private void InitPoints(SensedObject obj)
    {
        float[,,] interpVals = obj.InterpolatedValues;
        int w = interpVals.GetLength(1);
        int h = interpVals.GetLength(0);
        int d = interpVals.GetLength(2);

        d = 1;                                                       // TODO remove if points have to be scatters in the whole volume
        //float xPos, yPos, zPos;
        points = new GameObject[h, w, d];

        LoadPointGeometry();
        float pointScale = obj.PanelGridStep / PointGeomPrefab.GetComponent <Renderer>().bounds.size.x;

        for (int i = 0; i < h; i++)
        {
            for (int j = 0; j < w; j++)
            {
                //for (int k = 0; k < d; k++)
                for (int k = 0; k < d; k++)
                {
                    points[i, j, k] = Instantiate <GameObject>(PointGeomPrefab);
                    //points[i, j, k] = GameObject.CreatePrimitive(PrimitiveType.Quad);
                    points[i, j, k].transform.localScale = Vector3.one * pointScale;
                    points[i, j, k].transform.position   = obj.GetGridPosition(i, j, k);
                    points[i, j, k].transform.parent     = obj.ParentGO.transform;

                    //points[i, j, k].SetActive(false);
                }
            }
        }
    }
    private void DrawColoredParticles(SensedObject obj)
    {
        float[,,] interpVals = obj.InterpolatedValues;

        if (points == null)
        {
            InitPoints(obj);
        }

        int w = points.GetLength(1);
        int h = points.GetLength(0);
        int d = points.GetLength(2);

        for (int i = 0; i < h; i++)
        {
            for (int j = 0; j < w; j++)
            {
                for (int k = 0; k < d; k++)
                {
                    //if (!points[i, j, k].activeSelf)
                    //    points[i, j, k].SetActive(true);
                    points[i, j, k].GetComponent <Renderer>().material.color = Utilities.ThreeColorLerp(interpVals[i, j, k], Specs.MoistureLowerBound, Specs.MoistureUpperBound, new Color(0F, 0F, 1F), new Color(1F, 1F, 0F), new Color(1F, 0F, 0F));
                }
            }
        }
    }
    void DrawSizedParticles(SensedObject obj)
    {
        if (points == null)
        {
            InitPoints(obj);
        }

        int w = points.GetLength(1);
        int h = points.GetLength(0);
        int d = points.GetLength(2);

        float pointScale;

        //float tempWeight = 60F;
        for (int i = 0; i < h; i++)
        {
            for (int j = 0; j < w; j++)
            {
                for (int k = 0; k < d; k++)
                {
                    pointScale = Utilities.Map(obj.InterpolatedValues[i, j, k], Specs.MoistureLowerBound, Specs.MoistureUpperBound, obj.PanelGridStep / PointGeomPrefab.GetComponent <Renderer>().bounds.size.x * 2.5F, 0);
                    //pointScale = Mathf.Lerp(interpVals[i,j,k]/50, 0F, panelGridStep);
                    //Debug.Log(pointScale);
                    points[i, j, k].transform.parent = null;

                    points[i, j, k].transform.localScale = Vector3.one * pointScale;
                    points[i, j, k].transform.parent     = obj.ParentGO.transform;
                    points[i, j, k].GetComponent <Renderer>().material.color = Color.yellow;
                }
            }
        }
    }
Exemple #4
0
    public override IEnumerator Enter(Machine owner, Brain controller)
    {
        mainMachine = owner;
        myBrain = controller;
        Legs myLeg = myBrain.legs;

        //get sheep target
        sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");

        sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");
        sheepMemory = sheepBrain.memory;
        sheepMemory.SetValue("BeingEaten", true);

        arriveBehaviour = new Arrive();

        arriveBehaviour.Init(myLeg);

        arriveBehaviour.setTarget(sheepTarget.getObject());

        //speed is zero
        myBrain.legs.maxSpeed = 0f;

        Debug.Log("I'm eating:" + sheepTarget.getObject() + " HP: " + sheepMemory.GetValue<float>("HP"));

        yield return null;
    }
Exemple #5
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        public void Forget(SensedObject target)
        {
            if (!SensedObjects.ContainsKey(target))
            {
                return;
            }

            GameObject go = target.TargetObject;

            SensedObjects.Remove(target);
            if (null != go)
            {
                rememberedObjects.Remove(go);
                seenObjects.Remove(go);
                heardObjects.Remove(go);
                smelledObjects.Remove(go);
                implicitDetectedObjects.Remove(go);
            }

            if (NearestSensedObject == target)
            {
                var e = SensedObjects.GetEnumerator();
                e.MoveNext();
                NearestSensedObject = e.Current.Value;
                nearestSensedChanged?.Invoke(target, NearestSensedObject);
            }
            sensedObjectForgottenListener?.Invoke(target);
        }
    public void Visualize(SensedObject obj, DateTime t)
    {
        obj.Interpolate(t);                                             // TODO interpolates only if needed (not in the )

