/// <summary>
/// function called when the obj is created by the MooseManager in order to set all variables
/// </summary>
/// <param name="_cohW"></param>
/// <param name="_sepW"></param>
/// <param name="_aliW"></param>
/// <param name="_sibW"></param>
public void StartBehaviours(Bounds _movingBounds, float _padding, GameObject _predator)
{
cohesionInternal = GetComponent <Cohesion>();
cohesionInternal.weight = coehVal.x;
separationInternal = GetComponent <Separation>();
separationInternal.weight = separVal.x;
alignmentInternal = GetComponent <Alignment>();
alignmentInternal.weight = aligVal.x;
stayInBoundsInternal = GetComponent <StayInBounds>();
stayInBoundsInternal.weight = stayInBVal.x;
stayInBoundsInternal.bounds = _movingBounds;
stayInBoundsInternal.padding = _padding;
constantSpeedInternal = GetComponent <ConstantSpeed>();
constantSpeedInternal.speed = speed.x;
fleeInternal = GetComponent <Flee>();
fleeInternal.evader = _predator.GetComponent <Vehicle>();
GetComponent <Vehicle>().behaviours.Add(cohesionInternal);
GetComponent <Vehicle>().behaviours.Add(separationInternal);
GetComponent <Vehicle>().behaviours.Add(alignmentInternal);
GetComponent <Vehicle>().behaviours.Add(stayInBoundsInternal);
GetComponent <Vehicle>().behaviours.Add(constantSpeedInternal);
GetComponent <Vehicle>().behaviours.Add(fleeInternal);
fsm = GetComponent <FSM>();
fsm.LoadState <FSMMooseWander>();
fsm.LoadState <FSMMooseCauntion>();
fsm.LoadState <FSMMooseRun>();
fsm.ActivateState <FSMMooseWander>();
}
public void CohesionOn()
{
if (!behaviours.Contains(Cohesion.GetInstance()))
{
behaviours.Add(Cohesion.GetInstance());
}
}
public static Cohesion GetInstance()
{
if (instance == null)
{
instance = new Cohesion();
}
return(instance);
}
// Use this for initialization
void Start()
{
cohesion = new Cohesion(this.gameObject, m_MaxAcceletaion, m_TargetRadius, m_SlowRadius, m_TimeToTarget);
align = new Align(this.gameObject, m_TurnSpeed);
flockingOutput = new SteeringOutput();
m_transitions = new Transition[2];
InitializeTransitions();
}
void Awake( )
{
_boids = new List <Boid>( );
_alignment = new Alignment( );
_cohesion = new Cohesion( );
_separation = new Separation( );
extractXmlValues(readDataStorageXml("dataStorage.xml"));
//get the values of the flocking rules from the uiManager.
}
//OJO! En el steering que sea que vaya a llamar de forma estática a esta función, se deberán ejecutar las dos siguientes lineas
// wanderOrientation += Flocking.UpdateWanderOrientation(wanderOrientation, wanderRate)
// wanderForce = Wander.GetSteering(npc, wanderForce, wanderCooldown, wanderRate, wanderOrientation, wanderCircleOffset, wanderCircleRadius, maxAccel, timeToTarget, visibleRays)
// Es por eso que trabajar con flocking de manera estática está desaconsejado
public static Steering GetSteering(Agent npc, float groupArea, float decayCoefficient, float maxAccel, bool visibleRays, float timeToTarget, float wanderCooldown, float wanderRate, float wanderOrientation, float wanderCircleOffset, float wanderCircleRadius, Steering wanderForce, float cohesionPriority, float separationPriority, float alignmentPriority, float wanderPriority)
{
Steering steering = new Steering();
steering.linear += Separation.GetSteering(npc, groupArea, decayCoefficient, maxAccel, visibleRays).linear *separationPriority;
steering.linear += Cohesion.GetSteering(npc, groupArea, decayCoefficient, maxAccel, visibleRays).linear *cohesionPriority;
steering.angular = Alignment.GetSteering(npc, groupArea, npc.interiorAngle, npc.exteriorAngle, timeToTarget, false).angular *alignmentPriority;
steering += Steering.ApplyPriority(wanderForce, wanderPriority);
return(steering);
}
// Use this for initialization
void Start()
{
steeringBasics = GetComponent<SteeringBasics>();
wander = GetComponent<Wander2>();
cohesion = GetComponent<Cohesion>();
separation = GetComponent<Separation>();
velocityMatch = GetComponent<VelocityMatch>();
sensor = transform.Find("Sensor").GetComponent<NearSensor>();
}
