public override int Execute(DroneEnvironmentKnowledge knowledge)
{
var enemyColliders = Physics.OverlapSphere(knowledge.BotTransform.position, _range, _detectionLayer);
UnityEngine.Debug.Log("number of detected enemies:::" + enemyColliders.Length);
// if (knowledge.EnemiesInRange.Count > 0) return -1 * _score;
if (enemyColliders.Length > 0)
{
List <EnemyControllerBase> enemies = new List <EnemyControllerBase>();
foreach (var enemyCollider in enemyColliders)
{
var enemy = enemyCollider.transform.root.GetComponent <EnemyControllerBase>();
if (enemies.Contains(enemy))
{
continue;
}
enemies.Add(enemy);
knowledge.EnemiesInRange = enemies;
Debug.Log("enemies number::::" + enemies.Count);
}
return(-1 * _score);
}
return(_score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.EnemiesInRange.Count <= 0)
{
return(-1 * _score);
}
return(_score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null && knowledge.EnemiesInRange.Count > 0)
{
return(_score);
}
;
return(-1 * _score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
var enemyColliders = Physics.OverlapSphere(knowledge.BotTransform.position, _range, _detectionLayer);
if (enemyColliders.Length <= 0)
{
return(_score);
}
return(-1 * _score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy != null)
{
return(_score);
}
;
return(-1 * _score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null)
{
return(-1 * _score);
}
if (knowledge.BotTransform.position.y < knowledge.HuntingEnemy.Position.y + knowledge.DroneConfiguration.ThresholdOverEnemy)
{
return(0);
}
return(_score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null)
{
return(-1 * _score);
}
if (knowledge.BotTransform.position.x < knowledge.HuntingEnemy.Position.x)
{
return(0);
}
return(_score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null)
{
return(-1 * _score);
}
float sqrDist = (knowledge.BotTransform.position - knowledge.HuntingEnemy.Position).sqrMagnitude;
if (sqrDist < knowledge.DroneConfiguration.AllowedDistanceToMoveHorizontally)
{
return(0);
}
return(_score);
}
EnemyControllerBase FindNearestEnemy(DroneEnvironmentKnowledge knowledge)
{
float nearestDistance = float.MaxValue;
EnemyControllerBase nearestEnemy = null;
for (int i = 0; i < knowledge.EnemiesInRange.Count; i++)
{
float distance = (knowledge.EnemiesInRange[i].Position - knowledge.BotTransform.position).sqrMagnitude;
if (distance < nearestDistance)
{
nearestDistance = distance;
nearestEnemy = knowledge.EnemiesInRange[i];
}
}
return(nearestEnemy);
}
public int CalculateScore(DroneEnvironmentKnowledge knowledge)
{
int score = 0;
StringBuilder builder = new StringBuilder();
foreach (var item in _scoreCalculator)
{
int itemScore = item.Execute(knowledge);
score += itemScore;
builder.Append(item.GetType().Name + ":::" + itemScore);
}
builder.Append(this.GetType().Name + score).Append(Environment.NewLine);
Debug.Log(builder);
return(score);
}
public override int Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null)
{
return(-1 * _score);
}
Vector3 direction = (knowledge.HuntingEnemy.Position - knowledge.BotTransform.position).normalized;
bool goalObscured = Physics.Raycast(knowledge.BotTransform.position, direction, knowledge.DroneConfiguration.ThresholdToDetectEnemy, _obstacleLayer);
if (goalObscured)
{
return(0);
}
return(_score);
}
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
if (knowledge.HuntingEnemy == null)
{
return;
}
shootTimer += Time.deltaTime;
Vector3 goalRotation = (knowledge.HuntingEnemy.Position - knowledge.BotTransform.position).normalized;
if (shootTimer < knowledge.DroneConfiguration.FireRate)
{
return;
}
shootTimer = 0;
Vector3 goalDirection = (knowledge.HuntingEnemy.Position - knowledge.BotTransform.position).normalized;
var bullet = knowledge.BotTransform.GetComponent <DroneController>().PoolManager.ShootBullet(knowledge.BotTransform.position, Quaternion.identity, goalDirection);
}
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
// todo for now its just rudimentary
knowledge.HuntingEnemy = FindNearestEnemy(knowledge);
// Debug.LogError("select new hunt"+ knowledge.HuntingEnemy.name);
}
private void InitKnowledge()
{
_knowledge = new DroneEnvironmentKnowledge(this.transform, new List <EnemyControllerBase>(), null, _droneConfiguration);
}
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
//probably there should be nothing
}
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
knowledge.BotTransform.position += new Vector3(0, knowledge.DroneConfiguration.AscendSpeed, 0);
}
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
// todo probably nothing
}
public abstract void Execute(DroneEnvironmentKnowledge knowledge);
public override void Execute(DroneEnvironmentKnowledge knowledge)
{
knowledge.BotTransform.position += new Vector3(0, 0, -knowledge.DroneConfiguration.HorizontalSpeed);
}
