// Use this for initialization
void Start()
{
var textObj = GameObject.Find("InstructionsText");
if (textObj != null)
{
textObj.GetComponent <Text>().text =
"Instructions\n\n" +
"B - Blended\n" +
"Q - stop";
}
var redObj = GameObject.Find("Red");
var initialCharacter = new DynamicCharacter(redObj)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
flock = new List <KinematicData> ();
this.Characters = this.CloneSecondaryCharacters(redObj, Random.Range(MIN_NUMBER_OF_BOIDS, MAX_NUMBER_OF_BOIDS), obstacles);
this.Characters.Add(initialCharacter);
foreach (DynamicCharacter character in this.Characters)
{
this.InitializeCharacters(character, obstacles);
}
}
// Use this for initialization
void Awake()
{
this.character = new DynamicCharacter(characterAvatar);
var clusterGraph = Resources.Load <ClusterGraph>("ClusterGraph");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayHeuristic(clusterGraph)));
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.enemies = new List <DynamicCharacter>();
for (int i = 0; i < enemiesAvatar.Length; i++)
{
DynamicCharacter enemy = new DynamicCharacter(this.enemiesAvatar[i]);
DynamicBackAndForth movement = new DynamicBackAndForth()
{
Character = enemy.KinematicData,
MaxAcceleration = 10.0f,
StopRadius = 2.0f,
SlowRadius = 5.0f,
MoveDistance = 25.0f
};
movement.CalculatePositions();
enemy.Movement = movement;
this.enemies.Add(enemy);
}
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
//early initialization
void Awake()
{
// Creating a new Dynamic Character
this.character = new DynamicCharacter(this.gameObject);
// Making sure we know all the possible destinations
destinations = new List <Transform>();
var goals = GameObject.Find("DestinationPoints").transform;
for (int i = 0; i < goals.childCount; i++)
{
destinations.Add(goals.transform.GetChild(i));
}
// Initializing the Priority and Blended movements
this.priorityMovement = new PriorityMovement
{
Character = this.character.KinematicData
};
this.blendedMovement = new BlendedMovement
{
Character = this.character.KinematicData
};
}
public Decomposer(SteeringPipeline pipeline, NavMeshPathGraph navMesh, DynamicCharacter character)
{
Character = character;
Pipeline = pipeline;
aStarPathFinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 150;
}
// Use this for initialization
void Awake()
{
this.currentClickNumber = 1;
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayDistanceHeuristic()));
this.dynamicCharacter = new DynamicCharacter(this.character);
}
public void Update()
{
if (Time.time > this.nextUpdateTime)
{
this.nextUpdateTime = Time.time + UPDATE_INTERVAL;
this.characterData.Time += UPDATE_INTERVAL;
}
if (enemyCharacter != null && currentEnemy != null && currentEnemy.activeSelf)
{
this.enemyCharacter.Movement.Target.position = this.character.transform.position;
this.enemyCharacter.Update();
this.SwordAttack(currentEnemy);
}
else
{
foreach (var enemy in this.enemies)
{
if ((enemy.transform.position - this.character.transform.position).sqrMagnitude <= 400)
{
this.currentEnemy = enemy;
this.enemyCharacter = new DynamicCharacter(enemy)
{
MaxSpeed = 100
};
enemyCharacter.Movement = new DynamicSeek()
{
Character = enemyCharacter.KinematicData,
MaxAcceleration = 100,
Target = new IAJ.Unity.Movement.KinematicData()
};
break;
}
}
}
this.HPText.text = "HP: " + this.characterData.HP;
this.XPText.text = "XP: " + this.characterData.XP;
this.LevelText.text = "Level: " + this.characterData.Level;
this.TimeText.text = "Time: " + this.characterData.Time;
this.ManaText.text = "Mana: " + this.characterData.Mana;
this.MoneyText.text = "Money: " + this.characterData.Money;
if (this.characterData.HP <= 0 || this.characterData.Time >= 200)
{
this.GameEnd.SetActive(true);
this.GameEnd.GetComponentInChildren <Text>().text = "Game Over";
this.GameOver = true;
}
else if (this.characterData.Money >= 25)
{
this.GameEnd.SetActive(true);
this.GameEnd.GetComponentInChildren <Text>().text = "Victory";
