public override bool canExecute()
{
RobotArms arms = controller.GetComponentInChildren <RobotArms>();
RoboEyes eyes = controller.GetComponentInChildren <RoboEyes>();
return(eyes != null && eyes.hasScanner() && arms != null && arms.hasTarget());
}
public float calculatePathCost(Vector3 targetPos)
{
//Debug.Log ("evaluating path cost");
//Debug.Log(targetPos);
float cost = 0;
NavMeshPath path = new NavMeshPath();
if (nav.enabled)
{
nav.CalculatePath(targetPos, path);
}
List <Vector3> corners = new List <Vector3>(path.corners);
corners.Add(targetPos);
//corners
float pathLength = 0;
foreach (LabelHandle item in roboController.getTrackedTargets())
{
//print ("checking path cost against item: " + item.name);
//print ("target threatLevel " + item.threatLevel);
float minDist = -1;
//Vector3 prevVertex;
//Debug.Log("numCorners: " + corners.Count);
for (int i = 0; i < corners.Count; i++)
{
Vector3 vertex = corners[i];
if (i > 0)
{
//Debug.Log("adding path length");
pathLength += Vector3.Distance(corners[i - 1], vertex);
}
float curDist = Vector3.Distance(vertex, item.getPosition());
if (minDist == -1)
{
minDist = curDist;
}
else if (curDist < minDist)
{
minDist = curDist;
}
}
if (item.hasTag(TagEnum.Threat))
{
float threatLevel = item.getTag(TagEnum.Threat).severity;
RoboEyes eyes = roboController.GetComponentInChildren <RoboEyes>();
if (eyes != null)
{
cost += threatLevel * (minDist / eyes.sightDistance);
}
}
}
//if (cost > 0) {
// print ("path cost: " + cost);
//}
//Debug.Log("cost for target " + cost +" "+ "("+pathLength +"*" + distanceCost+")");
return(cost + (pathLength * distanceCost));
}
public override void stopExecution()
{
base.stopExecution();
RoboEyes eyes = controller.GetComponentInChildren <RoboEyes>();
if (eyes != null)
{
eyes.getScanner().stopScan();
}
}
public override bool isStale()
{
RoboEyes eyes = controller.GetComponentInChildren <RoboEyes>();
bool canSee = false;
if (eyes != null)
{
canSee = (eyes.lookAt(parent.getPosition()) == null);
if (canSee)
{
controller.enqueueMessage(new RobotMessage(RobotMessage.MessageType.TARGET_LOST, "target lost", parent, parent.getPosition(), null));
}
}
return(completed || (canSee) || !((System.DateTime.Now - creationTime).Seconds < InvestigateAction.expirationTimeSeconds));
}
