public int DecisionQueueMaximum = 8; //Maximum amount of steps I can think ahead in time to approach my goal
public HenchmanMind(WaypointState wpState, AttackState atkState, Goal goal, Mood mood)
{
this.wpState = wpState;
this.atkState = atkState;
this.goal = goal;
this.mood = mood;
}
public HenchmanMind(Goal goal, Mood mood)
{
this.wpState = WaypointState.NONE;
this.atkState = AttackState.NONE;
this.goal = goal;
this.mood = mood;
}
// Use this for initialization
void Start()
{
states = new List <State>();
//Patroll state
List <Transition> patrolltrans = new List <Transition>();
patrolltrans.Add(new SeeMonsterTrans(gameObject));
patrolltrans.Add(new PushedTrans(gameObject)); //is being pushed
patrolltrans.Add(new TimePassTrans(gameObject, 30f, "patrollonce"));
PatrollState patroll = new PatrollState(gameObject, patrolltrans);
states.Add(patroll);
//Patroll once state
List <Transition> patrolloncetrans = new List <Transition>();
patrolloncetrans.Add(new SeeMonsterTrans(gameObject));
patrolloncetrans.Add(new PushedTrans(gameObject)); //is being pushed
patrolloncetrans.Add(new TimePassTrans(gameObject, 15f, "patroll"));
PatrollOnceState patrollonce = new PatrollOnceState(gameObject, patrolloncetrans);
states.Add(patrollonce);
//Flee state
List <Transition> fleetrans = new List <Transition>();
fleetrans.Add(new SeeMonsterTrans(gameObject));
fleetrans.Add(new PushedTrans(gameObject)); //is being pushed
fleetrans.Add(new TimePassTrans(gameObject, 15f, "patroll"));
FleeState flee = new FleeState(gameObject, fleetrans, 10f);
states.Add(flee);
//Waypoint decision state
List <Transition> waypointtrans = new List <Transition>();
waypointtrans.Add(new PushedTrans(gameObject));
waypointtrans.Add(new StopAndTimePassTrans(gameObject, 7f, "flee"));
WaypointState waypoint = new WaypointState(gameObject, waypointtrans, 12f);
states.Add(waypoint);
//Dizzy state
List <Transition> dizzytrans = new List <Transition>();
dizzytrans.Add(new StopAndTimePassTrans(gameObject, 1f, "waypoint"));
DizzyState dizzy = new DizzyState(gameObject, dizzytrans, 3f);
states.Add(dizzy);
initialState = patroll;
currentState = patroll;
triggeredTransition = null;
gameObject.GetComponent <GraphPathFollowing>().astar_target = null; //Set to null just in case
initialSpeed = gameObject.GetComponent <Agent>().maxSpeed;
}
private void Start()
{
CurrentWaypoint = 0;
Movement = GetComponent <IMovement>();
Movement.SetCanMove(true);
State = WaypointState.Moving;
WaypointPathType = PathType switch
{
PathType.Reverse => new WayypointReverse(),
_ => new WayypointLoop(),
};
}
private void Moving()
{
if (Vector2.Distance(Waypoints[CurrentWaypoint], transform.position) <= 0.1f)
{
WaypointPathType.GetNextWaypoint(ref CurrentWaypoint, Waypoints.Count);
Movement.SetMoveDirection(Vector2.zero);
State = WaypointState.Waiting;
StartCoroutine(GetNextState());
}
else
{
Vector2 direction = (Waypoints[CurrentWaypoint] - (Vector2)transform.position).normalized;
Movement.SetMoveDirection(direction);
DirectionDependentObject.right = direction;
}
}
public double p4; // param 4
/// <summary>
/// this constructor is used only for reading mission files
/// </summary>
/// <param name="lw"></param>
internal LocationWp(Locationwp lw)
{
waypointState = WaypointState.None;
number = lw.number;
id = (MAV_CMD)Enum.Parse(typeof(MAV_CMD), lw.id.ToString()); // command id
isHome = lw.ishome != 0;
coordinateFrameOption = lw.options == 1 ? CoordinateFrameOption.MAV_FRAME_GLOBAL_RELATIVE_ALT : CoordinateFrameOption.MAV_FRAME_GLOBAL;
// alt is in meters, can be above the ground (AGL) or above mean sea level (MSL), depending on coordinateFrameOption
geoPosition = new GeoPosition(lw.lng, lw.lat, lw.alt);
// p1-p4 are just float point numbers that can be added to waypoints and be interpreted by behaviors. We pass them all directly.
p1 = lw.p1;
p2 = lw.p2;
p3 = lw.p3;
p4 = lw.p4;
}
/// <summary>
/// this constructor is used only for reading mission files
/// </summary>
/// <param name="lw"></param>
internal LocationWp(Locationwp lw)
{
waypointState = WaypointState.None;
number = lw.number;
id = (MAV_CMD)Enum.Parse(typeof(MAV_CMD), lw.id.ToString()); // command id
isHome = lw.ishome != 0;
coordinateFrameOption = lw.options == 1 ? CoordinateFrameOption.MAV_FRAME_GLOBAL_RELATIVE_ALT : CoordinateFrameOption.MAV_FRAME_GLOBAL;
// alt is in meters, can be above the ground (AGL) or above mean sea level (MSL), depending on coordinateFrameOption
geoPosition = new GeoPosition(lw.lng, lw.lat, lw.alt);
// p1-p4 are just float point numbers that can be added to waypoints and be interpreted by behaviors. We pass them all directly.
p1 = lw.p1;
p2 = lw.p2;
p3 = lw.p3;
p4 = lw.p4;
}
private IEnumerator GetNextState()
{
yield return(new WaitForSeconds(SecondsAtWaypoint));
State = WaypointState.Moving;
}