this.GameOver = false;
}
}
private void UpdateMovingGameObject(DynamicCharacter movingCharacter)
{
if (movingCharacter.Movement != null)
{
movingCharacter.Update();
movingCharacter.KinematicData.ApplyWorldLimit(X_WORLD_SIZE, Z_WORLD_SIZE);
movingCharacter.GameObject.transform.position = movingCharacter.Movement.Character.position;
}
}
//early initialization
void Awake()
{
this.character = new DynamicCharacter(this.gameObject);
this.blendedMovement = new BlendedMovement
{
Character = this.character.KinematicData
};
}
// Use this for initialization
void Awake()
{
this.character = new DynamicCharacter(characterAvatar);
var clusterGraph = Resources.Load <ClusterGraph>("ClusterGraph");
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.AStarPathFinding = new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayHeuristic(clusterGraph));
this.AStarPathFinding.NodesPerSearch = 100;
}
// Use this for initialization
void Awake()
{
this.currentClickNumber = 1;
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayHeuristic()));
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new SimpleUnorderedNodeList(), new ClosedDict(), new EuclideanHeuristic()));
this.character = new DynamicCharacter(this.gameObject);
this.dynamicFollowPath = new DynamicFollowPath
{
Character = this.character.KinematicData,
Target = new KinematicData(),
MaxAcceleration = 90.0f
};
}
// Use this for initialization
void Awake()
{
this.character = new DynamicCharacter(characterAvatar);
var clusterGraph = Resources.Load <ClusterGraph>("ClusterGraph");
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
//this.AStarPathFinding = new AStarPathfinding(this.navMesh, new NodePriorityHeap(), new NodeHashTable(), new EuclidianHeuristic());
//this.AStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclidianHeuristic());
this.AStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new GatewayHeuristic(clusterGraph));
this.AStarPathFinding.NodesPerSearch = 100;
}
public void AddFlockMember(GameObject gameObject)
{
var member = new DynamicCharacter(gameObject)
{
Drag = this.Drag,
MaxSpeed = this.MaximumSpeed
};
member.KinematicData.velocity = new Vector3(Random.Range(0, this.MaximumSpeed), 0, Random.Range(0, this.MaximumSpeed));
member.Movement = this.GenerateBlendingMovementFor(member);
this.FlockMembers.Add(member);
}
private void InitializeSecondaryCharacter(DynamicCharacter character, GameObject[] obstacles)
{
var priority = new PriorityMovement
{
Character = character.KinematicData
};
foreach (var obstacle in obstacles)
{
var avoidObstacleMovement = new DynamicAvoidObstacleWhiskers(obstacle)
{
MaxAcceleration = MAX_ACCELERATION,
AvoidMargin = AVOID_MARGIN,
MaxLookAhead = MAX_LOOK_AHEAD,
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
priority.Movements.Add(avoidObstacleMovement);
}
foreach (var otherCharacter in this.Characters)
{
if (otherCharacter != character)
{
var avoidCharacter = new DynamicAvoidCharacter(otherCharacter.KinematicData)
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
CollisionRadius = COLLISION_RADIUS,
MaxTimeLookAhead = MAX_TIME_LOOK_AHEAD,
MovementDebugColor = Color.cyan
};
priority.Movements.Add(avoidCharacter);
}
}
var straightAhead = new DynamicStraightAhead
{
Character = character.KinematicData,
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.yellow
};
priority.Movements.Add(straightAhead);
character.Movement = priority;
}
//early initialization
void Awake()
{
this.character = new DynamicCharacter(this.gameObject);
this.movementTextText = this.movementText.GetComponent <Text>();
this.priorityMovement = new PriorityMovement
{
Character = this.character.KinematicData
};
this.blendedMovement = new BlendedMovement
{
Character = this.character.KinematicData
};
}
private void InitializeCharacter(DynamicCharacter character, GameObject[] obstacles, GameObject[] dynamicObstacles)
{
this.Blended = new BlendedMovement
{
Character = character.KinematicData
};
var seek = new DynamicSeek
{
