void Awake()
{
_pheromoneManager = (PheromoneManager)Object.FindObjectOfType(typeof(PheromoneManager));
_agentConfiguration = FindObjectOfType(typeof(GlobalAgentConfiguration)) as GlobalAgentConfiguration;
_type = EPheromoneTypes.Food;
}
public void Initialize(EPheromoneTypes type, float intensity, float diameter, float diffusionRate, float minimumConcentration, Color color)
{
this.type = type;
_startIntensity = intensity;
_diffusionRate = diffusionRate;
_minimumConcentration = minimumConcentration;
_diffusionSphere.transform.localScale = new Vector3(diameter, diameter, diameter);
// max radius = (n / (3/4 * PI * c))^(1/3)
float maxRadius = Mathf.Pow(_startIntensity / (0.75f * Mathf.PI * _minimumConcentration), 1f / 3f);
float ttl = maxRadius / _diffusionRate;
// Initialize particle system
_particleSystem.startLifetime = ttl; //Mathf.Pow ((0.75f * _startIntensity) / (_minimumConcentration * Mathf.PI), 1f / 3f) / diffusionRate + 3.0f;
_particleSystem.startSpeed = diffusionRate * 0.5f;
_particleSystem.startColor = color;
ParticleSystem.EmissionModule emission = _particleSystem.emission;
emission.rate = new ParticleSystem.MinMaxCurve(0f);
ParticleSystem.ShapeModule shape = _particleSystem.shape;
shape.radius = diameter * 0.5f;
_particleSystem.Emit((int)(50.0f * _startIntensity));
_currentVisibility = true;
RecalculateCurrentConcentration();
UpdateVisibility();
}
/**
* Place a pheromone of given type at given position.
*
* If necessary, merge it with existing pheromones. A merge is triggered if more than
* 4 pheromones are located at the same position, i.e. their centers lie within a circle of 0.5 units.
*/
public void PlacePheromone(Vector3 position, EPheromoneTypes type)
{
position.y = 0;
PheromoneConfiguration pheromoneConfiguration = _pheromoneConfiguration.configs [type];
// Get current parameters from configuration.
float initialIntensity = pheromoneConfiguration.initialIntensity;
float initialScale = pheromoneConfiguration.initialRadius;
float diffusionRate = pheromoneConfiguration.diffusionRate;
float minimumConcentration = pheromoneConfiguration.minimumConcentration;
Color color = pheromoneConfiguration.color;
// If there are enough pheromones nearby, merge them into one
Collider[] nearbyPheromoneCenters = Physics.OverlapSphere(position, 0.5f, _pheromoneOriginLayerMask);
List <GameObject> nearbyPheromones = new List <GameObject> ();
// Filter nearby pheromones by type.
foreach (Collider pheromoneCenter in nearbyPheromoneCenters)
{
GameObject pheromone = pheromoneCenter.transform.parent.gameObject;
if (pheromone.GetComponent <Pheromone> ().type == type)
{
nearbyPheromones.Add(pheromone);
}
}
// Merge if enough pheromones of the same type are located on position.
if (nearbyPheromones.Count > 4)
{
foreach (GameObject pheromone in nearbyPheromones)
{
initialIntensity += pheromone.GetComponent <Pheromone>().startIntensity;
initialScale = Mathf.Max(initialScale, pheromone.transform.Find("DiffusionSphere").transform.localScale.x);
//startScale += pheromone.transform.Find ("DiffusionSphere").transform.localScale.x;
position += pheromone.transform.position;
Destroy(pheromone);
}
// Make start scale the average of all scales
//startScale = startScale / (nearbyPheromoneCenters.GetLength(0) + 1);
position = position / (nearbyPheromones.Count + 1);
}
// Create and initialize new pheromone
GameObject newPheromone = Instantiate(_pheromonePrefab, position, new Quaternion()) as GameObject;
newPheromone.GetComponent <Pheromone>().Initialize(type, initialIntensity, initialScale, diffusionRate, minimumConcentration, color);
}
public void Activate(EPheromoneTypes pheromoneType)
{
gameObject.SetActive(true);
_pheromoneType = pheromoneType;
foreach (Transform row in transform)
{
foreach (Transform child in row)
{
PotentialFieldElement element = child.GetComponent <PotentialFieldElement> ();
if (element)
{
element.pheromoneType = _pheromoneType;
}
}
}
}
/**
* Calculate attraction (or repulsion) for a given pheromone type. The resulting
* vector is the (negative) gradient and thus the direction the agent moves to.
*
* @param pheromoneType The type of the pheromone for which the direction / gradient should be calculated.
* @return The direction in which the agent should move.
*/
Vector3 AggregateMovementDirection(EPheromoneTypes pheromonType)
{
HashSet <Pheromone> pheromones = _nearbyPheromones [pheromonType];
Vector3 movementVector = new Vector3();
Vector3 position = transform.position;
position.y = 0.0f;
foreach (Pheromone pheromone in pheromones)
{
// Ensure that no destroyed pheromones are accessed.
if (!pheromone)
{
continue;
}
Vector3 pheromonePosition = pheromone.transform.position;
pheromonePosition.y = 0.0f;
Vector3 pheromoneVector = (pheromonePosition - position).normalized;
float pheromoneAngleCosine = Vector3.Dot(transform.forward, pheromoneVector);
// Check if pheromone is "in front of" the agent.
if (pheromoneAngleCosine > _currentSmellAngleCos)
{
movementVector += pheromoneVector * pheromone.currentConcentration;
}
}
// If the pheromone is repellant, return the negative movement vector.
if (pheromonType == EPheromoneTypes.Repellant)
{
return(-movementVector);
}
return(movementVector);
}
/**
* Set the type of pheromones that should be deposited.
*
* This is set by other components according to the current task and state of the agent.
*/
public void SetPheromoneType(EPheromoneTypes type)
{
_type = type;
}
public bool IsActiveWith(EPheromoneTypes pheromoneType)
{
return(gameObject.activeInHierarchy && _pheromoneType == pheromoneType);
}