        //obj.GO.GetComponent<Renderer>().enabled = false;

        if (LastVizMode != Specs.ThisVizMode) // change the visualization mode
        {
            DestroyOtherViz(Specs.ThisVizMode);
        }

        switch (Specs.ThisVizMode)
        {
        case Specs.VIZ_MODE.TEXTURE:
        case Specs.VIZ_MODE.TEXTURE_PAINT:
            SetTexture2D(obj, 0);
            obj.ObjectGO.GetComponent <Renderer>().material       = Instantiate <Material>(Specs.TransparenMat);
            obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
            //obj.GO.GetComponent<Renderer>().enabled = false;
            break;

        case Specs.VIZ_MODE.PARTICLE_COLOR:
            DrawColoredParticles(obj);
            obj.ObjectGO.GetComponent <Renderer>().material       = Instantiate <Material>(Specs.TransparenMat);
            obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
            break;

        case Specs.VIZ_MODE.PARTICLE_RADIUS:
            DrawSizedParticles(obj);
            obj.ObjectGO.GetComponent <Renderer>().material       = Instantiate <Material>(Specs.TransparenMat);
            obj.ObjectGO.GetComponent <Renderer>().material.color = panelColor;
            //CreatParticles(obj.GO);
            break;

        case Specs.VIZ_MODE.TUBES:
            DrawTubes(obj);
            break;
            //case Specs.VIZ_MODE.PARTICLE_LOOSE:
            //    Destroy(texGO);
            //    DestroyPoints();
            //    CreatParticles(obj.GO);
            //    obj.GO.GetComponent<Renderer>().material = Instantiate<Material>(Specs.TransparenMat);
            //    obj.GO.GetComponent<Renderer>().material.color = panelColor;
            //     break;
        }

        //DrawTubes(obj);

        //// write interpolated values to file (for debugging)
        //Utilities.WriteMatrix2File(Utilities.Slicer(obj.InterpolatedValues, 0), "interp/" + Time.frameCount + ".txt");

        //// Setting the texture of the same geometry (wall) doesn't work due to irregular messhing
        //if (texGO.GetComponent<Renderer>().material.mainTexture == null)
        //    texGO.GetComponent<Renderer>().material.SetTexture("_MainTex", Tex);
        //else
        //    texGO.GetComponent<Renderer>().material.mainTexture = tex;
        //SetTexture2D((Texture2D)obj.GO.GetComponent<Renderer>().material.mainTexture, obj.InterpolatedValues, 0);
    }
    void DrawTubes(SensedObject obj)
    {
        //int[] tIndx = obj.FindAllTimeStamps(t);
        //if (obj.TimeIndex != null)
        if (obj.DataAvailable)
        {
            if (tubes == null)
            {
                tubes = new GameObject[obj.Sensors.Length];
                //for (int s = 0; s < obj.Sensors.Length; s++)
                //{
                //    //    tubes[s] = new GameObject("TubeMesh");
                //    //tubes[s].AddComponent<MeshFilter>();
                //    //tubes[s].AddComponent<MeshRenderer>();
                //}
            }

            //List<float> MCPerLayer = new List<float>();
            float[] MCPerLayer = new float[obj.LayerCount];
            for (int s = 0; s < obj.Sensors.Length; s++)
            {
                for (int i = 0; i < obj.LayerCount; i++)
                {
                    MCPerLayer[i] = UnityEngine.Random.Range(0.4F * Specs.MoistureUpperBound, 0.8F * Specs.MoistureUpperBound);
                }

                //DrawOneTube(MCPerLayer.ToArray());
                if (tubes[s] == null)
                {
                    tubes[s] = new GameObject("TubeMesh");
                    tubes[s].AddComponent <MeshFilter>();
                    tubes[s].AddComponent <MeshRenderer>();
                }

                DrawOneTube(tubes[s], MCPerLayer);
                tubes[s].transform.localRotation = Quaternion.Euler(-90, 0, 0);
                tubes[s].transform.position      = new Vector3(obj.Sensors[s].Pos.x, obj.Sensors[s].Pos.y, obj.ParentGO.transform.position.z);

                //tubes[s].transform.localScale = Vector3.one * obj.ObjectGO.GetComponent<Renderer>().bounds.size.z;
                tubes[s].transform.localScale = Vector3.one * 0.003F;
                tubes[s].transform.SetParent(obj.Sensors[s].GO.transform);
                obj.Sensors[s].GO.GetComponent <Renderer>().enabled = false;