void Awake()
{
boids = new List <Boid>();
alignment = new Alignment();
cohesion = new Cohesion();
separation = new Separation();
waypoint = new FollowWaypoints();
eatFood = new EatFood();
flee = new Flee();
}
// Use this for initialization
void Start()
{
steeringBasics = GetComponent <SteeringBasics>();
wander = GetComponent <Wander2>();
cohesion = GetComponent <Cohesion>();
separation = GetComponent <Separation>();
velocityMatch = GetComponent <VelocityMatch>();
sensor = transform.Find("Sensor").GetComponent <NearSensor>();
}
// Start is called before the first frame update
void Start()
{
agentScript = gameObject.AddComponent <Agent>();
agentScript.maxSpeed = maxSpeed;
cohesionScript = gameObject.AddComponent <Cohesion>();
seperationScript = gameObject.AddComponent <Seperation>();
cohesionScript.targets = target.GetComponent <SquadLeader>().children;
seperationScript.targets = cohesionScript.targets;
ChangeState(UnitStates.Seek);
}
public override int GetHashCode()
{
unchecked
{
int hashCode = AbovePhreaticLevel.GetHashCode();
hashCode = (hashCode * 397) ^ BelowPhreaticLevel.GetHashCode();
hashCode = (hashCode * 397) ^ Cohesion.GetHashCode();
hashCode = (hashCode * 397) ^ FrictionAngle.GetHashCode();
hashCode = (hashCode * 397) ^ ShearStrengthRatio.GetHashCode();
hashCode = (hashCode * 397) ^ StrengthIncreaseExponent.GetHashCode();
hashCode = (hashCode * 397) ^ Pop.GetHashCode();
return(hashCode);
}
}
private bool Equals(MacroStabilityInwardsSoilLayerData other)
{
return(string.Equals(materialName, other.materialName, StringComparison.InvariantCulture) &&
IsAquifer == other.IsAquifer &&
Color.ToArgb().Equals(other.Color.ToArgb()) &&
UsePop == other.UsePop &&
ShearStrengthModel == other.ShearStrengthModel &&
AbovePhreaticLevel.Equals(other.AbovePhreaticLevel) &&
BelowPhreaticLevel.Equals(other.BelowPhreaticLevel) &&
Cohesion.Equals(other.Cohesion) &&
FrictionAngle.Equals(other.FrictionAngle) &&
ShearStrengthRatio.Equals(other.ShearStrengthRatio) &&
StrengthIncreaseExponent.Equals(other.StrengthIncreaseExponent) &&
Pop.Equals(other.Pop));
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLegs = myBrain.legs;
cohesion = new Cohesion(controller.allObjects);
cohesion.setWeight (0.3f);
cohesion.Init (myLegs);
alignment = new Alignment(controller.allObjects);
alignment.Init (myLegs);
alignment.setWeight(0.2f);
myLegs.addSteeringBehaviour(cohesion);
myLegs.addSteeringBehaviour(alignment);
yield return null;
}
// Update is called once per frame
void Update()
{
velocity += Cohesion.getAffect(this, allBoids) * BoidConfig.Instance.cohesionStrength;
velocity += Separation.getAffect(this, allBoids) * BoidConfig.Instance.separationStrength;
velocity += Alignment.getAffect(this, allBoids) * BoidConfig.Instance.alignmentStrength;
if (velocity.magnitude > BoidConfig.Instance.maxSpeed)
{
velocity = Vector3.Normalize(velocity) * BoidConfig.Instance.maxSpeed;
}
else if (velocity.magnitude < BoidConfig.Instance.minSpeed)
{
velocity = Vector3.Normalize(velocity) * BoidConfig.Instance.minSpeed;
}
transform.position += velocity * Time.deltaTime;
transform.rotation = Quaternion.LookRotation(velocity);
}
/// <summary>
/// Creates a new instance
/// </summary>
public Behaviors()
{
Alignment = new Alignment();
Arrive = new Arrive();
Cohesion = new Cohesion();
Evade = new Evade();
Flee = new Flee();
Hide = new Hide();
Interpose = new Interpose();
ObstacleAvoidance = new ObstacleAvoidance();
OffsetPursuit = new OffsetPursuit();
PathFollowing = new PathFollowing();
Pursuit = new Pursuit();
Seek = new Seek();
Separation = new Separation();
WallAvoidance = new WallAvoidance();
Wander = new Wander();
}
/// <summary>
/// Creates a new instance
/// </summary>
public Behaviors()
{
Alignment = new Alignment();
Arrive = new Arrive();
Cohesion = new Cohesion();
Evade = new Evade();
Flee = new Flee();
Hide = new Hide();
Interpose = new Interpose();
ObstacleAvoidance = new ObstacleAvoidance();
OffsetPursuit = new OffsetPursuit();
PathFollowing = new PathFollowing();
