private void timer_Tick(object sender, EventArgs e)
{
if (Radar != null)
{
//Distanz angeben, Achtung Distanz ist in millimetern ( vom Sensor
this.label1.Text = "Distanz: " + Radar.Distance.ToString("0.00") + " m";
//Radard Distanz, konvertiert in centi
int value = (int)(Radar.Distance * 100);
//obergrenze Radar
if (value > 255)
{
value = 255;
}
//untergrenze
if (value < 0)
{
value = 0;
}
//Falls Radar Distanz unter 20cm -> Block und event triggern, sprich alle abonnierten invoken
if (value < 20)
{
TooClose?.Invoke(null, null);
}
//progressbar aktualisieren
this.progressBar1.Value = value;
}
}
private void timer_Tick(object sender, EventArgs e)
{
if (Radar != null)
{
this.label1.Text = "Distanz: " + Radar.Distance.ToString("0.00") + " m";
int value = (int)(Radar.Distance * 100);
if (value > 255)
{
value = 255;
}
if (value < 0)
{
value = 0;
}
if (value < 20)
{
TooClose?.Invoke(null, null);
}
this.progressBar1.Value = value;
}
}
public float radiusRun = 15f; //radio para huir
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kinGlameow = glameow.kineticsAgent;
steeringGlameow = glameow.steeringAgent;
kineticsTarget = target.kineticsAgent;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
Vector3 center = (kinGlameow.transform.position + kineticsTarget.transform.position) / 2;
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
//este es seek pero en verdad como meowth le hace seek tambien pareciera que huye
FollowTarget seekTarget = new FollowTarget(steeringGlameow, kinGlameow, kineticsTarget, maxSeekAccel);
//el target es null porque todavia no sabemos cual trainer se acercara
ArriveToTarget arriveTrainer = new ArriveToTarget(steeringGlameow, kinGlameow, null, MaxAccelerationArrive, glameow.maxspeed, targetRadiusArrive, slowRadiusArrive);
Kinetics[] targets = new Kinetics[2];
targets[0] = kineticsTrainer;
targets[1] = kineticsRival;
SetArriveTarget setTrainer = new SetArriveTarget(targets, arriveTrainer);
//seek closes
StopMoving stop = new StopMoving(kinGlameow, steeringGlameow);
ShowIcon showHeart = new ShowIcon(this.gameObject, "Heart");
DisableIcon disableHeart = new DisableIcon(this.gameObject, "Heart");
ShowIcon showSweat = new ShowIcon(this.gameObject, "Sweat");
DisableIcon disableSweat = new DisableIcon(this.gameObject, "Sweat");
ShowIcon showExclamation = new ShowIcon(this.gameObject, "Exclamation");
DisableIcon disableExclamation = new DisableIcon(this.gameObject, "Exclamation");
//2. ESTADOS:
List <Action> entryActions; //aqui iremos guardanndo todas las acciondes de entrada
List <Action> exitActions; //aqui iremos guardanndo todas las acciones de salida
List <Action> actions; //aqui guardaremos todas las acciones intermedias
//2.a estado para huir de anamorado (meowth)
entryActions = new List <Action>()
{
showSweat
}; //al entrar al estado ponemos un corazon
actions = new List <Action>()
{
seekTarget
}; //durante el estado perseguimos al enamorado
exitActions = new List <Action>()
{
disableSweat
}; //al salir quitamos el corazon
State stalked = new State(actions, entryActions, exitActions);
//2.b estado para alertarse de entrenador cercano
entryActions = new List <Action>()
{
showExclamation, stop
}; //al entrar al estado debemos mostrar un signo de exclamacion
actions = new List <Action>();
exitActions = new List <Action>()
{
disableExclamation
}; //al salir quitamos el signo
State alert = new State(actions, entryActions, exitActions);
//2.c estado para perseguir enamorado al entrenador
entryActions = new List <Action> {
setTrainer, showHeart
};
actions = new List <Action>()
{
arriveTrainer
};
exitActions = new List <Action> {
disableHeart
};
State stalkTrainer = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
TooCloseToPoint closeCenterTrainer = new TooCloseToPoint(center, kineticsTrainer, radiusAlert);
TooClose closeTrainer = new TooClose(kinGlameow, kineticsTrainer, radiusAlert);
TooClose veryCloseTrainer = new TooClose(kinGlameow, kineticsTrainer, radiusRun);
TooCloseToPoint closeCenterRival = new TooCloseToPoint(center, kineticsRival, radiusAlert);
TooClose closeRival = new TooClose(kinGlameow, kineticsRival, radiusAlert);
TooClose veryCloseRival = new TooClose(kinGlameow, kineticsRival, radiusRun);
//Estas son las que de verdad necesitamos
OrCondition anyTargetCloseCenter = new OrCondition(closeCenterRival, closeCenterTrainer);
