SteeringOutput steering; //steering del personaje
public FaceToSeenTarget(SightSensor Sensor, Kinetics Character, SteeringOutput Steering)
{
face = new Face(Character, Character);
sensor = Sensor;
character = Character;
steering = Steering;
}
void Start()
{
//rival
agentKinetics = agentStatic.kineticsAgent;
//POKEMONS
pokemons = GameObject.FindGameObjectsWithTag("Pokemon");
List <pokemon_data> pokemonDataList = new List <pokemon_data>();
for (int i = 0; i < pokemons.Length; i++)
{
pokemons_list.Add(pokemons[i].GetComponent <static_data>().kineticsAgent);
pokemonDataList.Add(pokemons[i].GetComponent <pokemon_data>());
}
pokemons_data = pokemonDataList.ToArray();
pokemons_kins = pokemons_list.ToArray();
//OBSTACLES
GameObject[] obstaclesGo = GameObject.FindGameObjectsWithTag("Obstacle");
for (int i = 0; i < obstaclesGo.Length; i++)
{
obstacles_list.Add(obstaclesGo[i].GetComponent <Transform>());
}
obstacles = obstacles_list.ToArray();
//SENSOR
sightSensor = sensorComp.sensor;
}
public UpdateAStarSeenStone(SightSensor Sensor, PathFindAStar AStar, Graph Graph, Transform Character, string[] Walkable)
{
sensor = Sensor;
aStar = AStar;
graph = Graph;
character = Character;
walkable = Walkable;
}
public override void setSensors()
{
GameObject obj = m_soldierBuildParam.character.getGameObject();
SightSensor sightSensor = new SightSensor(obj);
SoundSensor soundSensor = new SoundSensor(obj);
GameManager.Instance.registerSensor(sightSensor);
GameManager.Instance.registerSensor(soundSensor);
}
public ShootInk(Transform Character, GameObject InkPrefab, float BallSpeed, GameObject InkScreen, SightSensor Sensor, Kinetics[] Trainers, Transform[] Obstacles)
{
characterTransform = Character;
inkBallPrefab = InkPrefab;
ballSpeed = BallSpeed;
inkScreen = InkScreen;
sensor = Sensor;
trainers = Trainers;
obstacles = Obstacles;
}
public override bool ExtraChecks(Signal signal, Sensor sensor)
{
Vector3 signalPos = signal.transform.position;
Vector3 sensorPos = sensor.transform.position;
float sensorOrien = sensor.transform.eulerAngles.z;
SightSensor sigthSensor = (SightSensor)sensor;
float width = sigthSensor.width;
float large = sensor.threshold;
return(utilities.CheckSightCone(sensorPos, large, width, sensorOrien, signalPos) && !utilities.LineSegmentIntersectionObstacleType(signalPos, sensorPos, obstacles, new string[] { "Tree1", "Tree2" }));
}
public override bool Test()
{
Vector3 signalPos = sensor.detectedSignal.transform.position;
Vector3 sensorPos = sensor.transform.position;
float sensorOrien = sensor.transform.eulerAngles.z;
SightSensor sigthSensor = (SightSensor)sensor;
float width = sigthSensor.width;
float large = sensor.threshold;
bool incone = utilities.CheckSightCone(sensorPos, large, width, sensorOrien, signalPos);
return(!(incone));
}
public void Start()
{
//所有引用的其它组件在此赋值
chStatus = GetComponent <CharacterStatus>();
chAnim = GetComponent <CharacterAnimation>();
navAgent = GetComponent <UnityEngine.AI.NavMeshAgent>();
chSkillSys = GetComponent <CharacterSkillSystem>();
sightSensor = GetComponent <SightSensor>();
if (sightSensor != null)
{
sightSensor.PerceptInfo += ProcessSawInfo;
sightSensor.NoPerceptInfo += ProcessNoSawInfo;
}
targetPlayer = GameObject.FindGameObjectWithTag("Player").transform;
navMeshAgent = GetComponent <UnityEngine.AI.NavMeshAgent>();
anim = GetComponent <CharacterAnimation>();
chSystem = GetComponent <CharacterSkillSystem>();
ConfigFSM();
//初始化起始状态
InitDefaultState();
}
public SawSomething(SightSensor Sensor, string SightType)
{
sensor = Sensor;
sightType = SightType;
}
public NoInSightCone(SightSensor Sensor)
{
sensor = Sensor;
}
// public float radiusAlert = 40f;//radio para alertarse
// public float radiusRun = 35f;//radio para huir
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
sightSensor = sightComponent.sensor;
sightSensorPokemon = sightComponentPokemon.sensor;
soundSensor = soundComponent.sensor;
//Piedras
stones = GameObject.FindGameObjectsWithTag("Stone");
List <GameObject> stonesList = new List <GameObject>(stones);
//Inicializamos grafo y A*