                //if (Vector3.Distance(obj.Sensors[0].Pos, obj.Sensors[s].Pos) < 0.1)
                //{
                //    MCPerLayer.Add(obj.Sensors[s].Values[obj.TimeIndex[s]]);
                //}
            }
            //Camera cam = Camera.main;
            //tubeGO.transform.rotation = Quaternion.LookRotation(cam.transform.right) * Quaternion.Euler(-90, 0, 0);
            //tubeGO.transform.position = cam.transform.position + cam.transform.forward * 1.1F + cam.transform.right * 0.75F;
        }
    }
        private SensedObject RememberSensedObject(GameObject targetObject)
        {
            SensedObject sensedObject;

            if (!rememberedObjects.TryGetValue(targetObject, out sensedObject))
            {
                sensedObject = new SensedObject(targetObject);
                if (null != sensedObject.sensableObject && !sensedObject.sensableObject.IsSensable)
                {
                    sensedObject.sensableObject.onNoLongerSensableListener += () => {
                        Forget(sensedObject);
                    };
                }
                rememberedObjects[targetObject] = sensedObject;
            }

            return(sensedObject);
        }
Exemple #9
0
        protected bool RememberSensedObject(GameObject targetObject, out SensedObject sensedObject)
        {
            if (!rememberedObjects.TryGetValue(targetObject, out sensedObject))
            {
                sensedObject = new SensedObject(targetObject);
                if (null != sensedObject.sensableObject && !sensedObject.sensableObject.IsSensable)
                {
                    var forgettable = sensedObject;
                    sensedObject.sensableObject.onNoLongerSensableListener += () => {
                        Forget(forgettable);
                    };
                }
                rememberedObjects[targetObject] = sensedObject;
                return(true);
            }

            return(false);
        }
    void SetTexture2D(SensedObject obj, int depth)
    {
        float[,,] vals = obj.InterpolatedValues;
        int panelW = vals.GetLength(1);
        int panelH = vals.GetLength(0);
        int i, j;

        if (texGO == null)
        {
            InitTexture(obj);
        }
        Texture2D tex = (Texture2D)texGO.GetComponent <Renderer>().material.mainTexture;

        Color[] colorArray = new Color[tex.width * tex.height];
        float   alpha      = (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT ? 0 : 1);

        for (int x = 0; x < tex.width; x++)
        {
            for (int y = 0; y < tex.height; y++)
            {
                j = (int)Math.Floor(Utilities.Map(x, 0, tex.width, 0, panelW));
                i = (int)Math.Floor(Utilities.Map(y, 0, tex.height, 0, panelH));

                //Color c = Color.Lerp(new Color(1F, 1F, 0F), new Color(0F, 1F, 0F), Utilities.Map(vals[i, j , depth], 0F, 30F, 0F, 1F));
                Color c = Utilities.ThreeColorLerp(vals[i, j, depth], Specs.MoistureLowerBound, Specs.MoistureUpperBound, new Color(0F, 0F, 1F, alpha), new Color(1F, 1F, 0F, alpha), new Color(1F, 0F, 0F, alpha));
                //c.a = (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT ? colorArray[x + (y * tex.width)].a : 1);
                colorArray[x + (y * tex.width)] = c;
            }
        }
        tex.SetPixels(colorArray);

        //if (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT)
        //{
        //    VertexPaint painter = texGO.GetComponent<VertexPaint>();
        //    if (painter == null)
        //        painter = texGO.AddComponent<VertexPaint>();
        //    //painter.Paint();

        //}
        //colorArray[0] = Color.black;
        //tex.SetPixels(colorArray);

        tex.Apply();
    }
Exemple #11
0
    public SensedObject chooseTarget(List<SensedObject> seenSheep)
    {
        SensedObject target = null;

        foreach (SensedObject sheep in seenSheep)
        {
            Brain sheepBrain = sheep.getObject().GetComponent<Brain>();
            Memory sheepMem = sheepBrain.memory;

            float sheepHP = sheepMem.GetValue<float>("HP");
            float sheepDistanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
            float sheepChasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
            float sheepCourage = sheepMem.GetValue<float>("cowardLevel");

            if (sheepHP > sheepHPLimit)
            {
                if (sheepDistanceWithSheperd > sheepDistanceSheperdLimit)
                {
                    target = sheep;
                    break;
                }
                else
                {
                    if (sheepChasedBy > sheepChasedByLimit)
                    {
                        if (sheepCourage <= sheepCourageLimit)
                        {
                            target = sheep;
                            break;
                        }
                    }
                }
            }
        }

        return target;
    }
    //void CreatParticlesInObject(GameObject go)
    //// There is a problem with setting the colors of points in the run time (bug?) when using material all particles have the same color, when using start color, color is not applied
    //{

    //    ParticleSystem prtclSys;
    //    if (!(prtclSys = go.GetComponent<ParticleSystem>()))
    //    {
    //        prtclSys = go.AddComponent<ParticleSystem>();
    //        //go.GetComponent<ParticleSystemRenderer>().material = new Material(Shader.Find("Diffuse"));
    //    }


