public override GlobalPath DecomposeGoalIntoPath(SteeringGoal goal)
{
GlobalPath path;
if (goal.PositionSet && !this.CurrentGoalPosition.Equals(goal.Position))
{
this.CurrentGoalPosition = goal.Position;
this.PathfindingAlgorithm.InitializePathfindingSearch(this.Pipeline.Character.position, goal.Position);
}
if (this.PathfindingAlgorithm.InProgress)
{
if (this.PathfindingAlgorithm.Search(out path, true))
{
this.UnsmoothedPath = path;
this.CurrentPath = StringPullingPathSmoothing.SmoothPath(this.Pipeline.Character, path);
this.CurrentPath.CalculateLocalPathsFromPathPositions(this.Pipeline.Character.position);
}
else
{
this.UnsmoothedPath = path;
this.CurrentPath = path;
}
}
return(this.CurrentPath);
}
/// <summary>
/// Smoothes the current path
/// </summary>
public GlobalPath SmoothPath(GlobalPath currentSolution)
{
GlobalPath currentSmoothedSolution = null;
currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(Character.KinematicData,
currentSolution);
currentSmoothedSolution.PathPositions.Add(Position);
currentSmoothedSolution.CalculateLocalPathsFromPathPositions(
Character.KinematicData.position);
// currentSmoothedSolution.LastParam = lastParam;
return(currentSmoothedSolution);
}
public bool Initialize(Vector3 position)
{
Position = position;
//initialize the search algorithm
if (aStarPathFinding.InitializePathfindingSearch(Character.KinematicData.position, position))
{
StringPullingPathSmoothing.Initialize();
return(true);
}
else
{
return(false);
}
}
public override Goal Decompose(KinematicData character, Goal goal)
{
if ((Astar == null))
{
Astar = new NodeArrayAStarPathFinding(Graph, Heuristic);
Astar.InitializePathfindingSearch(character.position, goal.position);
CurrentParam = 0.0f;
}
GlobalPath currentSolution;
if (Astar.InProgress)
{
var finished = Astar.Search(out currentSolution, true);
if (finished && currentSolution != null)
{
this.AStarSolution = currentSolution;
this.GlobalPath = StringPullingPathSmoothing.SmoothPath(character, currentSolution);
this.GlobalPath.CalculateLocalPathsFromPathPositions(character.position);
// gets first node
goal.position = this.GlobalPath.LocalPaths[0].EndPosition;
return(goal);
}
/* else if(currentSolution != null && currentSolution.IsPartial)
* {
* goal.position = currentSolution.PathPositions[0];
* return goal;
* }*/
}
else
{
if (GlobalPath.PathEnd(CurrentParam))
{
goal.position = GlobalPath.LocalPaths[GlobalPath.LocalPaths.Count - 1].GetPosition(1.0f);
return(goal);
}
CurrentParam = GlobalPath.GetParam(character.position, CurrentParam);
goal.position = GlobalPath.GetPosition(CurrentParam + 0.2f);
return(goal);
}
return(new Goal());
}
// Update is called once per frame
void Update()
{
Vector3 position;
if (Input.GetMouseButtonDown(0))
{
//if there is a valid position
if (this.MouseClickPosition(out position))
{
//we're setting the end point
//this is just a small adjustment to better see the debug sphere
this.endDebugSphere.transform.position = position + Vector3.up;
this.endDebugSphere.SetActive(true);
//this.currentClickNumber = 1;
this.endPosition = position;
this.draw = true;
//initialize the search algorithm
this.AStarPathFinding.InitializePathfindingSearch(this.character.KinematicData.position, this.endPosition);
}
}
//call the pathfinding method if the user specified a new goal
if (this.AStarPathFinding.InProgress)
{
var finished = this.AStarPathFinding.Search(out this.currentSolution);
if (finished && this.currentSolution != null)
{
//lets smooth out the Path
this.startPosition = this.character.KinematicData.position;
this.currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(this.character.KinematicData, this.currentSolution);
this.currentSmoothedSolution.CalculateLocalPathsFromPathPositions(this.character.KinematicData.position);
this.character.Movement = new DynamicFollowPath(this.character.KinematicData, this.currentSmoothedSolution)
{
MaxAcceleration = 40.0f,
MaxSpeed = 20.0f
};
}
}
this.character.Update();
}
void Update()
{
if (GameManager.GameOver == false)
{
if (Time.time > this.nextUpdateTime || this.GameManager.WorldChanged)
{
this.GameManager.WorldChanged = false;
this.nextUpdateTime = Time.time + DECISION_MAKING_INTERVAL;
//first step, perceptions
//update the agent's goals based on the state of the world
this.SurviveGoal.InsistenceValue = this.GameManager.characterData.MaxHP - this.GameManager.characterData.HP;