Pursuit = new Pursuit();
Seek = new Seek();
Separation = new Separation();
WallAvoidance = new WallAvoidance();
Wander = new Wander();
}
private void CalculateMove(Boid boid)
{
Vector3 cohesionVector, separationVector, alignmentVector, seekVector, arriveVector;
// calculate behaviours
cohesionVector = Cohesion.CalculateCohesion(boid) * cohesionWeight;
separationVector = Separation.CalculateSeparation(boid) * separationWeight;
alignmentVector = Alignment.CalculateAlignment(boid) * alignmentWeight;
seekVector = Seek.CalculateSeek(boid, Target, maxSpeed) * seekWeight;
arriveVector = Arrive.CalculateArrive(boid, Target, arriveSlowingDistance, arriveMaxSpeed);
// calculate vector
var newVelocity = boid.Velocity + cohesionVector + separationVector + alignmentVector + seekVector + arriveVector;
var newPosition = boid.Position + newVelocity;
// limit
newVelocity = LimitVelocity(newVelocity);
boid.UpdateMove(newPosition, newVelocity);
}
Steering getDefaultSteering(Entry e, Flock flock)
{
var separation = new Separation(e.bird, flock, _separationDistance, -0.5f);
var cohesion = new Cohesion(e.bird, flock, _cohesionDistance, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, _velocityMatchDistance, -0.5f);
var anchorCohesion = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var anchorSeparation = new Separation(e.bird, anchorFlock, 25f, -1f);
var anchorVelocityMatch = new VelocityMatch(e.bird, anchorFlock, float.MaxValue, -1f);
separation.aknnApproxVal = _separationAknnVal;
cohesion.aknnApproxVal = _cohesionAknnVal;
velMatch.aknnApproxVal = _velocityMatchAknnVal;
separation.maxNeighborhoodSize = separationK;
cohesion.maxNeighborhoodSize = cohesionK;
velMatch.maxNeighborhoodSize = velocityMatchK;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, _separationWeight), // 0
new BehaviorAndWeight(cohesion, _cohesionWeight), // 1
new BehaviorAndWeight(velMatch, _velocityMatchWeight), // 2
new BehaviorAndWeight(anchorCohesion, _cohesionToAnchorWeight), // 3
new BehaviorAndWeight(anchorSeparation, _separationFromAnchorWeight), // 4
new BehaviorAndWeight(anchorVelocityMatch, _velMatchToAnchorWeight) // 5
);
return new PrioritySteering(1f, blended);
}
void Start()
{
cohesion = new Cohesion(flock.Flock);
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
bool avoidingObstacle = false;
this.Priority = new PriorityMovement
{
Character = character.KinematicData
};
this.Blended = new BlendedMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
//TODO: add your AvoidObstacle movement here
var avoidObstacleMovement = new DynamicAvoidObstacle(obstacle)
{
MaxAcceleration = 100f,
avoidDistance = 10f,
lookAhead = 10f
};
//Target = character.KinematicData
//MovementDebugColor = Color.magenta
if (!avoidingObstacle)
{
avoidingObstacle = avoidObstacleMovement._avoiding;
}
this.Blended.Movements.Add(new MovementWithWeight(avoidObstacleMovement, 8f));
//this.Priority.Movements.Add(avoidObstacleMovement);
}
var straight = new DynamicStraightAhead
{
MaxAcceleration = MAX_ACCELERATION,
Target = character.KinematicData
};
var separation = new Separation
{
MaxAcceleration = MAX_ACCELERATION,
separationFactor = 3f,
radius = 5f,
flock = Characters
};
var flockVelocityMatch = new FlockVelocityMatching
{
flock = Characters,
radius = 5.0f,
fanAngle = 60.0f,
Target = character.KinematicData,
Character = character.KinematicData,
TimeToTargetSpeed = .1f
};
var cohesion = new Cohesion
{
flock = Characters,
radius = 5.0f,
fanAngle = 60.0f,
maxSpeed = MAX_SPEED,
slowRadius = 1f,
};
var fleeFromClick = new FleeFromClick
{
camera = Camera.main,
fleeRadius = 10f,
MaxAcceleration = MAX_ACCELERATION
};
this.Blended.Movements.Add(new MovementWithWeight(straight, 3f));
this.Blended.Movements.Add(new MovementWithWeight(fleeFromClick, 4f));
this.Blended.Movements.Add(new MovementWithWeight(separation, 1f));
this.Blended.Movements.Add(new MovementWithWeight(flockVelocityMatch, 3f));
this.Blended.Movements.Add(new MovementWithWeight(cohesion, 2f));