graph = graphComponent.graph;
aStar = new PathFindAStar(graph, null, null, null, walkable);
//Inicializamos seek
seek = new Seek(kineticsAgent, kineticsAgent, maxAccel);
//Inicializamos lookwehereyougoing
look = new LookWhereYouAreGoing(kineticsAgent);
//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>();
}
//Puntos estrategicos
strategicPoints = pointsComponent.coverNodes;
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
//acciones relacionadas a astar
FollowPathOfPoints followPath = new FollowPathOfPoints(steeringAgent, seek, null, false);
UpdateFollowPathWithAstar updateFollow = new UpdateFollowPathWithAstar(followPath, aStar, obstaclesData);
UpdateAstarBestCoverPoint updateAstarCover = new UpdateAstarBestCoverPoint(strategicPoints, transform, new Transform[] { kineticsRival.transform, kineticsTrainer.transform }, obstaclesData, graph, aStar, walkable);
UpdateAStarSeenStone updateAstarStone = new UpdateAStarSeenStone(sightSensor, aStar, graph, transform, walkable);
//acciones de manejo de giros
SetAngularSpeed setDefaultRotation = new SetAngularSpeed(kineticsAgent, 10f);
SetAngularSpeed setZeroRotation = new SetAngularSpeed(kineticsAgent, 0f);
StopMoving stop = new StopMoving(kineticsAgent, steeringAgent);
LookWhereGoing lookAction = new LookWhereGoing(look, steeringAgent);
//acciones de manejo de srpites
ShowDefaultSprite defaultSprite = new ShowDefaultSprite(pokemonData);
RunSprite showRunSprite = new RunSprite(pokemonData);
Evolve2 evolve;
ShowIcon showExclamation = new ShowIcon(this.gameObject, "Exclamation");
DisableIcon disableExclamation = new DisableIcon(this.gameObject, "Exclamation");
ShowIcon showSweat = new ShowIcon(this.gameObject, "Sweat");
DisableIcon disableSweat = new DisableIcon(this.gameObject, "Sweat");
//acciones de asistencia
ResetSensor resetSight = new ResetSensor(sightSensor);
ResetSensor resetSightPokemon = new ResetSensor(sightSensorPokemon);
ResetSensor resetSound = new ResetSensor(soundSensor);
ResetSensorList resetSensors = new ResetSensorList(new List <ResetSensor>()
{
resetSight, resetSound, resetSightPokemon
});
//acciones de tiempo
SetTimer setAlertTime;
//acciones que modifican la maquina de estados misma
RemoveStateTransition removeTouchStone;
RemoveStateTransition removeSawStone;
RemoveStateTransition removeSawStone2;
RemoveAction removeDefaultSpriteAction;
RemoveAction removeRunSpriteAction;
RemoveAction removeRunSpriteAction2;
//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 esperar sin hacer nada
//durante este estado eevee estara quieto hasta que algun humano lo haga reaccionar
entryActions = new List <Action>()
{
stop, defaultSprite, setZeroRotation, resetSensors
}; //al entrar al estado debemos parar y sentarnos
removeDefaultSpriteAction = new RemoveAction(defaultSprite, entryActions);
actions = new List <Action>()
{
}; //hacer guardia girando
exitActions = new List <Action>()
{
};
State wait = new State(actions, entryActions, exitActions);
//2.b estado para sorprenderse
//durante este estado eevee dara vueltas en alterta angustiado porque escucho algo, este estado durara solo cierto tiempo
entryActions = new List <Action>()
{
showExclamation, setDefaultRotation
}; //al entrar al estado debemos sorprendernos
actions = new List <Action>()
{
};
exitActions = new List <Action>()
{
disableExclamation, setZeroRotation
}; //al salir dejamos de sorprendernos
State alert = new State(actions, entryActions, exitActions);
//2.c estado para perseguir piedra
//durante este estado eevee se concentrara unicamente en buscar las piedra que vio
entryActions = new List <Action>()
{
updateAstarStone, updateFollow, showExclamation, showRunSprite
}; //al entrar al estado debemos actualizar el a* y luego el camino
removeRunSpriteAction2 = new RemoveAction(showRunSprite, entryActions);
actions = new List <Action>()
{
followPath, lookAction
}; //durante la accion seguimos el camino
exitActions = new List <Action>()
{
disableExclamation
}; //al salir no hacemos nada
State followStone = new State(actions, entryActions, exitActions);