this.BeQuickGoal.InsistenceValue += DECISION_MAKING_INTERVAL * 0.1f;
if (this.BeQuickGoal.InsistenceValue > 10.0f)
{
this.BeQuickGoal.InsistenceValue = 10.0f;
}
this.GainXPGoal.InsistenceValue += 0.1f; //increase in goal over time
if (this.GameManager.characterData.XP > this.previousXP)
{
this.GainXPGoal.InsistenceValue -= this.GameManager.characterData.XP - this.previousXP;
this.previousXP = this.GameManager.characterData.XP;
}
this.GetRichGoal.InsistenceValue += 0.1f; //increase in goal over time
if (this.GetRichGoal.InsistenceValue > 10)
{
this.GetRichGoal.InsistenceValue = 10.0f;
}
if (this.GameManager.characterData.Money > this.previousGold)
{
this.GetRichGoal.InsistenceValue -= this.GameManager.characterData.Money - this.previousGold;
this.previousGold = this.GameManager.characterData.Money;
}
this.SurviveGoalText.text = "Survive: " + this.SurviveGoal.InsistenceValue;
this.GainXPGoalText.text = "Gain XP: " + this.GainXPGoal.InsistenceValue.ToString("F1");
this.BeQuickGoalText.text = "Be Quick: " + this.BeQuickGoal.InsistenceValue.ToString("F1");
this.GetRichGoalText.text = "GetRich: " + this.GetRichGoal.InsistenceValue.ToString("F1");
//initialize Decision Making Proccess
this.CurrentAction = null;
if (this.MCTSActive)
{
this.MCTSDecisionMaking.InitializeMCTSearch();
}
else
{
this.GOAPDecisionMaking.InitializeDecisionMakingProcess();
}
}
if (this.MCTSActive)
{
this.UpdateMCTS();
}
else
{
this.UpdateDLGOAP();
}
if (this.CurrentAction != null)
{
if (this.CurrentAction.CanExecute())
{
this.CurrentAction.Execute();
}
}
//call the pathfinding method if the user specified a new goal
if (this.AStarPathFinding.InProgress)
{
var finished = this.AStarPathFinding.Search(out this.currentSolution);
if (finished && this.currentSolution != null)
{
//lets smooth out the Path
this.startPosition = this.Character.KinematicData.position;
this.currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(this.Character.KinematicData, this.currentSolution);
this.currentSmoothedSolution.CalculateLocalPathsFromPathPositions(this.Character.KinematicData.position);
this.Character.Movement = new DynamicFollowPath(this.Character.KinematicData, this.currentSmoothedSolution)
{
MaxAcceleration = 200.0f,
MaxSpeed = 40.0f
};
}
}
this.Character.Update();
}
}
void Update()
{
if (Time.time > this.nextUpdateTime)
{
this.nextUpdateTime = Time.time + DECISION_MAKING_INTERVAL;
//first step, perceptions
//update the agent's goals based on the state of the world
this.SurviveGoal.InsistenceValue = this.GameManager.characterData.MaxHP - this.GameManager.characterData.HP;
this.BeQuickGoal.InsistenceValue += DECISION_MAKING_INTERVAL * 0.1f;
if (this.BeQuickGoal.InsistenceValue > 10.0f)
{
this.BeQuickGoal.InsistenceValue = 10.0f;
}
this.GainXPGoal.InsistenceValue += 0.1f; //increase in goal over time
if (this.GameManager.characterData.XP > this.previousXP)
{
this.GainXPGoal.InsistenceValue -= this.GameManager.characterData.XP - this.previousXP;
this.previousXP = this.GameManager.characterData.XP;
}
this.GetRichGoal.InsistenceValue += 0.1f; //increase in goal over time
if (this.GetRichGoal.InsistenceValue > 10)
{
this.GetRichGoal.InsistenceValue = 10.0f;
}
if (this.GameManager.characterData.Money > this.previousGold)
{
this.GetRichGoal.InsistenceValue -= this.GameManager.characterData.Money - this.previousGold;
this.previousGold = this.GameManager.characterData.Money;
}
this.SurviveGoalText.text = "Survive: " + this.SurviveGoal.InsistenceValue;
this.GainXPGoalText.text = "Gain XP: " + this.GainXPGoal.InsistenceValue.ToString("F1");
this.BeQuickGoalText.text = "Be Quick: " + this.BeQuickGoal.InsistenceValue.ToString("F1");
this.GetRichGoalText.text = "GetRich: " + this.GetRichGoal.InsistenceValue.ToString("F1");
//initialize GOAP Decision Making Proccess
this.GOAPDecisionMaking.InitializeDecisionMakingProcess();
}
if (this.GOAPDecisionMaking.InProgress)
{
//choose an action using the GOB Decision Making process
var action = this.GOAPDecisionMaking.ChooseAction();
if (action != null)
{
action.Execute();
this.CurrentAction = action;
}
}
this.TotalProcessingTimeText.text = "Process. Time: " + this.GOAPDecisionMaking.TotalProcessingTime.ToString("F");
this.BestDiscontentmentText.text = "Best Discontentment: " + this.GOAPDecisionMaking.BestDiscontentmentValue.ToString("F");