    //    var shp = prtclSys.shape;
    //    shp.enabled = true;
    //    shp.shapeType = ParticleSystemShapeType.Box;
    //    shp.position = go.GetComponent<Renderer>().bounds.center - go.transform.position;
    //    shp.scale = go.GetComponent<Renderer>().bounds.size;

    //    var main = prtclSys.main;
    //    main.startSpeed = 0F;
    //    main.startSize = 0.05F;
    //    main.startLifetime = 1F;
    //    main.prewarm = true;
    //    Material m = go.GetComponent<ParticleSystemRenderer>().material;
    //    m.color = Color.red;

    //    //main.startColor = Color.red;
    //    //go.GetComponent<ParticleSystemRenderer>().material = null;


    //    var emssn = prtclSys.emission;
    //    emssn.rateOverTime = 200F;

    //    //var rndr = prtclSys.GetComponent<Renderer>();

    //    int count = prtclSys.particleCount;
    //    ParticleSystem.Particle[] prtcls = new ParticleSystem.Particle[count];
    //    count = prtclSys.GetParticles(prtcls);

    //    main.startColor = new Color(0, 0, 1);

    //    for (int i = 0; i < count; i++)
    //    {
    //        prtcls[i].startSize = 5 * prtcls[i].startSize;

    //    }

    //    //Debug.Log(go.transform.position - go.GetComponent<Renderer>().bounds.center);

    //}
    ///
    //void SetTexture3D(float[,,] vals)
    //{

    //    Color[] colorArray = new Color[Tex.width * Tex.height * Tex.depth];
    //    //Texture3D texture = new Texture3D(size, size, size, TextureFormat.RGBA32, true);
    //    float r = 1.0f / (Tex.width - 1.0f);
    //    for (int x = 0; x < Tex.width; x++)
    //    {
    //        for (int y = 0; y < Tex.height; y++)
    //        {
    //            for (int z = 0; z < Tex.depth; z++)
    //            {
    //                Color c = new Color(x * r, y * r, z * r, 1.0f);
    //                colorArray[x + (y * Tex.width) + (z * Tex.width * Tex.height)] = c;
    //            }
    //        }
    //    }
    //    Tex.SetPixels(colorArray);
    //    Tex.Apply();
    //    //return texture;
    //}
    public void InitTexture(SensedObject obj)
    {
        //texGO = GameObject.CreatePrimitive(PrimitiveType.Quad);
        //texGO = GameObject.CreatePrimitive(PrimitiveType.Plane);

        Bounds b = obj.ObjectGO.GetComponent <Renderer>().bounds;

        texGO = Utilities.CreatePlane(b.size.x, b.size.y, obj.InterpolatedValues.GetLength(2), obj.InterpolatedValues.GetLength(1), "TexturePlane");
        //texGO = Utilities.CreatePlane(1,2 , 2, 6, "TexturePlane");

        //texGO.name = "TexturePlane";

        // Put the plane in front of wall (this only works with this iorientation of wall?)  // TODO find a better way ?
        texGO.transform.position = b.center - obj.SurfaceNormal * b.extents.z;

        //texGO.transform.localScale = b.size;
        //texGO.transform.Rotate(new Vector3(0, 90, -90));
        //texGO.GetComponent<Renderer>().bounds.SetMinMax(b.min, b.max);
        texGO.transform.SetParent(obj.ParentGO.transform);

        // make sure texture dimensions are power of 2 and close to dimensions of interpolated values
        int texW = (int)Mathf.Max(Mathf.Pow(2, Mathf.Round(Mathf.Log(obj.InterpolatedValues.GetLength(1), 2))), 4);
        int texH = (int)Mathf.Max(Mathf.Pow(2, Mathf.Round(Mathf.Log(obj.InterpolatedValues.GetLength(0), 2))), 4);

        texGO.GetComponent <Renderer>().material = Instantiate <Material>(Specs.TransparenMat);
        texGO.GetComponent <Renderer>().material.SetColor("_Color", Color.white); // Make sure the alpha is set to 1
        texGO.GetComponent <Renderer>().material.SetTexture("_MainTex", new Texture2D(texW, texH));

        if (Specs.ThisVizMode == Specs.VIZ_MODE.TEXTURE_PAINT)
        {
            texGO.AddComponent <VertexPaint>();
        }

        //obj.GO.GetComponent<Renderer>().material = new Material(texGO.GetComponent<Renderer>().material);
        //obj.GO.GetComponent<Renderer>().material.SetTexture("_MainTex", new Texture2D(256,256));
        // remove collider
    }
Exemple #13
0
    int Scariest(SensedObject wolf1, SensedObject wolf2)
    {
        Legs wolfLeg1 = wolf1.getObject().GetComponent<Brain>().legs;
        Vector2 sheepPos = myBrain.legs.getPosition();
        Vector2 wolfPos1 = wolfLeg1.getPosition();
        float distance1 = Vector2.Distance(sheepPos, wolfPos1);
        Vector2 wolfFacing1 = new Vector2(wolfLeg1.transform.forward.x, wolfLeg1.transform.forward.z);
        float relativeVelocity1 = Vector2.Dot(wolfFacing1, sheepPos - wolfPos1);

        float scariness1 = (1 / distance1) * (relativeVelocity1 + 1);

