//find all auxins near him (Voronoi Diagram)
//call this method from game controller, to make it sequential for each agent
public void FindNearAuxins()
{
//clear them all, for obvious reasons
myAuxins.Clear();
//get all auxins on my cell
List <AuxinControllerBase> cellAuxins = cell.GetComponent <CellControllerBase>().GetAuxins();
//iterate all cell auxins to check distance between auxins and agent
for (int i = 0; i < cellAuxins.Count; i++)
{
//see if the distance between this agent and this auxin is smaller than the actual value, and inside agent radius
float distance = Vector3.Distance(transform.position, cellAuxins[i].position);
if (distance < cellAuxins[i].GetMinDistance() && distance <= agentRadius)
{
//take the auxin!!
//if this auxin already was taken, need to remove it from the agent who had it
if (cellAuxins[i].taken == true)
{
GameObject otherAgent = cellAuxins[i].GetAgent();
otherAgent.GetComponent <AgentControllerBase>().myAuxins.Remove(cellAuxins[i]);
}
//auxin is taken
cellAuxins[i].taken = true;
//change the color (visual purpose)
//cellAuxins[i].material.color = color;
//auxin has agent
cellAuxins[i].SetAgent(this.gameObject);
//update min distance
cellAuxins[i].SetMinDistance(distance);
//update my auxins
myAuxins.Add(cellAuxins[i]);
}
}
//find all neighbours cells
//default
Terrain terrain = GameObject.Find("Terrain").GetComponent <Terrain>();
int startX = (int)cell.transform.position.x - 2;
int startZ = (int)cell.transform.position.z - 2;
int endX = (int)cell.transform.position.x + 2;
int endZ = (int)cell.transform.position.z + 2;
//distance from agent to cell, to define agent new cell
float distanceToCell = Vector3.Distance(transform.position, cell.transform.position);
//see if it is in some border
if ((int)cell.transform.position.x == 1)
{
startX = (int)cell.transform.position.x;
}
if ((int)cell.transform.position.z == 1)
{
startZ = (int)cell.transform.position.z;
}
if ((int)cell.transform.position.x == (int)terrain.terrainData.size.x - 1)
{
endX = (int)cell.transform.position.x;
}
if ((int)cell.transform.position.z == (int)terrain.terrainData.size.z - 1)
{
endZ = (int)cell.transform.position.z;
}
//iterate to find the cells
//2 in 2, since the radius of each cell is 1 = diameter 2
for (int i = startX; i <= endX; i = i + 2)
{
for (int j = startZ; j <= endZ; j = j + 2)
{
int nameX = i - 1;
int nameZ = j - 1;
//find the cell
GameObject neighbourCell = CellControllerBase.GetCellByName("cell" + nameX + "-" + nameZ);
//get all auxins on neighbourcell
cellAuxins = neighbourCell.GetComponent <CellControllerBase>().GetAuxins();
//iterate all cell auxins to check distance between auxins and agent
for (int c = 0; c < cellAuxins.Count; c++)
{
//see if the distance between this agent and this auxin is smaller than the actual value, and smaller than agent radius
float distance = Vector3.Distance(transform.position, cellAuxins[c].position);
if (distance < cellAuxins[c].GetMinDistance() && distance <= agentRadius)
{
//take the auxin!!
