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);
}