void FixedUpdate()
{
var sensors = ReadSensors();
var utilities = GetComponents <UtilityBase>();
var sumPriority = utilities.Sum(u => u.priority * (u.isActiveAndEnabled ? 1: 0f));
sumPriority = Mathf.Max(sumPriority, Mathf.Epsilon);
Vector2 control = Vector2.zero;
foreach (var u in utilities)
{
if (u.isActiveAndEnabled)
{
control += u.Control(sensors) * u.priority / sumPriority;
}
}
body.angularVelocity = Vector3.up * Mathf.Deg2Rad * Mathf.Clamp(control.x, -1f, 1f) * turnSpeed;
body.velocity = transform.forward * Mathf.Clamp01(control.y) * runSpeed;
state = new ObservableState {
heading = Mathf.Clamp(control.x, -1f, 1f), velocity = Mathf.Clamp01(control.y), // in
x = transform.position.x, y = transform.position.y, // out
sensors = sensors // aux
};
}
internal void StopProducing()
{
State = ObservableState.Stopping;
if (WorkingThread.IsAlive)
{
WorkingThread.Join();
}
}
private IEnumerable <ParentMatch> EnumerateParents(ObservableState state, int level)
{
//if (model.Parents.Count == 0)
{
yield return(new ParentMatch(level, state));
}
foreach (var parent in state.Parents)
{
foreach (var item in EnumerateParents(parent, level + 1))
{
yield return(item);
}
}
}
public PartiallyObservableState(ObservableState observableState, NonObservableState nonObservableState)
{
this.ObservablePart = observableState;
this.NonObservablePart = nonObservableState;
this.IdToken = this.ObservablePart.IdToken + this.NonObservablePart.IdToken;
}
public ParentMatch(int indent, ObservableState state)
{
Indent = indent;
State = state;
}
public FindObservableStateVisitor()
{
Result = new ObservableState();
}