//if this auxin already was taken, need to remove it from the agent who had it
if (cellAuxins[c].taken == true)
{
GameObject otherAgent = cellAuxins[c].GetAgent();
otherAgent.GetComponent <AgentControllerBase>().myAuxins.Remove(cellAuxins[c]);
}
//auxin is taken
cellAuxins[c].taken = true;
//change the color (visual purpose)
//cellAuxins[i].material.color = color;
//auxin has agent
cellAuxins[c].SetAgent(this.gameObject);
//update min distance
cellAuxins[c].SetMinDistance(distance);
//update my auxins
myAuxins.Add(cellAuxins[c]);
}
}
//see distance to this cell
float distanceToNeighbourCell = Vector3.Distance(transform.position, neighbourCell.transform.position);
if (distanceToNeighbourCell < distanceToCell)
{
distanceToCell = distanceToNeighbourCell;
SetCell(neighbourCell);
}
}
}
}
// Use this for initialization
void Awake()
{
//camera height and center position
//scene is 3:2 scale, so we divide for 3 or 2, depending the parameter
//float cameraHeight = scenarioSizeX/3;
//float cameraPositionX = scenarioSizeX/2;
//float cameraPositionZ = scenarioSizeZ/2;
//GameObject camera = GameObject.Find ("Camera");
//camera.transform.position = new Vector3(cameraPositionX, camera.transform.position.y, cameraPositionZ);
//camera.GetComponent<Camera>().orthographicSize = cameraHeight;
Terrain terrain = GameObject.Find("Terrain").GetComponent <Terrain>();
//change terrain size according informed
terrain.terrainData.size = new Vector3(scenarioSizeX, terrain.terrainData.size.y, scenarioSizeZ);
//Get map size
spawnPositionX = (int)Mathf.Floor(terrain.terrainData.size.x - 1f);
spawnPositionZ = (int)Mathf.Floor(terrain.terrainData.size.z - (terrain.terrainData.size.z - 2f));
//if loadConfigFile is checked, we do not generate the initial scenario. We load it from the Config.xml (or something like this) file
if (loadConfigFile)
{
LoadConfigFile();
//build the navmesh at runtime
UnityEditor.AI.NavMeshBuilder.BuildNavMesh();
}
else
{
//build the navmesh at runtime
UnityEditor.AI.NavMeshBuilder.BuildNavMesh();
//draw Obstacles
//DrawObstacles();
//first of all, create all cells (with this scene and this agentRadius = 1 : 150 cells)
//since radius = 1; diameter = 2. So, iterate 2 in 2
//if the radius varies, this 2 operations adjust the cells
Vector3 newPosition = new Vector3(cell.transform.position.x * agentRadius,
cell.transform.position.y * agentRadius, cell.transform.position.z * agentRadius);
Vector3 newScale = new Vector3(cell.transform.localScale.x * agentRadius,
cell.transform.localScale.y * agentRadius, cell.transform.localScale.z * agentRadius);
for (float i = 0; i < terrain.terrainData.size.x; i = i + agentRadius * 2)
{
for (float j = 0; j < terrain.terrainData.size.z; j = j + agentRadius * 2)
{
//instantiante a new cell
GameObject newCell = Instantiate(cell, new Vector3(newPosition.x + i, newPosition.y, newPosition.z + j), Quaternion.identity) as GameObject;
//change his name
newCell.GetComponent <CellControllerBase>().cellName = newCell.name = "cell" + i + "-" + j;
//change scale
newCell.transform.localScale = newScale;
}
}
//just to see how many cells were generated
GameObject[] allCells = GameObject.FindGameObjectsWithTag("Cell");
//Debug.Log(allCells.Length);
//lets set the qntAuxins for each cell according the density estimation
float densityToQnt = PORC_QTD_Marcacoes;
densityToQnt *= 2f / (2.0f * auxinRadius);
densityToQnt *= 2f / (2.0f * auxinRadius);
qntAuxins = (int)Mathf.Floor(densityToQnt);
//Debug.Log(qntAuxins);
//for each cell, we generate his auxins
for (int c = 0; c < allCells.Length; c++)
{
//Dart throwing auxins
//use this flag to break the loop if it is taking too long (maybe there is no more space)
int flag = 0;
for (int i = 0; i < qntAuxins; i++)
{
float x = Random.Range(allCells[c].transform.position.x - 0.99f, allCells[c].transform.position.x + 0.99f);
float z = Random.Range(allCells[c].transform.position.z - 0.99f, allCells[c].transform.position.z + 0.99f);
//see if there are auxins in this radius. if not, instantiante
List <AuxinControllerBase> allAuxinsInCell = allCells[c].GetComponent <CellControllerBase>().GetAuxins();
bool canIInstantiante = true;
for (int j = 0; j < allAuxinsInCell.Count; j++)
{
float distanceAA = Vector3.Distance(new Vector3(x, 0f, z), allAuxinsInCell[j].position);
//if it is too near, i cant instantiante. found one, so can Break
if (distanceAA < auxinRadius)
{
canIInstantiante = false;
break;
}
}
//if i have found no auxin, i still need to check if is there obstacles on the way
if (canIInstantiante)
{
//sphere collider to try to find the obstacles
Collider[] hitColliders = Physics.OverlapSphere(new Vector3(x, 0f, z), auxinRadius);
{
//if found some
if (hitColliders.Length > 0)
{
//for each of them, verify if it is an Obstacle. If it is, i cannot instantiate
for (int s = 0; s < hitColliders.Length; s++)
{
if (hitColliders[s].gameObject.tag == "Obstacle")
{
canIInstantiante = false;
break;
}
}
}
}
}
//canIInstantiante???
