// Use this for initialization
void Start()
{
agentIdx = this.transform.GetSiblingIndex();
GameObject gameController = GameObject.Find("GameController");
if (gameController != null)
{
WorldController worldController = gameController.GetComponent <WorldController> ();
if (worldController != null)
{
world = worldController.world;
vehicle_dt = world.vehicle.dt;
// Check if this agent has the longest path and should update the timer
simulationSpeedFactor = worldController.simulationSpeedFactor;
motionModel = worldController.getMotionModel();
}
GameObject agentsObj = GameObject.Find("Agents");
virtualStructure = agentsObj.GetComponent <VirtualStructure> ();
if (virtualStructure != null)
{
agentHeight = virtualStructure.agentHeight;
formationDecreasingGoalVelocity = virtualStructure.formationDecreasingGoalVelocity;
Vector3 currentVelocity = new Vector3(world.currentVelocities [agentIdx - 1].x, 0f, world.currentVelocities [agentIdx - 1].y);
lastPosInfo = new PointInfo(this.transform.position, currentVelocity, currentVelocity.normalized, 0f);
nextPosInfo = getNextPosition(lastPosInfo, world, 1);
boundingMinMaxes = VirtualStructure.getMinMaxes(world.boundingPolygon);
}
}
}
IEnumerator UpdateStructurePos(VirtualStructure vs)
{
bool first = true;
while (true)
{
vs.UpdatePos();
pos = vs.pos;
int j = 0;
foreach (PolyAgent agent in vs.agents)
{
if (agent.running)
{
agent.model.StopCoroutineMove();
}
List <Vector3> path = new List <Vector3> ();
path.Add(vs.pos[j]);
agent.end = path[0];
agent.model.SetPath(path, agent, new List <Line> ());
agent.model.StartCoroutineMove();
j++;
}
first = false;
yield return(new WaitForSeconds(updateSpeed));
}
}
void Start()
{
// Choose model
string modelType = "car";
string moveType = "dynamic";
vel = 5;
updateSpeed = 1;
List <PolyAgent> agents = new List <PolyAgent> ();
numAgents = 4;
for (int i = 0; i < numAgents; i++)
{
agents.Add(new PolyAgent(i + "", Vector3.zero, Vector3.zero, R, modelType));
agents [i].agent.renderer.material.color = Color.yellow;
if (modelType == "point")
{
if (moveType == "dynamic")
{
agents[i].model = gameObject.AddComponent <DynamicPointModel> ();
}
if (moveType == "kinematic")
{
agents[i].model = gameObject.AddComponent <KinematicPointModel> ();
}
if (moveType == "differential")
{
agents[i].model = gameObject.AddComponent <DifferentialDriveModel>();
}
}
if (modelType == "car")
{
if (moveType == "dynamic")
{
agents[i].model = gameObject.AddComponent <DynamicCarModel> ();
}
if (moveType == "kinematic")
{
agents[i].model = gameObject.AddComponent <KinematicCarModel> ();
}
}
}
List <Vector3> start = new List <Vector3> ();
start.Add(new Vector3(100, 1, 100));
start.Add(new Vector3(200, 1, 100));
start.Add(Vector3.zero);
start.Add(new Vector3(0, 1, -100));
VirtualStructure vs = new VirtualStructure(start, agents);
this.agents = vs.agents; // debug
StartCoroutine(MoveStructure(vs));
StartCoroutine(UpdateStructurePos(vs));
}
IEnumerator MoveStructure(VirtualStructure vs)
{
int i = 0;
while (i < vs.structureWP.Count)
{
vs.transform.position = Vector3.MoveTowards(vs.transform.position,
vs.structureWP[i],
vel * Time.deltaTime);
if (Vector3.Distance(vs.transform.position, vs.structureWP[i]) < 5)
{
i = (i + 1) % vs.structureWP.Count;
}
//vs.UpdatePos ();
yield return(null);
}
}
void Start()
{
Button btn = startButton.GetComponent <Button>();
btn.onClick.AddListener(TaskOnClick);
if (data.name == "P25" || data.name == "P26")
{
world = World.FromJson(data.text, trajectoryData.text);
}
else
{
world = World.FromJson(data.text);
}
initializeVelocities();
spawnObstacle(world.boundingPolygon, "Bounding polygon", boundingPolygon);
spawnObstacles();
spawnActors();
initializeMotionModel();
if (data.name == "P22")
{
solveVRP(world);
}
else if (data.name == "P25")
{
Visualizer.visualizeTrajectory(world.trajectory.x, world.trajectory.y);
GameObject tmp = new GameObject("LeaderFormationController");
tmp.AddComponent <LeaderFormationController> ();
tmp.GetComponent <LeaderFormationController> ().initializeController(agents, world.trajectory, world.formationPositions, agents [0].transform.localScale.y / 2, formationDecreasingGoalVelocity);
}
else if (data.name == "P26")
{
// Formation problems
GameObject plane = GameObject.Find("Plane");
Renderer ren = plane.GetComponent <Renderer> ();
ren.material = fieldMaterial;
//for (int i = 0; i < world.trajectory.x.Length; i++) {
//world.trajectory.x [i] += -10.0f;
//world.trajectory.y [i] += 35.0f;
//}
Visualizer.visualizeTrajectory(world.trajectory.x, world.trajectory.y);
agentParent.AddComponent <VirtualStructure> ();
// Add virtual center to formation positions
Vector2[] formationPositions = new Vector2[world.formationPositions.Length + 1];
for (int i = 0; i < formationPositions.Length - 1; i++)
{
formationPositions [i] = world.formationPositions [i];
}
formationPositions [formationPositions.Length - 1] = new Vector2(agents [agents.Length - 1].transform.position.x, agents [agents.Length - 1].transform.position.z); //position of virtual center.
