public void ClearObstacles()
{
BehaviorPlugin.ClearObstacles();
foreach (GameObject obstacle in m_obstacleList)
{
Destroy(obstacle);
}
m_obstacleList.Clear();
}
private void FixedUpdate()
{
//1. send position of target/goal to Plugin
Vector3 targetPos = m_target.transform.position;
BehaviorPlugin.SetTarget(new float[] { targetPos[0], targetPos[1], targetPos[2] });
//2. transfer all agent data necessary for force and torque calculations from Unity to Plugin
//3. update agent position and orientation
//4. transfer all data necessary for Unity agent update from Plugin
WriteActorDataArray();
BehaviorPlugin.UpdateActorData(Time.fixedDeltaTime, m_actorDataArray, m_actorNum);
WriteActorTransform();
}
public void ResetPlugin()
{
m_actorNum = m_actorList.Count;
BehaviorPlugin.InitializeBehaviorPlugin(m_actorNum, m_obstacleNum, (int)m_behaviorType);
int gainNum = BehaviorPlugin.GetGainNum();
BehaviorPlugin.SetControllerGains(m_gain.GetGainFloatArray(gainNum), gainNum);
m_actorDataArray = new BehaviorPlugin.ActorData[m_actorNum];
for (int i = 0; i < m_actorNum; ++i)
{
m_actorDataArray[i] = new BehaviorPlugin.ActorData(i);
m_actorDataArray[i].globalPosition = PluginHelpFunction.Vector3ToFloatArray(m_actorList[i].transform.position);
m_actorDataArray[i].globalRotation = PluginHelpFunction.QuaternionToFloatArray(m_actorList[i].transform.rotation);
}
SetLeader(m_leader);
ClearObstacles();
if (m_behaviorType == BehaviorType.AVOID)
{
GenerateObstacles();
}
}
public void GenerateObstacles()
{
Vector3[] positions = new Vector3[] { new Vector3(500, 0, 500),
new Vector3(500, 0, -500), new Vector3(-500, 0, -500), new Vector3(-500, 0, 500) };
ClearObstacles();
m_obstacleDataArray = new BehaviorPlugin.ObstacleData[m_obstacleNum];
for (int i = 0; i < m_obstacleNum; ++i)
{
// Generates random obstacles
GameObject obstacle = GameObject.Instantiate(m_obstaclePrefab);
Vector3 position;
if (i <= 3)
{
position = positions[i];
}
else
{
position = new Vector3(Random.Range(m_obstaclePosMinMax[0], m_obstaclePosMinMax[1]),
0, Random.Range(m_obstaclePosMinMax[0], m_obstaclePosMinMax[1]));
}
Physics.Raycast(position + new Vector3(0, 1000, 0), Vector3.down, out RaycastHit hit, Mathf.Infinity, m_environmentLayer);
position.y = hit.point.y;
float randomRadius = Random.Range(m_obstacleRadiusMinMax[0], m_obstacleRadiusMinMax[1]);
Vector3 scale = new Vector3(randomRadius, randomRadius, randomRadius);
obstacle.transform.position = position;
obstacle.transform.localScale = scale;
obstacle.transform.rotation = Random.rotation;
m_obstacleList.Add(obstacle);
// Set obstacle data
m_obstacleDataArray[i].globalPosition = PluginHelpFunction.Vector3ToFloatArray(position);
m_obstacleDataArray[i].radius = randomRadius;
}
BehaviorPlugin.SetObstacleData(m_obstacleDataArray, m_obstacleNum);
}
