// debug parameters
//private MeshRenderer meshRenderer;
// update timers
//private float stateUpdateInterval = .5f;
//private float stateTimer;
void Start()
{
// GameManager
GM = FindObjectOfType <GameManager>();
// interaction squared
fenceRepulsion2 = fenceRepulsion * fenceRepulsion;
minFenceBoundary = Mathf.CeilToInt(fenceRepulsion / GM.binSize);
maxFenceBoundary = GM.precision - minFenceBoundary;
// get mesh renderer for debug coloring purposes
//meshRenderer = GetComponentInChildren<MeshRenderer>();
//meshRenderer.material.color = new Color(1.0f, 1.0f, .0f);
// random state
sheepState = (Enums.SheepState)Random.Range(0, 3);
// speed
SetSpeed();
desiredV = v;
// random heading
float theta = Random.Range(-Mathf.PI, Mathf.PI);
transform.forward = new Vector3(Mathf.Cos(theta), .0f, Mathf.Sin(theta)).normalized;
desiredTheta = transform.forward;
// timer
//stateTimer = Random.Range(.0f, stateUpdateInterval);
#if !CAPSULE
Color cottonColor = Color.white;
// Assign random collor to fur
if (Random.value < .05f)
{
float blackShade = Random.Range(0.2f, 0.3f);
cottonColor = new Color(blackShade, blackShade, blackShade, 1.0f);
}
else
{
float grayShade = Random.Range(0.7f, .9f);
cottonColor = new Color(grayShade, grayShade, grayShade, 1.0f);
}
foreach (Renderer fur in sheepCottonParts)
{
if (fur.materials.Length < 2)
{
fur.material.color = cottonColor;
}
else
{
fur.materials[1].color = cottonColor;
}
}
#endif
}
void UpdateState()
{
// test states
float random = .0f;
// first test the transition between idle and walking and viceversa
if (sheepState == Enums.SheepState.Idle)
{
random = Random.Range(.0f, 1.0f);
if (random < currentCell.p_iw)
{
sheepState = Enums.SheepState.Walking;
}
}
else if (sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < currentCell.p_wi)
{
sheepState = Enums.SheepState.Idle;
}
}
// second test the transition to running
// which has the same rate regardless if you start from walking or idle
if (sheepState == Enums.SheepState.Idle || sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < currentCell.p_iwr)
{
sheepState = Enums.SheepState.Running;
}
}
// while testing the transition to running also test the transition from running to standing
else if (sheepState == Enums.SheepState.Running)
{
random = Random.Range(.0f, 1.0f);
if (random < currentCell.p_ri)
{
sheepState = Enums.SheepState.Idle;
}
}
SetSpeed();
}
void UpdateState()
{
// refresh numbers of neighbours
NeighboursUpdate();
// probabilities
p_iw = (1 + alpha * n_walking) / tau_iw;
p_iw = 1 - Mathf.Exp(-p_iw);
p_wi = (1 + alpha * n_idle) / tau_wi;
p_wi = 1 - Mathf.Exp(-p_wi);
p_iwr = .0f;
p_ri = .0f;
if (l_i > .0f)
{
p_iwr = (1 / tau_iwr) * Mathf.Pow((l_i / d_R) * (1 + alpha * m_running), delta);
p_iwr = 1 - Mathf.Exp(-p_iwr);
p_ri = (1 / tau_ri) * Mathf.Pow((d_S / l_i) * (1 + alpha * m_idle), delta);
p_ri = 1 - Mathf.Exp(-p_ri);
}
// test states
float random = .0f;
// first test the transition between idle and walking and viceversa
if (sheepState == Enums.SheepState.Idle)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iw)
{
sheepState = Enums.SheepState.Walking;
}
}
else if (sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_wi)
{
sheepState = Enums.SheepState.Idle;
}
}
// second test the transition to running
// which has the same rate regardless if you start from walking or idle
if (sheepState == Enums.SheepState.Idle || sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iwr)
{
sheepState = Enums.SheepState.Running;
}
}
// while testing the transition to running also test the transition from running to standing
else if (sheepState == Enums.SheepState.Running)
{
random = Random.Range(.0f, 1.0f);
if (random < p_ri)
{
sheepState = Enums.SheepState.Idle;
}
}
SetSpeed();
}
void UpdateState()
{
previousSheepState = sheepState;
// calculate local probabilities