if (canIInstantiante)
{
AuxinControllerBase newAuxin = new AuxinControllerBase();
//change his name
newAuxin.name = "auxin" + c + "-" + i;
//this auxin is from this cell
newAuxin.SetCell(allCells[c]);
//set position
newAuxin.position = new Vector3(x, 0f, z);
//add this auxin to this cell
allCells[c].GetComponent <CellControllerBase>().AddAuxin(newAuxin);
//reset the flag
flag = 0;
}
else
{
//else, try again
flag++;
i--;
}
//if flag is above qntAuxins (*2 to have some more), break;
if (flag > qntAuxins * 2)
{
//reset the flag
flag = 0;
break;
}
}
}
//to avoid a freeze
int doNotFreeze = 0;
//instantiate qntAgents Agents
for (int i = 0; i < qntAgents; i++)
{
//if we are not finding space to set the agent, lets update the maxZ position to try again
if (doNotFreeze > qntAgents)
{
doNotFreeze = 0;
spawnPositionZ += 2;
}
//default
//scenarioType 0
//sort out a cell
float x = (int)Random.Range(3f, spawnPositionX);
float z = (int)Random.Range(3f, spawnPositionZ);
//need to me uneven, for the cells are too
while (x % 2 == 0 || z % 2 == 0)
{
x = (int)Random.Range(1f, spawnPositionX);
z = (int)Random.Range(1f, spawnPositionZ);
}
//Debug.Log (x+"--"+z);
GameObject[] allGoals = GameObject.FindGameObjectsWithTag("Goal");
GameObject choosen = new GameObject();
float menorDist = float.PositiveInfinity;
foreach (GameObject g in allGoals)
{
float dist = Vector3.Distance(new Vector3(x, 0, z), g.transform.position);
if (dist < menorDist)
{
menorDist = dist;
choosen = g;
}
}
GameObject thisGoal = choosen;
if (scenarioType == 1)
{
//scenarioType 1
//half agents, so
if (i % 2 != 0)
{
//z size = 20
z = (int)Random.Range(terrain.terrainData.size.z, terrain.terrainData.size.z - spawnPositionZ);
//need to me uneven, for the cells are too
while (z % 2 == 0)
{
z = (int)Random.Range(terrain.terrainData.size.z, terrain.terrainData.size.z - spawnPositionZ);
}
thisGoal = allGoals[1];
}
}
//find the cell in x - z coords, using his name
int nameX = (int)x - 1;
int nameZ = (int)z - 1;
GameObject foundCell = CellControllerBase.GetCellByName("cell" + nameX + "-" + nameZ);
//generate the agent position
x = Random.Range(foundCell.transform.position.x - 1f, foundCell.transform.position.x + 1f);
z = Random.Range(foundCell.transform.position.z, foundCell.transform.position.z + 5f);
//see if there are agents in this radius. if not, instantiante
Collider[] hitColliders = Physics.OverlapSphere(new Vector3(x, 0, z), 0.5f);
//here we have all colliders hit, where we can have auxins too. So, lets see which of these are Player
int pCollider = 0;
for (int j = 0; j < hitColliders.Length; j++)
{
if (hitColliders[j].gameObject.tag == "Player")
{
//if we find one, it is enough. Break!
pCollider++;
break;
}
}
//if found a player in the radius, do not instantiante. try again
if (pCollider > 0)
{
//try again
i--;
doNotFreeze++;
continue;
}
else
{
GameObject newAgent = Instantiate(agent, new Vector3(x, 0f, z), Quaternion.identity) as GameObject;
//change his name
newAgent.name = "agent" + i;
//random agent color
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f)));
//agent cell
newAgent.GetComponent <AgentControllerBase>().SetCell(foundCell);
//agent radius
newAgent.GetComponent <AgentControllerBase>().agentRadius = agentRadius;
//if lane scene, black and white
if (scenarioType == 1)
{
//scenarioType 1
//half agents, so
if (i % 2 != 0)
{
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(0f, 0f, 0f));
}
else
{
newAgent.GetComponent <AgentControllerBase>().SetColor(new Color(1f, 1f, 1f));
}
}
newAgent.GetComponent <MeshRenderer>().material.color = newAgent.GetComponent <AgentControllerBase>().GetColor();
//agent goal
newAgent.GetComponent <AgentControllerBase>().go = thisGoal;
}
}
}
Debug.Log("Termino");
}
