// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = colReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planning, engine, agents, obstacles);
}
if (debugText != null)
{
debugText.gameObject.active = false;
}
initialized = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0, 0, 0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
storedPlan = new List <FootstepPlanningAction>();
outputPlan = new Stack <DefaultAction>();
domainList = new List <PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles, neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
// Use this for initialization
void Start()
{
//AnimationAnalyzer analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
}
animationNames = analyzer.animationNames;
}
currentAnimationIndex = 0;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
if (rightFoot.position[1] < leftFoot.position[1])
{
auxHeight = rightFoot.position[1];
}
else
{
auxHeight = leftFoot.position[1];
}
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
{
analyzer.Init();
}
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
reacting = false;
initialized = true;
}
//public void Init (AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer animAnalyzer, AnimationEngine animEngine, Planner planner,
NeighbourAgents agents, NeighbourObstacles obstacles, CollisionReaction colReact)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = colReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planning,engine,agents,obstacles);
if (debugText != null)
debugText.gameObject.active = false;
initialized = true;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
domainList.Add(new FootstepPlanningDomain(analyzer, neighborhood, obstacles));
planner = new ADAstarPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine, NeighbourAgents agents, NeighbourObstacles obstacles)
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning, agents, obstacles);
reacting = false;
initialized = true;
}
// Use this for initialization
public override void Init(AnimationAnalyzer animAnalyzer, NeighbourAgents neighborhood, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
storedPlan = new List<FootstepPlanningAction>();
outputPlan = new Stack<DefaultAction>();
domainList = new List<PlanningDomainBase>();
gpd = new GridPlanningDomain(analyzer);
//gtd = new GridTimeDomain(analyzer, obstacles);
gtd = new GridTimeDomain(obstacles,neighborhood);
fpd = new FootstepPlanningDomain(analyzer, neighborhood, obstacles);
if (useGridDomain)
{
domainList.Add(gpd);
//domainList.Add(gpd);
}
if (useGridTimeDomain)
{
domainList.Add(gtd);
//domainList.Add(gtd);
}
if (useFootstepDomain)
{
domainList.Add(fpd);
//domainList.Add(fpd);
}
planner = new BestFirstSearchPlanner();
planner.init(ref domainList, MaxNumberOfNodes);
initialized = true;
currentState = null;
isPlanComputed = false;
planChanged = false;
goalMeshRenderer = goalStateTransform.gameObject.GetComponent("MeshRenderer") as MeshRenderer;
currentGoal = goalStateTransform.position;
goalReached = false;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, AnimationEngine animEngine,
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, AnimationEngine animEngine,
NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer, agents, obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
if (rightFoot.position[1] < leftFoot.position[1])
auxHeight = rightFoot.position[1];
else
auxHeight = leftFoot.position[1];
counter = 0;
footSteps = new Object[numberOfFootSteps];
initiated = true;
}
//public void Init(AnimationAnalyzer animAnalyzer, FootstepPlanningTest planner, RootMotionComputer computer, NeighbourAgents agents, NeighbourObstacles obstacles){
public void Init(AnimationAnalyzer animAnalyzer, Planner planner, NeighbourAgents agents, NeighbourObstacles obstacles)
{
analyzer = animAnalyzer;
if (analyzer != null && !analyzer.initialized)
analyzer.Init();
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
foreach (AnimationState state in animation)
{
state.enabled = true;
state.speed = 1.0f;
state.wrapMode = WrapMode.Loop;
state.weight = 0;
}
currentAnimation = null;
action = null;
animation.Stop();
initialized = true;
actionNum = 0;
changed = false;
errorT = new Vector3(0,0,0);
errorR = 0;
currentBlendingTime = 0;
currentActionTime = 0;
previousBlendingTime = 0;
currentActionEndTime = 0;
actionsSinceLastPlan = 0;
insertedAction = false;
initGameObjectPos = transform.position;
initGameObjectRotY = transform.eulerAngles.y;
initLocalRootPos = root.localPosition;
lastRootPos = root.position;
lastRootRot = root.rotation;
}
// Use this for initialization
void InitAgent(int i)
{
AnimationAnalyzer analyzer = null;
// Initialize different components of the agents
// ( Animation Engine, Planner, Neighbors, ...)
//foreach (GameObject agent in agents)
//for(int i = 0; i < agents.Length; i++)
{
GameObject agent = agents[i];
//agent.active = true;
agent.transform.position = agentsPos[i];
//if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
//analyzer.ReadAnalysisFromFile(animationsFileName);
}
}
/*
* else
* {
* Vector3 startPos = agent.transform.position;
* Quaternion startRot = agent.transform.rotation;
* analyzer.RemoveAnimations(agent.animation);
* agent.transform.position = startPos;
* agent.transform.rotation = startRot;
* }
*/
NeighbourAgents neighbourAgents = agent.GetComponent("NeighbourAgents") as NeighbourAgents;
//if (neighbourAgents != null)
// neighbourAgents.Init();
NeighbourObstacles neighbourObstacles = agent.GetComponent("NeighbourObstacles") as NeighbourObstacles;
//if (neighbourObstacles != null)
// neighbourObstacles.Init();
Planner planning;
if (ADAFootstepTest.ADA_PLANNER_IN_USE)
{
ADAFootstepTest ADAplanning = agent.GetComponent("ADAFootstepTest") as ADAFootstepTest;
planning = ADAplanning as Planner;
}
else
{
FootstepPlanningTest FPTplanning = agent.GetComponent("FootstepPlanningTest") as FootstepPlanningTest;
planning = FPTplanning as Planner;
}
if (planning != null)
{
planning.Init(analyzer, neighbourAgents, neighbourObstacles);
}
AnimationEngine engine = agent.GetComponent("AnimationEngine") as AnimationEngine;
if (engine != null)
{
engine.Init(analyzer, planning, neighbourAgents, neighbourObstacles);
}
CollisionReaction collider = agent.GetComponent("CollisionReaction") as CollisionReaction;
if (collider != null)
{
collider.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
NavMeshWayPoints waypoints = agent.GetComponent("NavMeshWayPoints") as NavMeshWayPoints;
if (waypoints != null)
{
waypoints.Init(planning, steering, analyzer, neighbourAgents, neighbourObstacles);
}
PlaceFootSteps footsteps = agent.GetComponent("PlaceFootSteps") as PlaceFootSteps;
if (footsteps != null)
{
footsteps.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
EventsMonitor events = agent.GetComponent("EventsMonitor") as EventsMonitor;
if (events != null)
{
events.Init(analyzer, planning, engine, collider, waypoints, steering, neighbourAgents, neighbourObstacles, footsteps);
events.enabled = false;
}
DebugScript debug = agent.GetComponent("DebugScript") as DebugScript;
if (debug != null)
{
debug.Init(analyzer, engine, planning, neighbourAgents, neighbourObstacles, collider);
}
if (analyzer != null)
{
analyzer.RemoveAnimations(agent.animation);
}
}
}
// Use this for initialization
void Start()
{
//AnimationAnalyzer analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
analyzer.Init();
animationNames = analyzer.animationNames;
}
currentAnimationIndex = 0;
}