OrCondition anyTargetClose = new OrCondition(closeTrainer, closeRival);
OrCondition anyTargetVeryClose = new OrCondition(veryCloseRival, veryCloseTrainer);
NotCondition noOneClose = new NotCondition(anyTargetClose);
List <Action> noActions = new List <Action>();
//4. TRANSICIONES:
Transition anyHumanClose = new Transition(anyTargetCloseCenter, noActions, alert);
Transition noHumanClose = new Transition(noOneClose, noActions, stalkTrainer);
Transition anyHumanVeryClose = new Transition(anyTargetVeryClose, noActions, stalkTrainer);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions = new List <Transition>()
{
anyHumanClose
};
stalked.transitions = transitions;
transitions = new List <Transition>()
{
noHumanClose, anyHumanVeryClose
};
alert.transitions = transitions;
transitions = new List <Transition>();
stalkTrainer.transitions = transitions;
//5 MAQUINA DE ESTADOS
State[] states = new State[] { stalked, alert, stalkTrainer };
glameowMachine = new StateMachine(states, stalked);
}
public float radiusChange = 5f;//radio para asustarse y cambiar gas venenoso
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kinRoselia = roselia.kineticsAgent;
steeringRoselia = roselia.steeringAgent;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
Kinetics[] targets = new Kinetics[2];
targets[0] = kineticsTrainer;
targets[1] = kineticsRival;
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
ShowIcon showSweet = new ShowIcon(this.gameObject, "SweetGas");
DisableIcon disableSweet = new DisableIcon(this.gameObject, "SweetGas");
ShowIcon showPoison = new ShowIcon(this.gameObject, "PoisonGas");
DisableIcon disablePoison = new DisableIcon(this.gameObject, "PoisonGas");
ChangeSmellSent changeSmellPoison = new ChangeSmellSent(sendSmell, "Poison");
ChangeSmellSent changeSmellSweet = new ChangeSmellSent(sendSmell, "Sweet");
SetTimer setPoisonTimer;
//2. ESTADOS:
List <Action> entryActions; //aqui iremos guardanndo todas las acciondes de entrada
List <Action> exitActions; //aqui iremos guardanndo todas las acciones de salida
List <Action> actions; //aqui guardaremos todas las acciones intermedias
//2.a estado para seguir camino
entryActions = new List <Action>()
{
showSweet, changeSmellSweet
};
actions = new List <Action>();
exitActions = new List <Action>()
{
disableSweet
};
State sweetGasState = new State(actions, entryActions, exitActions);
entryActions = new List <Action>()
{
showPoison, changeSmellPoison
};
actions = new List <Action>();
exitActions = new List <Action>()
{
disablePoison
};
State poisonGasState = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
// roselia solo usara veneno durante 30 segs
TimeOut poisonTimer = new TimeOut(30f);
setPoisonTimer = new SetTimer(poisonTimer);
TooClose closeTrainer = new TooClose(kinRoselia, kineticsTrainer, radiusChange);
TooClose closeRival = new TooClose(kinRoselia, kineticsRival, radiusChange);
OrCondition anyTargetClose = new OrCondition(closeTrainer, closeRival);
NotCondition noOneClose = new NotCondition(anyTargetClose);
//4. TRANSICIONES:
List <Action> noActions = new List <Action>();
List <Action> transitionActions;
transitionActions = new List <Action>()
{
setPoisonTimer
};
Transition anyHumanClose = new Transition(anyTargetClose, transitionActions, poisonGasState);
transitionActions = new List <Action>();
Transition poisonTimeOut = new Transition(poisonTimer, transitionActions, sweetGasState);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions = new List <Transition>()
{
anyHumanClose
};
sweetGasState.transitions = transitions;
transitions = new List <Transition>()
{
poisonTimeOut
};
poisonGasState.transitions = transitions;
//5 MAQUINA DE ESTADOS
State[] states = new State[] { sweetGasState, poisonGasState };
roseliaMachine = new StateMachine(states, sweetGasState);
}
public float radiusRun = 15f; //radio para huir
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kinMeowth = meowth.kineticsAgent;
steeringMeowth = meowth.steeringAgent;
kineticsTarget = target.kineticsAgent;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
// Centro de masa de glameow y meowth sera util pra cierta condicion
Vector3 center = (kinMeowth.transform.position + kineticsTarget.transform.position) / 2;
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
FollowTarget seekTarget = new FollowTarget(steeringMeowth, kinMeowth, kineticsTarget, maxSeekAccel);
