void Filter()
{
//using my@(Beliefs,Intentions,Desires) update myIntentions
//Get my biggest desires
var biggestDesireValue = 0.0f;
foreach (var desire in myDesires.Keys) {
if(myDesires [desire] > biggestDesireValue) {
biggestDesireValue = myDesires [desire];
}
}
//All the biggest desire
IList<Desire> myBiggestDesires = new List<Desire>() ;
foreach (var desire in myDesires.Keys) {
if(myDesires [desire] == biggestDesireValue) {
myBiggestDesires.Add(desire);
}
}
//Best intention
IList<IntentionDetails> myIntentions = RetrieveIntentionsFromDesires (myBiggestDesires);
myCurrentIntention = null;
float best_weight = 0.0f;
foreach(var intentionDetail in myIntentions) {
float weight = intentionDetail.Weight ();
if(weight > best_weight) {
best_weight = weight;
myCurrentIntention = intentionDetail;
}
}
}
IList<IntentionDetails> RetrieveIntentionsFromDesires(IList<Desire> desires)
{
IList<IntentionDetails> myCurrentIntentions = new List<IntentionDetails> () ;
foreach (var desire in desires) {
if (desire == Desire.HELP_SELF) {
float eat_food_weight = 1.0f;
if (EnemyAhead () && enemy != null) {
IntentionDetails intention = new IntentionDetails(Intention.ATTACK_MONSTER_AT,1.0f,enemy.transform.position);
myCurrentIntentions.Add (intention);
continue;
}
//FIXME
/*else if (EnemyOnSight ()) {
IntentionDetails intention = new IntentionDetails(Intention.ATTACK_MONSTER_AT,1f,enemyOnSight.transform.position);
myCurrentIntentions.Add (intention);
eat_food_weight = 0.5f;
}*/
if (HasFood() && HasLowLife ()) {
IntentionDetails intention = new IntentionDetails(Intention.EAT_FOOD,1.0f*eat_food_weight,this.transform.position);
myCurrentIntentions.Add (intention);
continue;
}
float colony_multiplier = 0.9f;
//Food source is always a better option
if(KnowWhereFoodSourceIs ()) {
Vector3 closestFoodSource = ClosestFoodSource ();
float distance_to_foodsource = DistanceBetweenMeAndPoint(closestFoodSource);
float distance_to_col = DistanceBetweenMeAndPoint(myColonyPosition);
float weight = 0.0f;
if (distance_to_foodsource < distance_to_col) {
weight = 0.9f;
IntentionDetails intention = new IntentionDetails(Intention.GET_FOOD_AT,1.0f*weight,myColonyPosition);
myCurrentIntentions.Add (intention);
continue;
}
} else if(KnowWhereSpecialFoodIs ()) {
Vector3 closestFood = ClosestSpecialFood ();
float distance_to_food = DistanceBetweenMeAndPoint(closestFood);
float distance_to_col = DistanceBetweenMeAndPoint(myColonyPosition);
float weight = 0.0f;
if (distance_to_food < distance_to_col) {
weight = 0.9f;
//colony_multiplier = 0.5f;
IntentionDetails intention = new IntentionDetails(Intention.GET_FOOD_AT,1.0f*weight,myColonyPosition);
myCurrentIntentions.Add (intention);
continue;
}
} else if (KnowWhereFoodIs ()) {
Vector3 closestFood = ClosestFood ();
float distance_to_food = DistanceBetweenMeAndPoint(closestFood);
float distance_to_col = DistanceBetweenMeAndPoint(myColonyPosition);
float weight = 0.0f;
if (distance_to_food < distance_to_col) {
weight = 0.9f;
//colony_multiplier = 0.5f;
IntentionDetails intention = new IntentionDetails(Intention.GET_FOOD_AT,1.0f*weight,myColonyPosition);
myCurrentIntentions.Add (intention);
//continue;
}
}
IntentionDetails intention_details = new IntentionDetails(Intention.GOTO_COL_AT,1.0f*colony_multiplier, myColonyPosition);
myCurrentIntentions.Add (intention_details);
} else if (desire == Desire.POPULATE) {
float weight = 0.8f;
float distance_to_col = Mathf.Sqrt(DistanceBetweenMeAndPoint(myColonyPosition));
float delta = 4.0f;
if (distance_to_col < delta || AtBase ()) {
weight = 0.9f;
}
