachedTransform.position;
toIt = toIt.To2D();
float cosAngle = Vector2.Dot(toIt.normalized, cachedTransform.forward.To2D());
float angle = Mathf.Acos(cosAngle) * 180 / Mathf.PI;
//Debug.Log(angle);
bool bProperAngle = angle < coneAngle * 0.5f;
if (!bProperAngle)
{
continue;
}
// ok, now check if it has PerceiveUnit component
// we need it's fraction to determine our attitude
PerceiveUnit perceiveUnit = it.GetComponent <PerceiveUnit>();
if (perceiveUnit == myUnit)
{
// oh, come on do not look at yourself... don't be soo narcissistic
continue;
}
if (!perceiveUnit)
{
// no perceive unit, this target is invisible to us
continue;
}
Fraction itFraction = perceiveUnit.fraction;
if (!itFraction)
{
// the same as above,
return;
}
//// determine attitude
Fraction.EAttitude attitude = myFraction.GetAttitude(itFraction);
//// Check if obstacles blocks vision
if (DoObstaclesBlockVision(itTransform.position))
{
continue;
}
//// create event
var rb = it.attachedRigidbody;
MemoryEvent ev = new MemoryEvent
{
exactPosition = itTransform.position,
forward = itTransform.up,
// if collider has rigidbody then take its velocity
// otherwise there is no simple way to determine event velocity
velocity = rb ? rb.velocity * velocityPredictionScale : Vector3.zero,
// set up agent responsible for this event
perceiveUnit = perceiveUnit
};
// ensure event will tick from now on
ev.lifetimeTimer.Restart();
Debug.DrawRay(itTransform.position, Vector3.up, Color.blue, _searchTime * nEvents);
Debug.DrawRay(itTransform.position, ev.velocity * _searchTime, Color.gray, _searchTime);
InsertEvent(ev, attitude);
}
}