FollowTarget seekWorried = new FollowTarget(steeringMeowth, kinMeowth, kineticsTarget, 100f);
Kinetics[] targets = new Kinetics[2];
targets[0] = kineticsTrainer;
targets[1] = kineticsRival;
RunFromTargets runFromTargets = new RunFromTargets(steeringMeowth, kinMeowth, targets, maxSeekAccel * 5);
StopMoving stop = new StopMoving(kinMeowth, steeringMeowth);
UpdateMaxSpeed moreMaxSpeed = new UpdateMaxSpeed(meowth, meowth.maxspeed * 5); // esto ayudara a aumentar la maxspeed
UpdateMaxSpeed speedBackToNormal = new UpdateMaxSpeed(meowth, meowth.maxspeed); // esto guarda la maxspeed original para volverla a poner asi
ShowIcon showHeart = new ShowIcon(this.gameObject, "Heart");
DisableIcon disableHeart = new DisableIcon(this.gameObject, "Heart");
ShowIcon showSweat = new ShowIcon(this.gameObject, "Sweat");
DisableIcon disableSweat = new DisableIcon(this.gameObject, "Sweat");
ShowIcon showExclamation = new ShowIcon(this.gameObject, "Exclamation");
DisableIcon disableExclamation = new DisableIcon(this.gameObject, "Exclamation");
//2. ESTADOS:
List <Action> entryActions; //aqui iremos guardanndo todas las acciondes de entrada
List <Action> exitActions; //aqui iremos guardanndo todas las acciones de salida
List <Action> actions; //aqui guardaremos todas las acciones intermedias
//2.a estado para perseguir enamorado (glameow)
entryActions = new List <Action>()
{
showHeart
}; //al entrar al estado ponemos un corazon
actions = new List <Action>()
{
seekTarget
}; //durante el estado perseguimos al enamorado
exitActions = new List <Action>()
{
disableHeart
}; //al salir quitamos el corazon
State stalkTarget = new State(actions, entryActions, exitActions);
//2.b estado para alertarse de entrenador cercano
entryActions = new List <Action>()
{
showExclamation, stop
}; //al entrar al estado debemos mostrar un signo de exclamacion
actions = new List <Action>();
exitActions = new List <Action>()
{
disableExclamation
}; //al salir quitamos el signo
State alert = new State(actions, entryActions, exitActions);
//2,c estado para perseguir sin corazon
entryActions = new List <Action>();//al entrar al estado ponemos un corazon
actions = new List <Action>()
{
seekTarget
}; //durante el estado perseguimos al enamorado
exitActions = new List <Action>(); //al salir quitamos el corazon
State stalk = new State(actions, entryActions, exitActions);
//2.d estado para huir del entrenador
entryActions = new List <Action>()
{
moreMaxSpeed
};
actions = new List <Action>()
{
runFromTargets
};
exitActions = new List <Action>()
{
speedBackToNormal
};
State runAway = new State(actions, entryActions, exitActions);
//2.e estado para preocuparse por alguien y seguirlo preocupado
entryActions = new List <Action>()
{
showSweat, disableHeart, disableExclamation
};
actions = new List <Action>()
{
seekWorried
};
exitActions = new List <Action>()
{
disableSweat
};
State worry = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
TooCloseToPoint closeCenterTrainer = new TooCloseToPoint(center, kineticsTrainer, radiusAlert);
TooClose closeTrainer = new TooClose(kinMeowth, kineticsTrainer, radiusAlert);
TooClose veryCloseTrainer = new TooClose(kinMeowth, kineticsTrainer, radiusRun);
TooCloseToPoint closeCenterRival = new TooCloseToPoint(center, kineticsRival, radiusAlert);
TooClose closeRival = new TooClose(kinMeowth, kineticsRival, radiusAlert);
TooClose veryCloseRival = new TooClose(kinMeowth, kineticsRival, radiusRun);
//Estas son las que de verdad necesitamos
OrCondition anyTargetCloseCenter = new OrCondition(closeCenterRival, closeCenterTrainer);
OrCondition anyTargetClose = new OrCondition(closeTrainer, closeRival);
OrCondition anyTargetVeryClose = new OrCondition(veryCloseRival, veryCloseTrainer);
NotCondition noOneClose = new NotCondition(anyTargetClose);
NotCondition noOneVeryClose = new NotCondition(anyTargetVeryClose);
WasCaught targetCaught = new WasCaught(kineticsTarget);
List <Action> noActions = new List <Action>();
//4. TRANSICIONES:
Transition anyHumanCloseCenter = new Transition(anyTargetCloseCenter, noActions, alert);
Transition anyHumanClose = new Transition(anyTargetClose, noActions, alert);
Transition noHumanClose = new Transition(noOneClose, noActions, stalk);
Transition anyHumanVeryClose = new Transition(anyTargetVeryClose, noActions, runAway);
