void Start()
{
_previousState = _states.currentState;
_currentSmellDistance = 0f;
UpdatePheromoneSensor();
// Repeadetly prune destroyed pheromones.
InvokeRepeating("PruneDeletedPheromones", 20.0f, 10.0f);
}
// Use this for initialization
void Start()
{
currentState = EAntStates.Idle;
// Enable / disable components as necessary
randomWalk.enabled = true;
harvesting.enabled = false;
pheromonePlacement.enabled = false;
pheromonePerception.enabled = true;
returnToBase.enabled = false;
combat.enabled = false;
}
/**
* Updates the movement direction (see NavAgentHelper) according to the
* pheromones located near the agent.
*
* Combat/Harvest pheromones are only taken into account, if the task of the agent
* is combat and harvest respectively.
*
* Also: Combat/Harvest pheromones are ignored in certain states. Repellant pheromones
* are taken into account in every state.
*/
void Update()
{
_currentSmellAngleCos = Mathf.Cos(_agentConfiguration.smellAngle);
UpdatePheromoneSensor();
Vector3 attractionDirection = new Vector3();
if (_states.IsIdling())
{
_previousState = EAntStates.Idle;
}
// Only take harvest/combat pheromones into account if the agent is idling or following pheromones.
if (_states.IsIdling() || _states.IsFollowingPheromone())
{
if (_states.GetTask() == EAntTasks.HarvestFood && _previousState != EAntStates.ReturnToBase)
{
attractionDirection = AggregateMovementDirection(EPheromoneTypes.Food);
}
else if (_states.GetTask() == EAntTasks.Attack)
{
attractionDirection = AggregateMovementDirection(EPheromoneTypes.Attack);
}
}
// Always take repellant pheromones into account.
Vector3 repulsionDirection = AggregateMovementDirection(EPheromoneTypes.Repellant);
// If pheromones influence movement direction, set this direction and switch
// to pheromone following state if necessary.
if (attractionDirection.sqrMagnitude > 0f || repulsionDirection.sqrMagnitude > 0f)
{
_navHelper.SetDirection(0.01f * attractionDirection + 0.99f * repulsionDirection);
if (!_states.IsFollowingPheromone())
{
// Save the current state so we can restore status quo lateron.
_previousState = _states.currentState;
_states.currentState = EAntStates.FollowPheromone;
}
}
// Switch back to previous state, if no longer following pheromones.
else if (_states.IsFollowingPheromone())
{
_states.currentState = _previousState;
}
// Debug.DrawLine (transform.position, transform.position + Quaternion.Euler(0f, GlobalAntConfiguration.smellAngle * Mathf.Rad2Deg, 0f) * transform.forward * _currentSmellDistance);
// Debug.DrawLine (transform.position, transform.position + Quaternion.Euler(0f, -GlobalAntConfiguration.smellAngle * Mathf.Rad2Deg, 0f) * transform.forward * _currentSmellDistance);
}
/**
* Translate given state into a color code.
*/
public static Color ColorEncode(EAntStates state)
{
switch (state)
{
case EAntStates.Idle: return(Color.white);
case EAntStates.Harvesting: return(Color.blue);
case EAntStates.ReturnToBase: return(new Color(184, 110, 0));
case EAntStates.FollowPheromone: return(Color.green);
case EAntStates.Combat: return(Color.red);
default: return(Color.magenta);
}
}
/**
* Translate a given state to a human readable name.
*/
public static string StateToString(EAntStates state)
{
switch (state)
{
case EAntStates.Idle: return("Random walk");
case EAntStates.Harvesting: return("Harvesting");
case EAntStates.ReturnToBase: return("Back to Base");
case EAntStates.FollowPheromone: return("Reacting to Pheromones");
case EAntStates.Combat: return("In combat");
default: return("n/a");
}
}