        Legs wolfLeg2 = wolf2.getObject().GetComponent<Brain>().legs;
        Vector2 wolfPos2 = wolfLeg2.getPosition();
        float distance2 = Vector2.Distance(sheepPos, wolfPos2);
        Vector2 wolfFacing2 = new Vector2(wolfLeg2.transform.forward.x, wolfLeg2.transform.forward.z);
        float relativeVelocity2 = Vector2.Dot(wolfFacing2, sheepPos - wolfPos2);

        float scariness2 = (1 / distance2) * (relativeVelocity2 + 1);

        if(scariness1 > scariness2) {
            return 1;
        }
        if(scariness1 < scariness2) {
            return -1;
        }
        return 0;
    }
Exemple #14
0
    public override IEnumerator Enter(Machine owner, Brain controller)
    {
        mainMachine = owner;
        myBrain = controller;
        Legs myLeg = myBrain.legs;
        arriveBehaviour = new PathfindToPoint();
        seekBehaviour = new Seek();

        arriveBehaviour.Init(myLeg, myBrain.levelGrid);
        seekBehaviour.Init(myLeg);

        myLeg.addSteeringBehaviour(arriveBehaviour);
        myLeg.addSteeringBehaviour(seekBehaviour);

        myLeg.maxSpeed = 11f;
        time = 0f;
        ferocityRate = controller.memory.GetValue<float>("ferocity");

        sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");
        sheepMemory = sheepTarget.getMemory();
        sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");

        arriveBehaviour.setTarget(sheepTarget.getObject());

        //for machine learning
        float panic = sheepBrain.memory.GetValue<float>("Panic");
        float courage = sheepBrain.memory.GetValue<float>("cowardLevel");
        float chasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
        float distanceWithMe = Vector2.Distance(sheepBrain.legs.getPosition(), myBrain.legs.getPosition());
        float distanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
        float hungry = myBrain.memory.GetValue<float>("hungryLevel");
        float sheepHP = sheepBrain.memory.GetValue<float>("HP");

        string sheep = panic + "," + courage + "," + chasedBy + "," + distanceWithMe + "," + distanceWithSheperd + "," + hungry + "," + sheepHP;

        myBrain.memory.SetValue("targeting", sheep);

        yield return null;
    }
Exemple #15
0
    /// <summary>
    /// The main method that you should override in your Agent subclass is AIUpdate().
    /// </summary>
    /// <param name="inputs"></param>
    public override void AIUpdate(List <SensoryInput> inputs)
    {
        base.AIUpdate(inputs);
        // THE FIRST LINE OF YOUR AIUpdate() override MUST be: base.AIUpdate(inputs);
        // AIUpdate copies inputs into sensed

        if (!inited)
        {
            Init();
        }

        // AIUpdate copies inputs into sensed
        SensedObject sawSomeone = null;

        toClosestEnemy = Vector3.one * 1000;
        closestEnemy   = null;
        foreach (SensoryInput si in sensed)
        {
            switch (si.sense)
            {
            case SensoryInput.eSense.vision:
                if (si.type == eSensedObjectType.enemy)
                {
                    sawSomeone = si.obj;
                    // Check to see whether the Enemy is within the firing arc
                    // The dot product of two vectors is the magnitude of A * the magnitude of B * cos(the angle between them)
                    Vector3 toEnemy = si.pos - pos;
                    if (toEnemy.magnitude < toClosestEnemy.magnitude)
                    {
                        toClosestEnemy = toEnemy;
                        closestEnemy   = si.obj as Agent;
                    }
//                        float dotProduct = Vector3.Dot(headTrans.forward, toEnemy.normalized);
//                        float theta = Mathf.Acos(dotProduct) * Mathf.Rad2Deg;
//                        if (theta <= ArenaManager.AGENT_SETTINGS.bulletAimVarianceDeg) {
//                            if (ammo > 0) {
//                                Fire();
//                            }
//                        }
                }
                break;
            }

