// private AgentAgentHelper AgentHelper = new AgentAgentHelper();
public override void Initialize()
{
Time.timeScale = 1;
// Debug.Log(Thread.CurrentThread.ManagedThreadId);
//Random.seed = Thread.CurrentThread.ManagedThreadId;
team = this.gameObject.tag;
initial_position = this.transform.position;
initial_rotation = this.transform.rotation;
parent = this.transform.parent;
ball = parent.Find("Soccer Ball").gameObject;
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
car_controller = GetComponent <CarController>();
self_rBody = GetComponent <Rigidbody>();
ball_rBody = ball.GetComponent <Rigidbody>();
goalCheck = ball.GetComponent <GoalCheck>();
GameObject car_sphere = this.transform.Find("Sphere").gameObject;
if (team == "Blue")
{
car_sphere.GetComponent <Renderer>().material.SetColor("_Color", Color.blue);
own_goal = parent.Find("Blue_goal").gameObject;
other_goal = parent.Find("Red_goal").gameObject;
friends = new List <GameObject>();
foreach (GameObject go in AgentHelper.FindGameObjectInChildWithTag(parent, team))
{
if (go.Equals(this.gameObject)) // I do this to exclude itself (not sure if its a good idea yet)
{
continue;
}
friends.Add(go);
}
enemies = new List <GameObject>(AgentHelper.FindGameObjectInChildWithTag(parent, "Red"));
}
else if (team == "Red")
{
car_sphere.GetComponent <Renderer>().material.SetColor("_Color", Color.red);
own_goal = parent.Find("Red_goal").gameObject;
other_goal = parent.Find("Blue_goal").gameObject;
friends = new List <GameObject>();
foreach (GameObject go in AgentHelper.FindGameObjectInChildWithTag(parent, team))
{
if (go.Equals(this.gameObject)) // I do this to exclude itself (not sure if its a good idea yet)
{
continue;
}
friends.Add(go);
}
enemies = new List <GameObject>(AgentHelper.FindGameObjectInChildWithTag(parent, "Blue"));
}
}
// SlipLimit = 0.3 apparently
private void Start()
{
// get the car controller
WheelColliders = GetComponentsInChildren <WheelCollider>();
ball = GameObject.FindGameObjectWithTag("Ball");
m_Car = GetComponent <CarController>();
terrain_manager = terrain_manager_game_object.GetComponent <TerrainManager>();
who_ball = ball.GetComponent <WhoBall>();
goal_check = ball.GetComponent <GoalCheck>();
// note that both arrays will have holes when objects are destroyed
// but for initial planning they should work
friend_tag = gameObject.tag;
if (friend_tag == "Blue")
{
enemy_tag = "Red";
own_goalNormal = new Vector3(1, 0, 0);
}
else
{
enemy_tag = "Blue";
own_goalNormal = new Vector3(-1, 0, 0);
}
friends = GameObject.FindGameObjectsWithTag(friend_tag);
enemies = GameObject.FindGameObjectsWithTag(enemy_tag);
behaviorTree = new Root(
new Selector(
new BlackboardCondition("OtherTeamAttack", Operator.IS_EQUAL, true, Stops.SELF,
new Selector(
new Condition(new Func <bool>(() => CheckDefPos()),
new Sequence(
new Action(() => BearingBall()),
new Action(() => InterceptBall())
)
),
new Sequence(
new Action(() => BearingCar()),
new Action(() => InterceptEnemy())
)
)
),
new Selector(
new Condition(new Func <bool>(() => CheckShooter()),
new Sequence(
new Action(() => BearingBallTraj()),
new Action(() => AlignToBall())
)
),
new Action(() => SupportRealign())
)
)
);
blackboard = behaviorTree.Blackboard;
#if UNITY_EDITOR
Debugger debugger = (Debugger)this.gameObject.AddComponent(typeof(Debugger));
debugger.BehaviorTree = behaviorTree;
#endif
}
