private void InitAgents()
{
/// Iterate over each SquirrelInfo and configure
foreach (AgentInfo truckInfo in AgentsInfo)
{
if (truckInfo.AgentPrefab == null || truckInfo.Start == null)
{
Debug.LogError($"SquirrelInfo is incorrectly configured!");
continue;
}
/// instantiate the squirrel and add to list
GameObject inst = Instantiate(truckInfo.AgentPrefab, m_agentParent);
m_instantiatedAgents.Add(inst);
/// Get the Aware component and listen to events and set move path
ACOTruck acoTruck = inst.GetComponent <ACOTruck>();
if (acoTruck)
{
acoTruck.Cargo.AddPackages(truckInfo.CargoAmount);
/// Create ACOConnection list between each goal location
List <ACOConnection> goalACOConnections = CalculateGoalsAndRoutes(truckInfo.Goals);
/// Get the closest ACO goal node to use as start
GameObject acoPathFirstNode = GetClosestACOGoalNodeToPosition(goalACOConnections, truckInfo.Start.transform.position);
// Calculate ACO path from all waypoints, using the ACOConnections generated
List <ACOConnection> route = this.GenerateACOPath(AntColonyConfig.MaximumIterations,
AntColonyConfig.Ants,
m_allWaypoints.ToArray(),
goalACOConnections,
acoPathFirstNode,
AntColonyConfig.MaxPathLength);
/// Get last ACO node to calculate A* path back to target start position
GameObject acoPathLastNode = route.LastOrDefault().ToNode;
/// A* calculate paths from start to ACO start, and from ACO end to start
List <Connection> startToACOStart = this.NavigateAStar(truckInfo.Start, acoPathFirstNode);
List <Connection> acoEndToStart = this.NavigateAStar(acoPathLastNode, truckInfo.Start);
/// Set this agent to move along ACO path
acoTruck.SetMovePath(startToACOStart, route, acoEndToStart);
/// Register to listen to events of trucks
acoTruck.OnTravelNewConnection += OnTruckTravelNewConnection;
acoTruck.OnReachedGoal += OnAgentReachedACOGoal;
}
else
{
Debug.LogError($"Missing ACOTruck script on Prefab '{truckInfo.AgentPrefab.name}'!");
}
}
}
private void OnTruckTravelNewConnection(ACOTruck truck, IConnection targetTravelConnection)
{
// Update or add new connection to list
if (m_currentTruckConnections.ContainsKey(truck))
{
m_currentTruckConnections[truck] = targetTravelConnection;
}
else
{
m_currentTruckConnections.Add(truck, targetTravelConnection);
}
}
public void Update()
{
if (m_currentTruckConnections.Count > 0)
{
/// For each truck and it's current connection
foreach (KeyValuePair <ACOTruck, IConnection> thisKvp in m_currentTruckConnections)
{
/// Compare waypoint names to check if they are the same
KeyValuePair <ACOTruck, IConnection> matchingKvp = m_currentTruckConnections
.FirstOrDefault(kvp => kvp.Value.ToNode.name == thisKvp.Value.ToNode.name && kvp.Key.name != thisKvp.Key.name);
ACOTruck truckOne = thisKvp.Key;
ACOTruck truckTwo = matchingKvp.Key;
/// If current iterarte truck is waiting, check if they can resume
/// Only check truck one as the others will be checked next iteration
if (truckOne.IsWaiting)
{
List <ACOTruck> waitingTrucks = new List <ACOTruck>();
bool isOnSameConnection = false;
foreach (KeyValuePair <ACOTruck, IConnection> checkKvp in m_currentTruckConnections)
{
if (!checkKvp.Key.IsWaiting)
{
continue;
}
if (thisKvp.Value.ToNode.name == checkKvp.Value.ToNode.name)
{
//isOnSameConnection = true;
waitingTrucks.Add(checkKvp.Key);
}
}
// More than 1 truck waiting at same connection, resume first one in list
if (waitingTrucks.Count > 1)
{
waitingTrucks[0].ResumeMovement();
Debug.Log($"Resuming Truck '{waitingTrucks[0]}' in queue of '{waitingTrucks.Count}'");
}
// else if truckOne has no others waiting, resume
else if (!isOnSameConnection)
{
truckOne.ResumeMovement();
Debug.Log($"Resuming Truck '{truckOne.name}'");
}
}
// Check match isn't null
if (matchingKvp.Key != null && matchingKvp.Value != null)
{
/// If isn't waiting and connections are matching...
bool eitherTruckWaiting = truckOne.IsWaiting || truckTwo.IsWaiting;
if (!eitherTruckWaiting && thisKvp.Value.ToNode.name == matchingKvp.Value.ToNode.name)
{
if (truckOne.Cargo.PackageCount > truckTwo.Cargo.PackageCount)
{
///truckOne is slower, pause it
truckOne.PauseMovement();
Debug.Log($"Pausing Truck '{truckOne.name};");
}
else
{
/// truckTwo is slower
/// or cargo is same so prioritise truckTwo
truckTwo.PauseMovement();
Debug.Log($"Pausing Truck '{truckTwo.name}'");
}
}
}
}
}
}
private void OnAgentReachedACOGoal(ACOTruck agent, GameObject acoGoal)
{
agent.DeliverPackage();
}