//2.d estado para perseguir punto de encuentro
//durante este estado eevee buscara donde esconderse, puede verse interrumpido si accidentalmente toca una piedra o se comprometio su escondite
entryActions = new List <Action>()
{
updateAstarCover, updateFollow, showSweat, showRunSprite, resetSensors
}; //al entrar al estado debemos actualizar el a* y luego el camino
removeRunSpriteAction = new RemoveAction(showRunSprite, entryActions);
actions = new List <Action>()
{
followPath, lookAction
}; //durante la accion seguimos el camino
exitActions = new List <Action>()
{
disableSweat
}; //al salir no hacemos nada
State followCoverPoint = new State(actions, entryActions, exitActions);
//2.extra dummy states
//estos estados son de relleno para facilitar la activacion de ciertas acciones en le orden adecuado
entryActions = new List <Action>(); //al entrar al estado debemos parar y sentarnos
actions = new List <Action>(); //hacer guardia girando
exitActions = new List <Action>(); //al salir no hacemos nada
State evolveState1 = new State(actions, entryActions, exitActions);
State evolveState2 = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
SawSomething sawStone = new SawSomething(sightSensor, "Stone"); //si vemos una piedra evolutiva
SawSomething sawHuman = new SawSomething(sightSensor, "Human"); //si vemos una persona
HeardSomething heardHumanClose = new HeardSomething(soundSensor, "Human", 0f); //si escuchamos a un humano cerca
HeardSomething heardHumanVeryClose = new HeardSomething(soundSensor, "Human", 5f); //si escuchamos a un humanos muy cerca
TouchedGameObjects touchedStone = new TouchedGameObjects(stonesList, transform, "Sun"); //si tocamos una piedra evolutiva
evolve = new Evolve2(pokemonData, touchedStone, updateAstarCover, aStar);
FollowArrived arrived = new FollowArrived(followPath, transform); //si llegamos al objetivo de follow
PokemonInCoverPoint otherInMyCover = new PokemonInCoverPoint(aStar, sightSensorPokemon, transform); //si vemos que un pokemon se metio en nuestro escondite
TimeOut alertTimeOut = new TimeOut(5f);
setAlertTime = new SetTimer(alertTimeOut);
TrueCondition alwaysTrue = new TrueCondition();
//4. TRANSICIONES:
List <Action> transitionsActions;
List <Action> noActions = new List <Action>();
transitionsActions = new List <Action>()
{
setAlertTime
};
Transition heardCloseHuman = new Transition(heardHumanClose, transitionsActions, alert);
Transition seemsSafe = new Transition(alertTimeOut, noActions, wait);
Transition heardVeryCloseHuman = new Transition(heardHumanVeryClose, noActions, followCoverPoint);
transitionsActions = new List <Action>()
{
};
Transition sawAhuman = new Transition(sawHuman, transitionsActions, followCoverPoint);
Transition sawAstone = new Transition(sawStone, transitionsActions, followStone);
Transition pokemonInMyCover = new Transition(otherInMyCover, transitionsActions, followCoverPoint);
//transiciones dummy
transitionsActions = new List <Action>()
{
evolve
};
Transition evolving1 = new Transition(alwaysTrue, transitionsActions, followCoverPoint);
Transition evolving2 = new Transition(alwaysTrue, transitionsActions, wait);
transitionsActions = new List <Action>()
{
evolve, removeDefaultSpriteAction, removeRunSpriteAction, removeRunSpriteAction2
};
Transition touchStone1 = new Transition(touchedStone, transitionsActions, evolveState1);
Transition touchStone2 = new Transition(touchedStone, transitionsActions, evolveState2);
//si evolucionamos debemos quitar las transiciones relacionadas a las stones
removeSawStone = new RemoveStateTransition(sawAstone, followCoverPoint);
removeSawStone2 = new RemoveStateTransition(sawAstone, alert);
removeTouchStone = new RemoveStateTransition(touchStone1, followCoverPoint);
transitionsActions.Add(removeSawStone);
transitionsActions.Add(removeSawStone2);
transitionsActions.Add(removeTouchStone);
Transition arrivedFollowEnd = new Transition(arrived, noActions, wait);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions;
transitions = new List <Transition>()
{
sawAhuman, heardCloseHuman