Debug.Log(formationPositions [formationPositions.Length - 1]);
agentParent.GetComponent <VirtualStructure> ().initializeController(agents, world.boundingPolygon, world.trajectory, formationPositions, agents [0].transform.localScale.y / 2, deltaX, deltaY,
simulationSpeedFactor, world.vehicle.dt, formationDecreasingGoalVelocity);
}
else if (data.name == "P27")
{
float[] minMaxes = VirtualStructure.getMinMaxes(world.boundingPolygon);
Vector2[] points = new Vector2[pivotSamples];
for (int i = 0; i < pivotSamples; i++)
{
do
{
points[i].x = (float)(rand.NextDouble() * (minMaxes [2] - minMaxes [0]) + minMaxes [0]);
points[i].y = (float)(rand.NextDouble() * (minMaxes [3] - minMaxes [1]) + minMaxes [1]);
} while ((!Raycasting.insidePolygon(points[i].x, points[i].y, world.boundingPolygon)) || Raycasting.insideObstacle(points[i].x, points[i].y, world.obstacles));
}
List <Vector2> addPoints = new List <Vector2> (points);
foreach (var point in world.startPositions)
{
addPoints.Add(point);
}
foreach (var point in world.enemyPositions)
{
addPoints.Add(point);
}
VisibilityGraph.initVisibilityGraph(world, addPoints);
agentParent.AddComponent <ShooterController> ();
List <ShootingPlanner.OneStepPlan> gamePlan = (new ShootingPlanner(world, weaponType)).getPlan();
agentParent.GetComponent <ShooterController> ().initializeController(gamePlan, agents);
}
}
private void spawnActors()
{
if (world.startPositions.Length != 0 && world.enemyPositions.Length != 0)
{
//Spawn actors in a way suitable for the shooting problem
agents = new GameObject[world.startPositions.Length + world.enemyPositions.Length];
GameObject ourPrefab = null;
GameObject enemyPrefab = null;
if (weaponType == WeaponTypeEnum.Shotgun)
{
ourPrefab = agentPrefab;
enemyPrefab = rifleSoldierPrefab;
}
else
{
ourPrefab = rifleSoldierPrefab;
enemyPrefab = agentPrefab;
}
for (int i = 0; i < world.startPositions.Length; i++)
{
Vector3 orientation = Vector3.zero;
spawnActor(world.startPositions [i], orientation, i, ourPrefab, true, false);
}
for (int i = 0; i < world.enemyPositions.Length; i++)
{
Vector3 orientation = Vector3.zero;
GameObject actor = spawnActor(world.enemyPositions [i], orientation, world.startPositions.Length + i, enemyPrefab, true, false, 1.25f);
//Renderer ren = actor.GetComponent<Renderer> ();
//ren.material = fieldMaterial;
}
}
else if (world.startPositions.Length != 0 && world.goalPositions.Length != 0)
{
//Spawn actors in a way suitable for all the other problems
world.currentAngularVel = new float[world.startPositions.Length];
world.currentPositions = (Vector2[])world.startPositions.Clone();
agents = new GameObject[world.startPositions.Length];
for (int i = 0; i < world.startPositions.Length; i++)
{
Vector3 orientation = new Vector3(world.goalPositions [i].x, objectHeight, world.goalPositions [i].y).normalized;
spawnActor(world.startPositions [i], orientation, i, agentPrefab, true, true);
}
}
else if (world.startPositions.Length != 0 && world.formationPositions.Length != 0)
{
// Actor spawning for P25 and P26 problems
if (data.name == "P25")
{
world.currentAngularVel = new float[world.startPositions.Length + 1];
world.currentPositions = new Vector2[world.startPositions.Length + 1];
agents = new GameObject[world.startPositions.Length + 1];
// Initialize leader
Vector3 orientation = UtilityClass.rads2Vec(world.trajectory.theta [0]);
Vector2 pos = new Vector2(world.trajectory.x [0], world.trajectory.y [0]);
spawnActor(pos, orientation, 0, agentPrefab, true, true);
world.currentPositions [0] = pos;
// Initialize followers
for (int i = 0; i < world.startPositions.Length; i++)
{
orientation = Vector3.left; //change so that they look towards their formation position
spawnActor(world.startPositions [i], orientation, i + 1, agentPrefab, true, true);
world.currentPositions [i + 1] = world.startPositions [i];
}
}
else if (data.name == "P26")
{
world.currentAngularVel = new float[world.startPositions.Length + 2];
world.currentPositions = new Vector2[world.startPositions.Length + 2];
agents = new GameObject[world.startPositions.Length + 2];
// Initialize opponent football player
Vector3 orientation = UtilityClass.rads2Vec(world.trajectory.theta [0]);
Vector2 pos = new Vector2(world.trajectory.x [0], world.trajectory.y [0]);
spawnActor(pos, orientation, 0, agentPrefab, true, true);
world.currentPositions [0] = pos;
// Initialize players
for (int i = 0; i < world.startPositions.Length; i++)
{
orientation = Vector3.left; //change so that they look towards their formation position
spawnActor(world.startPositions [i], orientation, i + 1, agentPrefab, true, true);
world.currentPositions [i + 1] = world.startPositions [i];
}
// Initialize virtual structure center
world.currentPositions[world.currentPositions.Length - 1] = VirtualStructure.getCenter(world.formationPositions);
spawnActor(world.currentPositions [world.currentPositions.Length - 1], Vector3.forward, agents.Length - 1, agentPrefab, false, false);
}
}
}