IntentionDetails intention = new IntentionDetails(Intention.POPULATE_AT, weight, myColonyPosition);
myCurrentIntentions.Add (intention);
} else if (desire == Desire.DEFEND_COL) {
float defend_col_multiplier = 1.0f;
float number_of_ind_at_base = HowManyAtBase ();
//The more there are at base the less I want to go there
if (number_of_ind_at_base > 0 && !HasFood ()) {
defend_col_multiplier = defend_col_multiplier / number_of_ind_at_base;
}
IntentionDetails intention = new IntentionDetails(Intention.ATTACK_MONSTER_AT, 1f*defend_col_multiplier, myColonyPosition);
myCurrentIntentions.Add (intention);
} else if (desire == Desire.GET_FOOD) {
//FIXME
bool knowWhereSpecialFoodIs = KnowWhereSpecialFoodIs ();
if (knowWhereSpecialFoodIs) {
float special_food_multiplier = 0.9f;
Vector3 closestSpecialFood = ClosestSpecialFood ();
bool canMakeToSpecFood = CanMakeItThere(closestSpecialFood);
if(canMakeToSpecFood) {
IntentionDetails intention = new IntentionDetails(Intention.GET_FOOD_AT, 1f*special_food_multiplier, closestSpecialFood);
myCurrentIntentions.Add (intention);
continue;
}
}
//Only goes when there is not food on sight nor ahead
bool knowWhereFoodSourceIs = KnowWhereFoodSourceIs ();
if (knowWhereFoodSourceIs && !FoodOnSight () && !FoodAhead ()) {
float foodsource_mul = 0.9f;
Vector3 closestFoodSource = ClosestFoodSource ();
bool canMakeToFoodSource = CanMakeItThere(closestFoodSource);
if(canMakeToFoodSource) {
IntentionDetails intention = new IntentionDetails(Intention.GOTO_FOODSOURCE_AT, 1f*foodsource_mul, closestFoodSource);
myCurrentIntentions.Add (intention);
continue;
}
}
bool knowWhereFoodIs = KnowWhereFoodIs ();
bool knowWhereObsIs = KnowWhereObstacleIs ();
if (knowWhereFoodIs) {
float food_mul = 0.9f;
Vector3 closestFood = ClosestFood ();
bool canMakeToFood = CanMakeItThere(closestFood);
if(canMakeToFood) {
if ((!knowWhereObsIs) || (knowWhereObsIs && !HasHighLife ())) {
IntentionDetails intention = new IntentionDetails(Intention.GET_FOOD_AT, 1f*food_mul, closestFood);
myCurrentIntentions.Add (intention);
continue;
}
}
}
if (knowWhereObsIs){
Vector3 closestObstacle = ClosestObstacle ();
bool canMakeToObs = CanMakeItThere(closestObstacle);
if(canMakeToObs) {
IntentionDetails intention = new IntentionDetails(Intention.DESTROY_WALL_AT, 0.9f, closestObstacle);
myCurrentIntentions.Add (intention);
continue;
}
}
//Search for food randomly
IntentionDetails intention_det = new IntentionDetails(Intention.SEARCH_FOOD, 0.7f, MoveRandomly());
myCurrentIntentions.Add (intention_det);
} else {
//desire == Desire.HELP_OTHER
float help_multiplier = 1.0f;
/*if(HasLowLife ()) {
help_multiplier = 0.9f;
}*/
IntentionDetails intention = new IntentionDetails(Intention.HELP_OTHER_AT, 1f*help_multiplier, help_position);
myCurrentIntentions.Add (intention);
}
}
return myCurrentIntentions;
}
//bool help_request;
void Awake()
{
navMeshAgent = this.GetComponent<NavMeshAgent> ();
endOfWorld = false;
foodAhead = false;
hasFood = false;
atBase = false;
enemyAhead = false;
agentAhead = false;
isFoodOnSight = false;
isEnemyOnSight = false;
isObstacleOnSight = false;
isSpecFoodOnSight = false;
currentPlan = null;
currentActionHasEnded = false;
//help_request = false;
currentAction = null;
//myColor = transform.GetChild (0).GetChild (0).gameObject.GetComponent<Renderer> ().material.color;
myDesires = new Dictionary<Desire,float> ();
InitializeDesires ();
commModule = GetComponent<ComunicationModule>();
Vector3 moveRand = MoveRandomly ();
myCurrentIntention = new IntentionDetails(Intention.SEARCH_FOOD, 1f, moveRand);
myBeliefs = new Dictionary<Vector3,string> (new Vector3Comparer());
}
