// Checks current inventory and belief to determine the number of casualties to deliver
private int RequestCasualtyDelivery(int currentInventory)
{
Belief_Casualty_Delivery b = thisSoaActor.Find <Belief_Casualty_Delivery>(soa.Belief.BeliefType.CASUALTY_DELIVERY, thisSoaActor.unique_id);
if (b != null)
{
if (b.getGreedy() || b.getMultiplicity() < 0)
{
// Greedy behavior, deliver all of current inventory. No information to update
// Negative multiplicity is also greedy
return(currentInventory);
}
else
{
// Only deliver min of currentInventory and multiplicity
int quantityToDeliver = (currentInventory < b.getMultiplicity()) ? currentInventory : b.getMultiplicity();
// Update the belief if we are delivering anything
if (quantityToDeliver > 0)
{
Belief_Casualty_Delivery newBelief = new Belief_Casualty_Delivery(
b.getRequest_time(), b.getActor_id(),
b.getGreedy(), b.getMultiplicity() - quantityToDeliver);
thisSoaActor.addBeliefToBeliefDictionary(newBelief);
}
// Return the quantity to deliver
return(quantityToDeliver);
}
}
else
{
// No entry exists, default to greedy behavior.
return(currentInventory);
}
}
// Cone beam antenna pattern
public bool CheckSensorFootprint(GameObject target)
{
// Re-evaluate boresight if sensor is gimbaled (balloon)
if (soaActor.type == (int)SoaActor.ActorType.BALLOON)
{
// Get the belief dictionary and SPOI Belief
Belief_SPOI b = soaActor.Find <Belief_SPOI>(soa.Belief.BeliefType.SPOI, soaActor.unique_id);
if (b != null)
{
// Extract SPOI (x,y,z) in sim coordinates [km]
Vector3 spoi_km = new Vector3(
b.getPos_x(),
b.getPos_y(),
b.getPos_z());
// Update the sensor boresight vector
boresightUnitVector.x = spoi_km.x - transform.position.x / SimControl.KmToUnity; // [km]
boresightUnitVector.y = spoi_km.y - soaActor.simAltitude_km; // [km]
boresightUnitVector.z = spoi_km.z - transform.position.z / SimControl.KmToUnity; // [km]
boresightUnitVector.Normalize();
}
}
// Compute relative vector
SoaActor targetActor = target.GetComponent <SoaActor>();
Vector3 sensorToTargetUnitVector;
sensorToTargetUnitVector.x = (target.transform.position.x - transform.position.x) / SimControl.KmToUnity; // [km]
sensorToTargetUnitVector.y = targetActor.simAltitude_km - soaActor.simAltitude_km; // [km]
sensorToTargetUnitVector.z = (target.transform.position.z - transform.position.z) / SimControl.KmToUnity; // [km]
sensorToTargetUnitVector.Normalize();
// Compute target cone angle relative to boresight
double coneAngleDeg = (180.0f / Mathf.PI) * Mathf.Acos(
sensorToTargetUnitVector.x * boresightUnitVector.x +
sensorToTargetUnitVector.y * boresightUnitVector.y +
sensorToTargetUnitVector.z * boresightUnitVector.z);
// Check if target is within beamwidthDeg/2 of boresight
return(coneAngleDeg <= (beamwidthDeg / 2));
}