            // Regardless of the sense type, I want to know if it was a PickUp and what it was
            if (si.type == eSensedObjectType.item)
            {
                PickUp.eType puType = (si.obj as PickUp).puType;
                // Check the position of this item relative to the position of known item SpawnPoints
                if (MEM[PickUp.eType.none].Count > 0)
                {
                    SpawnPoint foundSP = null;
                    foreach (SpawnPoint sp in MEM[PickUp.eType.none])
                    {
                        if ((sp.pos - si.obj.pos).magnitude < 0.1f)   // We found it!
                        {
                            foundSP = sp;
                            break;
                        }
                    }
                    if (foundSP != null)
                    {
                        MEM[PickUp.eType.none].Remove(foundSP);
                        if (!MEM.ContainsKey(puType))
                        {
                            MEM.Add(puType, new List <SpawnPoint>());
                        }
                        MEM[puType].Add(foundSP);
                    }
                    else
                    {
                        // No big deal, this just means that we already know about the SpawnPoint at that loc.
                    }
                }
            }

            if (si.type == eSensedObjectType.enemy)
            {
                // tracker.Track(si);
            }
        }
        if (sawSomeone == null)
        {
            LookCenter();
//            leadObj = null;
        }
        else
        {
            // Turn head to track enemies
            // How far is the enemy from current headTrans.forward
            float dotProdToClosest = Vector3.Dot(toClosestEnemy.normalized, headTrans.forward);
            // Account for the NaN errors that happen if Mathf.Acos(x) is called for x outside of -1 < x < 1
            dotProdToClosest = Mathf.Clamp(dotProdToClosest, -1, 1);
            float angToClosest = Mathf.Acos(dotProdToClosest) * Mathf.Rad2Deg;
            // This shouldn't be needed because of the Clamp above
//            if (Mathf.Approximately(dotProdToClosest,1)) {
//                angToClosest = 0;
//            } else if (Mathf.Approximately(dotProdToClosest,-1)) {
//                angToClosest = 180;
//            } else {
//                angToClosest = Mathf.Acos( dotProdToClosest ) * Mathf.Rad2Deg;
//            }
//            // The following is here because the Acos of 1 is NaN.
//            if (float.IsNaN(angToClosest)) {
//                angToClosest = 0;
//            }
            // A dot product of toEnemy and transform.right will tell you whether to look left or right
            float posNeg = (Vector3.Dot(toClosestEnemy.normalized, headTrans.right) < 0) ? -1 : 1;
            angToClosest *= posNeg;
//            print("AngleToClosest: "+angToClosest);
            LookTheta(angToClosest);
            if (angToClosest <= ArenaManager.AGENT_SETTINGS.bulletAimVarianceDeg)
            {
                if (ammo > 0)
                {
                    Fire();
                }
            }
        }



        // Utility AI – Iterate through all the aiUtilRecs and find the one with the highest utility
        float   maxUtil  = -1;
        UtilRec uRecBest = null;

        foreach (UtilRec ur in aiUtilRecs)
        {
            if (ur.strat.Utility(this) > maxUtil)
            {
                uRecBest = ur;
                maxUtil  = ur.u;
            }
        }
        aiU     = maxUtil;
        aiStrat = uRecBest.stratType;

        if (uRecBest.dest != nmAgent.destination && health > 0)
        {
            nmAgent.SetDestination(uRecBest.dest);
            navMeshTargetLoc = uRecBest.dest;
        }

        // report on knowledge
        spawnPointKnowledge.x = MEM.ContainsKey(PickUp.eType.none) ? MEM[PickUp.eType.none].Count : 0;
        spawnPointKnowledge.y = MEM.ContainsKey(PickUp.eType.health) ? MEM[PickUp.eType.health].Count : 0;
        spawnPointKnowledge.z = MEM.ContainsKey(PickUp.eType.ammo) ? MEM[PickUp.eType.ammo].Count : 0;



        if (health > 0)
        {
            nmAgent.SetDestination(nmAgent.destination);
        }
    }
        protected override void OnUpdateSenses()
        {
            if (!HasAdrenaline && frame++ < frequency)
            {
                return;
            }
            frame = 0;
            float nearest = float.MaxValue;

            Collider[]   colliders   = null;
            GameObject[] gameObjects = null;
            int          possibleTargetCount;

            if (useSphereCast)
            {
                colliders           = Physics.OverlapSphere(transform.position, maxSenseRange, targetMask);
                possibleTargetCount = colliders.Length;
            }
            else
            {
                gameObjects         = SensableObject.Registry;
                possibleTargetCount = gameObjects.Length;
            }
            seenObjects.Clear();
            heardObjects.Clear();
            smelledObjects.Clear();