};
wait.transitions = transitions;
transitions = new List <Transition>()
{
sawAhuman, sawAstone, heardVeryCloseHuman, seemsSafe
};
alert.transitions = transitions;
transitions = new List <Transition>()
{
evolving1
};
evolveState1.transitions = transitions;
transitions = new List <Transition>()
{
evolving2
};
evolveState2.transitions = transitions;
transitions = new List <Transition>()
{
touchStone1, sawAstone, pokemonInMyCover, arrivedFollowEnd, sawAhuman
};
followCoverPoint.transitions = transitions;
transitions = new List <Transition>()
{
touchStone2, arrivedFollowEnd, pokemonInMyCover
};
followStone.transitions = transitions;
//5 MAQUINA DE ESTADOS
State[] states = new State[] { wait, alert, followCoverPoint, followStone, evolveState1, evolveState2 };
eeveeMachine = new StateMachine(states, wait);
}
public PokemonInCoverPoint(PathFindAStar AStar, SightSensor Sensor, Transform Character)
{
aStar = AStar;
sensor = Sensor;
character = Character;
}
public string[] careToSee; //que nos interesa ver
void Awake()
{
sensor = new SightSensor(transform, threshold, widthAngle, careToSee);
}
void Start()
{
//INICIALIZAMOS LA DATA DEL EXTERIOR
kinOctillery = octillery.kineticsAgent;
steeringOctillery = octillery.steeringAgent;
defaulAngularSpeed = kinOctillery.rotation;
kineticsTrainer = trainer.kineticsAgent;
kineticsRival = rival.kineticsAgent;
sightSensor = sightSensorScript.sensor;
Kinetics[] targets = new Kinetics[2];
targets[0] = kineticsTrainer;
targets[1] = kineticsRival;
//obstacles
List <Transform> obstacles_list = new List <Transform>();
GameObject[] obstaclesGo = GameObject.FindGameObjectsWithTag("Obstacle");
for (int i = 0; i < obstaclesGo.Length; i++)
{
obstacles_list.Add(obstaclesGo[i].GetComponent <Transform>());
}
obstacles = obstacles_list.ToArray();
//COMENZAMOS A CONSTRUIR LA MAQUINA DE ESTADOS
//1. ACCIONES:
ShowIcon showExclamation = new ShowIcon(this.gameObject, "Exclamation");
DisableIcon disableExclamation = new DisableIcon(this.gameObject, "Exclamation");
SetAngularSpeed setAngularToZero = new SetAngularSpeed(kinOctillery, 0f);
SetAngularSpeed setAngularToDefault = new SetAngularSpeed(kinOctillery, defaulAngularSpeed);
SetAngularAccel setAngularAccelToZero = new SetAngularAccel(steeringOctillery, 0f);
ResetSensor resetSightSensor = new ResetSensor(sightSensor);
FaceToSeenTarget faceTarget = new FaceToSeenTarget(sightSensor, kinOctillery, steeringOctillery);
ShootInk shootInkToTarget = new ShootInk(transform, inkBallPrefab, inkSpeed, inkScreen, sightSensor, targets, obstacles);
//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>()
{
setAngularToDefault, setAngularAccelToZero
};
actions = new List <Action>();
exitActions = new List <Action>();
State guardState = new State(actions, entryActions, exitActions);
entryActions = new List <Action>()
{
showExclamation, setAngularToZero
};
actions = new List <Action>()
{
faceTarget, shootInkToTarget
};
exitActions = new List <Action>()
{
disableExclamation
};
State shootState = new State(actions, entryActions, exitActions);
//3. CONDICIONES:
// octillery solo disparara si ve un humano
SawSomething sawHuman = new SawSomething(sightSensor, "Human");
// octillery solo entrara en guardia de nuevo si no hay humanos en su cono de vision
NoInSightCone noHumanInCone = new NoInSightCone(sightSensor);
//4. TRANSICIONES:
List <Action> noActions = new List <Action>();
List <Action> transitionsActions;
transitionsActions = new List <Action>()
{
resetSightSensor
};
Transition noHumanInConeSight = new Transition(noHumanInCone, transitionsActions, guardState);
Transition humanSeen = new Transition(sawHuman, noActions, shootState);
//4.1 AGREGAMOS TRANSICIONES A ESTADOS
List <Transition> transitions = new List <Transition>()
{
humanSeen
};
guardState.transitions = transitions;
transitions = new List <Transition>()
{
noHumanInConeSight
};
shootState.transitions = transitions;
//5 MAQUINA DE ESTADOS
State[] states = new State[] { guardState, shootState };
octilleryMachine = new StateMachine(states, guardState);
}