Transition noHumanVeryClose = new Transition(noOneVeryClose, noActions, alert);
Transition targetWasCaught = new Transition(targetCaught, noActions, worry);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions = new List <Transition>()
{
anyHumanCloseCenter, targetWasCaught
};
stalkTarget.transitions = transitions;
transitions = new List <Transition>()
{
noHumanClose, anyHumanVeryClose, targetWasCaught
};
alert.transitions = transitions;
transitions = new List <Transition>()
{
anyHumanClose, targetWasCaught
};
stalk.transitions = transitions;
transitions = new List <Transition>()
{
noHumanVeryClose, targetWasCaught
};
runAway.transitions = transitions;
worry.transitions = new List <Transition>();//es un sumidero
//5 MAQUINA DE ESTADOS
State[] states = new State[] { stalkTarget, alert, stalk, runAway, worry };
meowthMachine = new StateMachine(states, stalkTarget);
}
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kinDugtrio = dugtrio.kineticsAgent;
steeringDugtrio = dugtrio.steeringAgent;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
graph = graphComponent.graph;
aStar = new PathFindAStar(graph, null, null, null, walkable);
seek = new Seek(kinDugtrio, kinDugtrio, dugtrio.maxspeed);
Kinetics[] targets = new Kinetics[2];
targets[0] = kineticsTrainer;
targets[1] = kineticsRival;
//obstaculos
GameObject[] obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
obstacle_data[] obstaclesData = new obstacle_data[obstacles.Length];
for (int k = 0; k < obstacles.Length; k++)
{
obstaclesData[k] = obstacles[k].GetComponent <obstacle_data>();
}
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
UpdateAStarRandom updateAStar = new UpdateAStarRandom(aStar, graph, kinDugtrio, null, walkable);
ShowIcon showHole = new ShowIcon(this.gameObject, "Digging");
DisableIcon disableHole = new DisableIcon(this.gameObject, "Digging");
FollowPathOfPoints followPath = new FollowPathOfPoints(steeringDugtrio, seek, null, true);
UpdateFollowPathWithAstar updateFollow = new UpdateFollowPathWithAstar(followPath, aStar, obstaclesData);
MoveOnZ underground = new MoveOnZ(transform, undergroundCoord);
MoveOnZ getOutOfGround = new MoveOnZ(transform, 0f);
//2. ESTADOS:
List <Action> entryActions; //aqui iremos guardanndo todas las acciondes de entrada
List <Action> exitActions; //aqui iremos guardanndo todas las acciones de salida
List <Action> actions; //aqui guardaremos todas las acciones intermedias
//2.a estado para seguir camino
entryActions = new List <Action>()
{
};
actions = new List <Action>()
{
followPath
}; //durante el estado seguimos el camino
exitActions = new List <Action>()
{
};
State followPathState = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
TooClose closeTrainer = new TooClose(kinDugtrio, kineticsTrainer, radiusHide);
TooClose closeRival = new TooClose(kinDugtrio, kineticsRival, radiusHide);
ArrivedToPosition arrived = new ArrivedToPosition(new Vector3(), transform, 10f);
AmIUnderground amIunderground = new AmIUnderground(transform);
updateAStar.arrived = arrived;
OrCondition anyTargetClose = new OrCondition(closeTrainer, closeRival);
NotCondition noOneClose = new NotCondition(anyTargetClose);
NotCondition notUnderground = new NotCondition(amIunderground);
AndCondition closeAndNotUndeground = new AndCondition(anyTargetClose, notUnderground);
AndCondition notCloseAndUndeground = new AndCondition(noOneClose, amIunderground);
List <Action> noActions = new List <Action>();
List <Action> transitionActions;
//4. TRANSICIONES:
transitionActions = new List <Action>()
{
showHole, underground
};
Transition anyHumanClose = new Transition(closeAndNotUndeground, transitionActions, followPathState);
transitionActions = new List <Action>()
{
disableHole, getOutOfGround
};
Transition noHumanClose = new Transition(notCloseAndUndeground, transitionActions, followPathState);
transitionActions = new List <Action>()
{
updateAStar, updateFollow
};
Transition pathEnd = new Transition(arrived, transitionActions, followPathState);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions = new List <Transition>()
{
anyHumanClose, noHumanClose, pathEnd
};
followPathState.transitions = transitions;
//5 MAQUINA DE ESTADOS
State[] states = new State[] { followPathState };
dugtrioMachine = new StateMachine(states, followPathState);
updateAStar.DoAction();//esto es para inicializar el primer camino
updateFollow.DoAction();
}