this.ProcessedActionsText.text = "Act. comb. processed: " + this.GOAPDecisionMaking.TotalActionCombinationsProcessed;
if (this.GOAPDecisionMaking.BestAction != null)
{
var actionText = "";
foreach (var action in this.GOAPDecisionMaking.BestActionSequence)
{
actionText += "\n" + action.Name;
}
this.BestActionText.text = "Best Action Sequence: " + actionText;
}
else
{
this.BestActionText.text = "Best Action Sequence:\nNone";
}
//call the pathfinding method if the user specified a new goal
if (this.AStarPathFinding.InProgress)
{
var finished = this.AStarPathFinding.Search(out this.currentSolution);
if (finished && this.currentSolution != null)
{
//lets smooth out the Path
this.startPosition = this.Character.KinematicData.position;
this.currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(this.Character.KinematicData, this.currentSolution);
this.currentSmoothedSolution.CalculateLocalPathsFromPathPositions(this.Character.KinematicData.position);
this.Character.Movement = new DynamicFollowPath(this.Character.KinematicData, this.currentSmoothedSolution);
}
}
this.Character.Update();
}
void Update()
{
if (GameManager.gameEnded)
{
return;
}
if (Time.time > this.nextUpdateTime || this.GameManager.WorldChanged)
{
this.GameManager.WorldChanged = false;
this.nextUpdateTime = Time.time + DECISION_MAKING_INTERVAL;
//first step, perceptions
//update the agent's goals based on the state of the world
this.SurviveGoal.InsistenceValue = this.GameManager.characterData.MaxHP - this.GameManager.characterData.HP;
this.BeQuickGoal.InsistenceValue += DECISION_MAKING_INTERVAL * this.BeQuickGoal.ChangeRate;
if (this.BeQuickGoal.InsistenceValue > 10.0f)
{
this.BeQuickGoal.InsistenceValue = 10.0f;
}
this.GainLevelGoal.InsistenceValue += this.GainLevelGoal.ChangeRate; //increase in goal over time
if (this.GameManager.characterData.Level > this.previousLevel)
{
this.GainLevelGoal.InsistenceValue -= this.GameManager.characterData.Level - this.previousLevel;
this.previousLevel = this.GameManager.characterData.Level;
}
this.GetRichGoal.InsistenceValue += this.GetRichGoal.ChangeRate; //increase in goal over time
if (this.GetRichGoal.InsistenceValue > 10)
{
this.GetRichGoal.InsistenceValue = 10.0f;
}
if (this.GameManager.characterData.Money > this.previousGold)
{
this.GetRichGoal.InsistenceValue -= this.GameManager.characterData.Money - this.previousGold;
this.previousGold = this.GameManager.characterData.Money;
}
this.SurviveGoalText.text = "Survive: " + this.SurviveGoal.InsistenceValue;
this.GainXPGoalText.text = "Gain Level: " + this.GainLevelGoal.InsistenceValue.ToString("F1");
this.BeQuickGoalText.text = "Be Quick: " + this.BeQuickGoal.InsistenceValue.ToString("F1");
this.GetRichGoalText.text = "GetRich: " + this.GetRichGoal.InsistenceValue.ToString("F1");
this.DiscontentmentText.text = "Discontentment: " + this.CalculateDiscontentment().ToString("F1");
//initialize Decision Making Proccess
this.CurrentAction = null;
this.GOAPDecisionMaking.InitializeDecisionMakingProcess();
this.MCTS.InitializeMCTSearch();
}
//this.UpdateDLGOAP();
if (MCTSActive)
{
if (this.CurrentAction == null)
{
this.UpdateMCTS();
}
}
if (this.CurrentAction != null)
{
if (this.CurrentAction.CanExecute())
{
this.CurrentAction.Execute();
}
}
//call the pathfinding method if the user specified a new goal
if (this.AStarPathFinding.InProgress)
{
var finished = this.AStarPathFinding.Search(out this.currentSolution);
if (finished && this.currentSolution != null)
{
//lets smooth out the Path
this.startPosition = this.Character.KinematicData.position;
this.currentSmoothedSolution = StringPullingPathSmoothing.SmoothPath(this.Character.KinematicData.position, this.currentSolution);
//this.currentSolution.P
this.currentSmoothedSolution = this.smoothPath(this.Character.KinematicData.position, this.currentSolution);
this.currentSmoothedSolution.CalculateLocalPathsFromPathPositions(this.Character.KinematicData.position);
this.Character.Movement = new DynamicFollowPath(this.Character.KinematicData, this.currentSmoothedSolution)
{
MaxAcceleration = 200.0f,
MaxSpeed = 40.0f
};
}
}
this.Character.Update();
//manage the character's animation
if (this.Character.KinematicData.velocity.sqrMagnitude > 0.1)
{
this.characterAnimator.SetBool("Walking", true);
}
else
{
this.characterAnimator.SetBool("Walking", false);
}
}