// transition parameters
n_idle = 0;
n_walking = 0;
// always separate from metric neighbours
foreach (HybridController neighbour in currentCell.hcList)
{
if (neighbour.id == id)
{
continue; // exclude self from count
}
Vector3 offset = transform.position - neighbour.transform.position;
if (offset.sqrMagnitude < GM.r_o2)
{
// state counter
switch (neighbour.sheepState)
{
// idle metric neighbours
case Enums.SheepState.Idle:
n_idle++;
break;
// walking metric neighbours
case Enums.SheepState.Walking:
n_walking++;
break;
}
}
}
// idle -> walking
p_iw = (1 + alpha * n_walking) / tau_iw;
p_iw = 1 - Mathf.Exp(-p_iw);
// walking -> idle
p_wi = (1 + alpha * n_idle) / tau_wi;
p_wi = 1 - Mathf.Exp(-p_wi);
// idle/walking -> running
p_iwr = Mathf.Exp(HM.area - (A_r * GM.nOfSheep)) * (1 + (alpha * HM.m_torunning));
p_iwr = 1 - Mathf.Exp(-p_iwr);
// dist to centre of mas
float distToCom = (HM.com - transform.position).sqrMagnitude;
// running -> idle
p_ri = (1 / Mathf.Exp(distToCom - (d_s * GM.nOfSheep))) * (1 + (alpha * HM.m_toidle));
p_ri = 1 - Mathf.Exp(-p_ri);
// test states
float random = .0f;
// first test the transition between idle and walking and viceversa
if (sheepState == Enums.SheepState.Idle)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iw)
{
// change state to walking and update speed
sheepState = Enums.SheepState.Walking;
desiredV = GM.v_1;
}
}
else if (sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_wi)
{
// change state to idle and update speed
sheepState = Enums.SheepState.Idle;
desiredV = .0f;
}
}
// second test the transition to running
// which has the same rate regardless if you start from walking or idle
if (sheepState == Enums.SheepState.Idle || sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iwr)
{
// change state to running and update speed
sheepState = Enums.SheepState.Running;
desiredV = GM.v_2;
}
}
// test the transition from running to standing
else if (sheepState == Enums.SheepState.Running)
{
random = Random.Range(.0f, 1.0f);
if (random < p_ri)
{
// change state to idle and update speed
sheepState = Enums.SheepState.Idle;
desiredV = .0f;
}
}
}
void UpdateState()
{
previousSheepState = sheepState;
// refresh numbers of neighbours
NeighboursUpdate();
// idle -> walking
p_iw = (1 + alpha * n_walking) / tau_iw;
p_iw = 1 - Mathf.Exp(-p_iw * dT);
// walking -> idle
p_wi = (1 + alpha * n_idle) / tau_wi;
p_wi = 1 - Mathf.Exp(-p_wi * dT);
p_iwr = .0f;
p_ri = .0f;
if (l_i > .0f)
{
// idle/walking -> running
p_iwr = (1 / tau_iwr) * Mathf.Pow((l_i / d_R) * (1 + alpha * m_running), delta);
p_iwr = 1 - Mathf.Exp(-p_iwr * dT);
// running -> idle
p_ri = (1 / tau_ri) * Mathf.Pow((d_S / l_i) * (1 + alpha * m_toidle), delta);
p_ri = 1 - Mathf.Exp(-p_ri * dT);
}
// test states
float random = .0f;
// first test the transition between idle and walking and viceversa
if (sheepState == Enums.SheepState.Idle)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iw)
{
// change state to walking and update speed
sheepState = Enums.SheepState.Walking;
desiredV = GM.v_1;
}
}
else if (sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_wi)
{
// change state to idle and update speed
sheepState = Enums.SheepState.Idle;
desiredV = .0f;
}
}
// second test the transition to running
// which has the same rate regardless if you start from walking or idle
if (sheepState == Enums.SheepState.Idle || sheepState == Enums.SheepState.Walking)
{
random = Random.Range(.0f, 1.0f);
if (random < p_iwr)
{
// change state to running and update speed
sheepState = Enums.SheepState.Running;
desiredV = GM.v_2;
}
}
// test the transition from running to standing
else if (sheepState == Enums.SheepState.Running)
{
random = Random.Range(.0f, 1.0f);
if (random < p_ri)
{
// change state to idle and update speed
sheepState = Enums.SheepState.Idle;
desiredV = .0f;
}
}
}