character.Movement = this.Blended;
}
void Start()
{
cohesion = new Cohesion(flock.Flock);
}
public override Steering GetSteering()
{
return(Cohesion.GetSteering(npc, threshold, decayCoefficient, maxAccel, visibleRays));
}
public void CohesionOff()
{
behaviours.Remove(Cohesion.GetInstance());
}
Steering getDefaultSteering(Entry e)
{
e.bird.maxSpeed = 7.5f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(true);
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var separation = new Separation(e.bird, flock, 5f, 0f);
var cohesion = new Cohesion(e.bird, flock, 75f, 0f); cohesion.aknnApproxVal = 25f; cohesion.maxNeighborhoodSize = 15;
var velMatch = new VelocityMatch(e.bird, flock, 20f, 0.0f); velMatch.aknnApproxVal = 50f;
var bbox = new Bounds(new Vector3(1162, 113, 770), new Vector3(500, 150, 500));
var wander = new SteeringBehaviors.Wander(e.bird, e.bird.maxSpeed, 30f, 50f, bbox);
wander.theta = UnityEngine.Random.Range(0f, 360f);
var blended = new BlendedSteering[3];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird,
new BehaviorAndWeight(separation, 1f));
blended[2] = new BlendedSteering(e.bird, new BehaviorAndWeight(wander, 0.85f), // 0
new BehaviorAndWeight(cohesion, 0.90f),
new BehaviorAndWeight(velMatch, 0.50f));
return new PrioritySteering(1f, blended);
}
Steering getDefaultSteering2(Entry e)
{
e.bird.maxSpeed = 30f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(false);
var separation = new Separation(e.bird, flock, 5f, -0.5f);
var cohesion = new Cohesion(e.bird, flock, 30f, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, 20f, -0.5f);
var seek = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var flee = new Separation(e.bird, anchorFlock, 10f, -1f); // move towards the anchor
separation.aknnApproxVal = 1.0;
cohesion.aknnApproxVal = 1.0;
velMatch.aknnApproxVal = 25.0;
separation.maxNeighborhoodSize = 5;
cohesion.maxNeighborhoodSize = 10;
velMatch.maxNeighborhoodSize = 5;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, 2f), // 0
new BehaviorAndWeight(cohesion, 1f), // 1
new BehaviorAndWeight(velMatch, 0.5f), // 2
new BehaviorAndWeight(seek, 1.25f), // 3
new BehaviorAndWeight(flee, 2f)
);
return new PrioritySteering(1f, blended);
}
// Start is called before the first frame update
void Start()
{
//DATOS DE PERSONAJE
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
//SEPARATION INITIALIZATION
//buscamos a todos los pokemones
GameObject[] allPokemons = GameObject.FindGameObjectsWithTag("Pokemon");
//vamos a usar solo los pokemones que participan en flock
GameObject[] pokemons = Array.FindAll(allPokemons, c => c.GetComponent <static_data>().flocker);
//Inicializamos las estructuras necesarias de otros componentes
for (int i = 0; i < pokemons.Length; i++)
{
if (pokemons[i].name != name) //solo me interesan los pokemones que no son yo
{
targets_kin_sepa.Add(pokemons[i].GetComponent <static_data>().kineticsAgent);
}
}
Kinetics[] targets_sep = targets_kin_sepa.ToArray();
separation = new Separation(kineticsAgent, targets_sep, threshold, maxAccelSep);
separation.weigth = 3f;
//VELOCITY MATCH INITIALIZATION
enemyVel = GameObject.Find(enemyNameVel).GetComponent <static_data>();
kineticsEnemyVel = enemyVel.kineticsAgent;
velMatch = new VelocityMatch(kineticsAgent, kineticsEnemyVel, MaxAccelVel, timeTotargetVel);
velMatch.weigth = 1f;
//COHESION INITIALIZATION
//Inicializamos las estructuras necesarias de otros componentes
for (int i = 0; i < pokemons.Length; i++)
{
targets_trans_cohe.Add(pokemons[i].transform);
}
Transform[] targets_cohe = targets_trans_cohe.ToArray();
maxSpeedCohe = agent.maxspeed;
cohesion = new Cohesion(kineticsAgent, targets_cohe, maxAccelCohe, maxSpeedCohe, targetRadiusCohe, slowRadiusCohe, timeToTargetCohe);
cohesion.weigth = 1.5f;
//BLEND INITIALIZATION
//mezclamos nuestros comportamientos para crear fllock
behaviors[0] = separation;
behaviors[1] = velMatch;
behaviors[2] = cohesion;
blendFlock = new BlendedSteering(behaviors, maxAccelBlend, maxAngularBlend);
}
