//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
{
planning.Init(analyzer, agents, obstacles);
}
engine = animEngine;
if (engine != null && !engine.initialized)
{
engine.Init(analyzer, planning, agents, obstacles);
}
collision = collisionReact;
if (collision != null && !collision.initialized)
{
collision.Init(analyzer, planner, engine, agents, obstacles);
}
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
{
neighborhood.Init();
}
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
{
footsteps.Init(analyzer, planner, engine, neighborhood, obstacles);
}
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
{
nObstacles.Init();
}
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
//public void Init(AnimationAnalyzer analyzer, FootstepPlanningTest planner,
public void Init(AnimationAnalyzer analyzer, Planner planner,
AnimationEngine animEngine, CollisionReaction collisionReact,
NavMeshWayPoints navMeshWaypoints, SteeringManager steering,
NeighbourAgents agents, NeighbourObstacles obstacles,
PlaceFootSteps steps)
{
planning = planner;
if (planning != null && !planning.initialized)
planning.Init(analyzer,agents,obstacles);
engine = animEngine;
if (engine != null && !engine.initialized)
engine.Init(analyzer,planning,agents,obstacles);
collision = collisionReact;
if (collision != null && !collision.initialized)
collision.Init(analyzer,planner,engine,agents,obstacles);
waypoints = navMeshWaypoints;
//if (waypoints != null && !waypoints.initialized)
// waypoints.Init(planning,steering,analyzer,agents,obstacles);
neighborhood = agents;
if (neighborhood != null && !neighborhood.initialized)
neighborhood.Init();
footsteps = steps;
if (footsteps != null && !footsteps.initiated)
footsteps.Init(analyzer,planner,engine,neighborhood,obstacles);
nObstacles = obstacles;
if (nObstacles != null && !nObstacles.initialized)
nObstacles.Init();
timeSinceLastPlan = 0;
timeSinceLastWaypoints = 0;
previousGoalPosition = planning.goalStateTransform.position;
previousCurrentGoalPosition = planning.currentGoal;
previousActionsSinceLastPlan = -1;
newWaypoint = false;
initialized = true;
}
// Use this for initialization
void InitAgent(int i)
{
AnimationAnalyzer analyzer = null;
// Initialize different components of the agents
// ( Animation Engine, Planner, Neighbors, ...)
//foreach (GameObject agent in agents)
//for(int i = 0; i < agents.Length; i++)
{
GameObject agent = agents[i];
//agent.active = true;
agent.transform.position = agentsPos[i];
//if (analyzer == null)
{
analyzer = agent.GetComponent("AnimationAnalyzer") as AnimationAnalyzer;
if (analyzer != null)
{
analyzer.Init();
//analyzer.ReadAnalysisFromFile(animationsFileName);
}
}
/*
* else
* {
* Vector3 startPos = agent.transform.position;
* Quaternion startRot = agent.transform.rotation;
* analyzer.RemoveAnimations(agent.animation);
* agent.transform.position = startPos;
* agent.transform.rotation = startRot;
* }
*/
NeighbourAgents neighbourAgents = agent.GetComponent("NeighbourAgents") as NeighbourAgents;
//if (neighbourAgents != null)
// neighbourAgents.Init();
NeighbourObstacles neighbourObstacles = agent.GetComponent("NeighbourObstacles") as NeighbourObstacles;
//if (neighbourObstacles != null)
// neighbourObstacles.Init();
Planner planning;
if (ADAFootstepTest.ADA_PLANNER_IN_USE)
{
ADAFootstepTest ADAplanning = agent.GetComponent("ADAFootstepTest") as ADAFootstepTest;
planning = ADAplanning as Planner;
}
else
{
FootstepPlanningTest FPTplanning = agent.GetComponent("FootstepPlanningTest") as FootstepPlanningTest;
planning = FPTplanning as Planner;
}
if (planning != null)
{
planning.Init(analyzer, neighbourAgents, neighbourObstacles);
}
AnimationEngine engine = agent.GetComponent("AnimationEngine") as AnimationEngine;
if (engine != null)
{
engine.Init(analyzer, planning, neighbourAgents, neighbourObstacles);
}
CollisionReaction collider = agent.GetComponent("CollisionReaction") as CollisionReaction;
if (collider != null)
{
collider.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
NavMeshWayPoints waypoints = agent.GetComponent("NavMeshWayPoints") as NavMeshWayPoints;
if (waypoints != null)
{
waypoints.Init(planning, steering, analyzer, neighbourAgents, neighbourObstacles);
}
PlaceFootSteps footsteps = agent.GetComponent("PlaceFootSteps") as PlaceFootSteps;
if (footsteps != null)
{
footsteps.Init(analyzer, planning, engine, neighbourAgents, neighbourObstacles);
}
EventsMonitor events = agent.GetComponent("EventsMonitor") as EventsMonitor;
if (events != null)
{
events.Init(analyzer, planning, engine, collider, waypoints, steering, neighbourAgents, neighbourObstacles, footsteps);
events.enabled = false;
}
DebugScript debug = agent.GetComponent("DebugScript") as DebugScript;
if (debug != null)
{
debug.Init(analyzer, engine, planning, neighbourAgents, neighbourObstacles, collider);
}
if (analyzer != null)
{
analyzer.RemoveAnimations(agent.animation);
}
}
}