// Awake is called before the first frame update
private void Awake()
{
// Get references to the game objects and their components
dynamicAgent = GameObject.Find("DynamicAgent");
dynAgComp = dynamicAgent.GetComponent <DynamicAgent>();
targetController = GameObject.Find("TargetController");
stcComp = targetController.GetComponent <StaticTargetController>();
// Deactivate the game's game objects, so the game doesn't start
// running right away
Stop();
// Is this an optimization play or a single game play?
if (optimize)
{
// Change the time scale as specified in the editor
Time.timeScale = timeScale;
// Should we show the game will optimizing?
if (!showGame)
{
// If not, disable the camera
GameObject goCam = GameObject.Find("Main Camera");
goCam.SetActive(false);
}
// Instantiate a new C# native random number generator, to be used
// by the optimization thread
threadRnd = new SRandom();
}
}
public void TestNullAgentProgram()
{
DynamicAgent agent = new DynamicAgent();
Assert.AreEqual(DynamicAction.NO_OP, agent.Execute(null));
Assert.IsTrue(agent.IsAlive());
agent.SetAlive(false);
Assert.IsFalse(agent.IsAlive());
Assert.IsInstanceOfType(agent, typeof(IAgent));
}
public void setUp()
{
IMap <ICollection <IPercept>, IAction> perceptSequenceActions = CollectionFactory.CreateInsertionOrderedMap <ICollection <IPercept>, IAction>();
perceptSequenceActions.Put(createPerceptSequence(
new DynamicPercept("key1", "value1")), ACTION_1);
perceptSequenceActions.Put(createPerceptSequence(
new DynamicPercept("key1", "value1"),
new DynamicPercept("key1", "value2")), ACTION_2);
perceptSequenceActions.Put(createPerceptSequence(
new DynamicPercept("key1", "value1"),
new DynamicPercept("key1", "value2"),
new DynamicPercept("key1", "value3")), ACTION_3);
agent = new DynamicAgent(new TableDrivenAgentProgram(perceptSequenceActions));
}
// Use this for initialization
void Start()
{
agent = GetComponent <DynamicAgent>();
rb = GetComponent <Rigidbody2D>();
}
// Collision avoidance behaviour
public override SteeringOutput GetSteering(GameObject target)
{
// Initialize linear and angular forces to zero
Vector2 linear = Vector2.zero;
float angular = 0f;
// 1. Find the target that's closest to collision
// Get all possible targets
DynamicAgent[] targets = FindObjectsOfType <DynamicAgent>();
// First collision time
float shortestTime = float.PositiveInfinity;
// Store the target that collides and auxiliar data
DynamicAgent firstTarget = null;
float firstMinSep = 0, firstDistance = 0;
Vector2 firstRelPos = Vector2.zero, firstRelVel = Vector2.zero;
// Loop through each target
foreach (DynamicAgent currTarget in targets)
{
// Calculate the time to collision
Vector2 relPos =
transform.position - currTarget.transform.position;
Vector2 relVel = currTarget.Velocity - Velocity;
float relSpeed = relVel.magnitude;
float timeToCollision =
Vector2.Dot(relPos, relVel) / (relSpeed * relSpeed);
// Check if it is going to be a collision at all
float distance = relPos.magnitude;
float minSep = distance - relSpeed * timeToCollision;
if (minSep > 2 * radius)
{
continue;
}
// Check if it is the shortest
if (timeToCollision > 0 && timeToCollision < shortestTime)
{
// Store the time, target and other data
shortestTime = timeToCollision;
firstTarget = currTarget;
firstMinSep = minSep;
firstDistance = distance;
firstRelPos = relPos;
firstRelVel = relVel;
}
}
// 2. Calculate the steering
// Was a target found?
if (firstTarget != null)
{
Vector2 relPos;
// If we're going to hit exactly or if we're already colliding,
// then do the steering based on current position
if (firstMinSep <= 0 || firstDistance < 2 * radius)
{
relPos = transform.position - firstTarget.transform.position;
}
// Otherwise determine the future relative position
else
{
relPos = firstRelPos + firstRelVel * shortestTime;
}
// Avoid the target
linear = relPos.normalized * MaxAccel;
}
// Output the steering
return(new SteeringOutput(linear, angular));
}
// Use this for initialization
protected virtual void Awake()
{
agent = GetComponent <DynamicAgent>();
rb = GetComponent <Rigidbody2D>();
}
