public void Init(Intension intension, Perception perception, FishBody body)
{
this.motorControllers.Clear();
var focusser = perception.GetFocuser();
var normal = body.modelData.Normal;
var left = body.modelData.Left;
var dir = focusser.target.obj.obj.Position - body.modelData.GeometryCenter;
var motorType = focusser.motorPreference.MaxValue.type;
if (motorType == Focusser.MotorPreference.Type.MoveForward)
{
if (this.smc == null)
{
this.smc = new SwimMC();
this.curves = this.smc.ActivationData.ToAnimationCurves();
}
if (focusser.target.obj != null)
{
this.smc.UpdateSpeed(focusser.target.obj.distance);
}
this.motorControllers.Add(this.smc);
}
else if (motorType == Focusser.MotorPreference.Type.TurnLeft)
{
if (this.tlmc == null)
{
this.tlmc = new TurnLeftMC();
this.curves = this.tlmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.tlmc.UpdateAngle(angle);
this.motorControllers.Add(this.tlmc);
this.smc?.UpdateSpeed(0);
}
else if (motorType == Focusser.MotorPreference.Type.TurnRight)
{
if (this.trmc == null)
{
this.trmc = new TurnRightMC();
this.curves = this.trmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.trmc.UpdateAngle(angle);
this.motorControllers.Add(this.trmc);
this.smc?.UpdateSpeed(0);
}
var balance = new BalanceMC();
balance.UpdateBalance(left, normal);
this.motorControllers.Add(balance);
}
protected void ApplyBehaviorRoutine(FishSimulator.Delta delta)
{
var types = new List <Spring.Type>()
{
Spring.Type.MuscleFront, Spring.Type.MuscleMiddle, Spring.Type.MuscleBack
};
// foreach (var mc in this.muscleMCs)
var mc = this.muscleMCs.FirstOrDefault();
if (mc != null)
{
var data = mc.ActivationData;
foreach (var type in types)
{
//get motor controller from brain
var parameter = mc.GetParameter(type);
data.ApplyActivation(delta.local, type, this.body.modelData, parameter);
}
if (data.IsDone)
{
delta.local = 0;
this.muscleMCs.RemoveFirst();
}
}
if (this.balanceMC != null)
{
var lfin = this.body.modelData.FishPectoralFins[0];
var rfin = this.body.modelData.FishPectoralFins[1];
lfin.Angle = math.lerp(lfin.Angle, this.balanceMC.lFin, 0.1f);
rfin.Angle = math.lerp(rfin.Angle, this.balanceMC.rFin, 0.1f);
}
//Debug data
var fmc = this.muscleMCs.FirstOrDefault();
if (fmc != null)
{
if (fmc is SwimMC)
{
this.swim = fmc as SwimMC;
}
if (fmc is TurnLeftMC)
{
this.turn = fmc as TurnLeftMC;
}
this.currentMC = fmc.ToString();
}
else
{
this.currentMC = "None";
}
}
protected void InitActivations()
{
this.smc = new SwimMC();
this.lmc = new TurnLeftMC();
this.rmc = new TurnRightMC();
}