            // TODO: We may want to think about creating a new set each frame. This was just updating
            // the set, but I was getting a concurrent modification exception from AnimalUtilityData since
            // it is operating in a coroutine instead of on the main thread. Let's discuss how to properly
            // optimize this. We could potentially go with a static list and create a copy for consumers
            // that request the list when they want it. We can also optimize consumers of the list to use
            // the OnNewObjectsSensed listener for updates
            var   sensedObjects      = new SortedSet <SensedObject>();
            var   newlySensedObjects = new HashSet <SensedObject>();
            float detectionTime      = Time.fixedTime;

            for (int i = 0; i < possibleTargetCount; i++)
            {
                GameObject   targetObject = useSphereCast ? colliders[i].gameObject : gameObjects[i];
                SensedObject sensedObject;

                float actualDistance = Vector3.Distance(targetObject.transform.position, transform.position);
                if (actualDistance > maxSenseRange)
                {
                    continue;
                }

                if (targetObject == gameObject)
                {
                    continue;
                }
                if (null != sensedObjectValidationListener && !sensedObjectValidationListener(targetObject))
                {
                    continue;
                }


                sensedObject = RememberSensedObject(targetObject);

                float sensedDistance = actualDistance;

                // Detection from least accurate to most.
                if (actualDistance < scentRange)
                {
                    smelledObjects.Add(targetObject);
                    if (sensedObject.actualPosition != targetObject.transform.position)
                    {
                        sensedObject.position = targetObject.transform.position + UnityEngine.Random.insideUnitSphere * scentAccuracyRadius;
                    }
                    sensedDistance       = Vector3.Distance(targetObject.transform.position, transform.position);
                    sensedObject.smelled = true;
                }
                if (CanSee(targetObject))
                {
                    seenObjects.Add(targetObject);
                    sensedObject.position = targetObject.transform.position;
                    sensedObject.seen     = true;
                }
                if (actualDistance < implicitDetectionRange)
                {
                    implicitDetectedObjects.Add(targetObject);
                    sensedObject.position           = targetObject.transform.position;
                    sensedObject.implicitlyDetected = true;
                }

                sensedObject.actualPosition = targetObject.transform.position;
                sensedObject.distance       = sensedDistance;

                if (lastSenseTime != sensedObject.lastDetection)
                {
                    newlySensedObjects.Add(sensedObject);
                }

                sensedObject.lastDetection  = detectionTime;
                SensedObjects[sensedObject] = sensedObject;

                while (SensedObjects.Count > nearbySenseCapacity)
                {
                    SensedObjects.RemoveAt(nearbySenseCapacity);
                }
            }
            if (newlySensedObjects.Count > 0)
            {
                OnSensedNewObjects(newlySensedObjects);
            }

            lastSenseTime = detectionTime;

            SensedObject old = NearestSensedObject;

            NearestSensedObject = SensedObjects.Count > 0 ? SensedObjects.First().Value : null;

            if (null != NearestSensedObject && Time.fixedTime - NearestSensedObject.lastDetection > timeToRetainNearest)
            {
                NearestSensedObject = null;
                nearest             = float.PositiveInfinity;
                nearestSensedChanged?.Invoke(old, null);
            }
            else if (old != NearestSensedObject)
            {
                nearestSensedChanged?.Invoke(old, null);
            }
        }
Exemple #17
0
    public override IEnumerator Run(Brain controller)
    {
        bool thereIsShepherd = false;
        float highestLeaderLevel = 0f;
        List<SensedObject> seenSheep = new List<SensedObject>();
        List<SensedObject> seenWolf = new List<SensedObject>();
        Transform playerTrans = null;
        foreach (SensedObject obj in controller.senses.GetSensedObjects())
        {
            if (obj.getAgentType().Equals(AgentClassification.Sheep))
            {
                seenSheep.Add(obj);
            }
            else if (obj.getAgentType().Equals(AgentClassification.Wolf))
            {
                Memory wolfMemory = obj.getMemory();

                if (highestLeaderLevel <= wolfMemory.GetValue<float>("leaderLevel"))
                {
                    highestLeaderLevel = wolfMemory.GetValue<float>("leaderLevel");
                }
                seenWolf.Add(obj);
            }
            else if(obj.getAgentType().Equals(AgentClassification.Shepherd))
            {
                playerTrans = obj.getObject().transform;
                thereIsShepherd = true;
            }
        }

        //get current BeaconInfo
        if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
        {
            if (curBeacon != null)
            {
                if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
                {
                    curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
                }
            }
            else
            {
                curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
            }
        }

        if (curBeacon != null)
        {
            //delete curBeacon
            curBeacon = null;
            controller.memory.SetValue("LastBeacon", null);

            controller.memory.SetValue("shouldHide", 3f);
        }

        myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
        if(thereIsShepherd) {
            UpdateCaution(playerTrans);
        } else {
            myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
        }

        myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
        if(myBrain.memory.GetValue<float>("watched") > 0)
        {
            //Debug.Log (myBrain.memory.GetValue<float>("watched"));
        }

        //check if this wolf has been given command to attack or not
        if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
        {
            //decrease leaderLevel because it has been given command by others
            controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decreaseLeaderLevel * Time.deltaTime));

            //set the minimum leaderLevel for wolf
            if (controller.memory.GetValue<float>("leaderLevel") < 10f)
            {
                controller.memory.SetValue("leaderLevel", 10f);
            }

            //Change to hunting phase
            Debug.Log("I've received command. I'm hunting! Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
        }
        else
        {
            if (seenSheep.Count > 0)
            {
                //choose the target
                //if the wolf hasn't have his target, pick it
                target = chooseTarget(seenSheep);

                if (target != null)
                {
                    //target is alive
                    if (target.getObject().GetComponent<Brain>().memory.GetValue<float>("HP") > 0)
                    {
                        //set the target for this wolf
                        controller.memory.SetValue("hasCommand", target);

                        //calling sheep that it is being targeted
                        Memory sheepMemory = target.getMemory();

                        //get a list of wolves that are chasing this sheep
                        List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");

                        //add itself in
                        if (wolvesChasing != null)
                        {
                            wolvesChasing.Add(this.myBrain);
                            sheepMemory.SetValue("chasedBy", wolvesChasing);
                        }

                        //send signal to other wolf in its sensing radius, tell them to change to hunting phase
                        if (controller.memory.GetValue<float>("leaderLevel") >= highestLeaderLevel)
                        {
                            //increase its leaderLevel whenever it issue a decision to hunt
                            if (controller.memory.GetValue<float>("leaderLevel") < 100f)
                            {
                                controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") + increaseLeaderLevel);
                            }

                            //set the maximum leaderLevel for wolf
                            if (controller.memory.GetValue<float>("leaderLevel") > 100f)
                            {
                                controller.memory.SetValue("leaderLevel", 100f);
                            }

                            //call other to change to hunting phase
                            foreach (SensedObject objWolf in seenWolf)
                            {
                                //give out command to attack the same target
                                Memory wolfMemory = objWolf.getMemory();

                                wolfMemory.SetValue("hasCommand", target);
                                Debug.Log("I'm the leader! I sent command!");
                            }
                        }

                        //Change to hunting phasemyBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
                        Debug.Log("I'm hunting. Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
                    }
                }
            }
        }

        if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
        {
            time = 0f;
            //decrease its hungryLevel when it change to hunting state
            //controller.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - 4f);
            mainMachine.RequestStateTransition(hunting.GetTarget());
        }

        else
        {
            if (time >= 20f) //wait for 20 sec
            {
                //decrease its leaderLevel if it can't find any sheep or cant issue and command
                if (controller.memory.GetValue<float>("leaderLevel") > 10f)
                {
                    controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decayLeaderLevel / myBrain.memory.GetValue<float>("ferocity")));
                }

                if (controller.memory.GetValue<float>("hungryLevel") > 0f)
                {
                    myBrain.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - (decayHungryLevel * (myBrain.memory.GetValue<float>("ferocity") / 5)));
                }

                //set the minimum leaderLevel for wolf
                if (controller.memory.GetValue<float>("leaderLevel") < 10f)
                {
                    controller.memory.SetValue("leaderLevel", 10f);
                }

                //set the minimum hungryLevel for wolf
                if (controller.memory.GetValue<float>("hungryLevel") < 0f)
                {
                    controller.memory.SetValue("hungryLevel", 0f);
                    Debug.Log("I died because I'm too hungry");
                    myBrain.getGameObject().SetActiveRecursively(false);
                    controller.memory.GetValue<Genome>("Genome").manager.SpawnWolf(controller.memory.GetValue<Vector2>("StartPoint"));
                }
            }
            else
            {
                time += Time.deltaTime;
            }
        }

           yield return null;
    }
Exemple #18
0
    public override IEnumerator Enter(Machine owner, Brain controller)
    {
        mainMachine = owner;
        myBrain = controller;
        Legs myLeg = myBrain.legs;

        time = 0f;
        if (firstActivation)
        {
            target = null;//set leaderLevel for wolf
            myBrain.memory.SetValue("leaderLevel", Random.value * 100);
            myBrain.memory.SetValue("hasCommand", null);
            myBrain.memory.SetValue("hungryLevel", 60f);
            myBrain.memory.SetValue("damage", 20f);
            myBrain.memory.SetValue("caution", 10f);
            myBrain.memory.SetValue ("watched", 0f);

            myBrain.memory.SetValue<float>("ferocity", (float)myBrain.memory.GetValue<Genome>("Genome").getGene("Ferocity"));

            /* Removed ferocity override limit
            if (myBrain.memory.GetValue<float>("ferocity") < 0.8f)
            {
                myBrain.memory.SetValue("ferocity", 0.8f);
            }*/

            myBrain.memory.SetValue ("shouldHide", 0f);

            firstActivation = false;
        }
        else
        {
            Debug.Log("I'm roaming");

            //delete its target
            myBrain.memory.SetValue("hasCommand", null);
            myBrain.memory.SetValue("targeting", null);
        }

        myLeg.maxSpeed = 8.0f;

        generatedModel();
        yield return null;
    }