Target = new KinematicData(new StaticData(character.KinematicData.Goal))
};
this.Blended.Movements.Add(new MovementWithWeight(seek, 1f));
character.Movement = this.Blended;
}
private static void CapCharacterVelocity(DynamicCharacter character)
{
var charSpeed = character.KinematicData.velocity.sqrMagnitude;
if (charSpeed >= 900f) // 900 = 30^2
{
character.KinematicData.velocity *= 0.95f;
}
else if (charSpeed >= 400f) // 400 = 20^2
{
character.KinematicData.velocity *= 0.97f;
}
else if (charSpeed >= 100f) // 100 = 10^2
{
character.KinematicData.velocity *= 0.99f;
}
}
//early initialization
void Awake()
{
this.character = new DynamicCharacter(this.gameObject)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
this.priorityMovement = new PriorityMovement
{
Character = this.character.KinematicData
};
this.blendedMovement = new BlendedMovement
{
Character = this.character.KinematicData
};
}
private List <DynamicCharacter> CloneCharacters(GameObject objectToClone, int numberOfCharacters, GameObject[] obstacles)
{
var characters = new List <DynamicCharacter>();
for (int i = 0; i < numberOfCharacters; i++)
{
var clone = GameObject.Instantiate(objectToClone);
clone.transform.position = this.GenerateRandomClearPosition(obstacles);
var character = new DynamicCharacter(clone)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
character.KinematicData.orientation = Random.Range(0, 360);
characters.Add(character);
}
return(characters);
}
private List <DynamicCharacter> CloneSecondaryCharacters(GameObject objectToClone, int numberOfCharacters, GameObject[] obstacles)
{
var characters = new List <DynamicCharacter> ();
for (int i = 0; i < numberOfCharacters; i++)
{
var clone = GameObject.Instantiate(objectToClone);
//clone.transform.position = new Vector3(30,0,i*20);
clone.transform.position = this.GenerateRandomClearPosition(obstacles);
var character = new DynamicCharacter(clone)
{
MaxSpeed = MAX_SPEED,
Drag = DRAG
};
//character.KinematicData.orientation = (float)Math.PI*i;
characters.Add(character);
}
return(characters);
}
public HumanActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek
{
MaxAcceleration = 60f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.MaxSpeed = 30f;
FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 40f,
MaxSpeed = 30f,
SlowRadius = 3.5f,
StopRadius = 3f,
GoalPosition = GoalPosition
};
}
public CarActuator(DynamicCharacter character)
{
SeekMovement = new DynamicSeek()
{
MaxAcceleration = 80f,
Character = character.KinematicData,
StopRadius = 49f // 49 = 7^2
};
this.Character = character;
this.Character.BackingUp = false;
//setting character MaxSpeed according to actuator
this.Character.MaxSpeed = 40f;
this.FollowPathMovement = new DynamicFollowPath(character.KinematicData)
{
MaxAcceleration = 60f,
MaxSpeed = 50f,
SlowRadius = 15f,
StopRadius = 7f,
GoalPosition = GoalPosition
};
}
protected MovementOutput GetOutput(GlobalPath suggestedPath, DynamicCharacter character)
{
DynamicMovement movement;
if (suggestedPath != null)
{
SeekMovement.Target = new KinematicData()
{
position = suggestedPath.LocalPaths[0].EndPosition
};
//Debug.DrawLine(character.KinematicData.position, SeekMovement.Target.position, Color.black);
movement = SeekMovement;
return(movement.GetMovement());
}
else
{
movement = FollowPathMovement;
}
return(FilterMovementOutput(movement.GetMovement(), Character));
}
// Use this for initialization
private void Awake()
{
this.draw = true;
NavMeshPathGraph navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.Pedestrians = new List <GameObject>(GameObject.FindGameObjectsWithTag("Pedestrian")).ConvertAll(p => new Pedestrian(p));
// Targeter
TargeterComponent = new Targeter(this);
// Decomposer
DecomposerComponent = new Decomposer(this, navMesh, this.character);
// TargetCollisionConstraint
PathConstraints = new List <IConstraint>();
PathConstraints.Add(new PedestrianAvoidanceConstraint(this, character, this.Pedestrians));
PathConstraints.Add(new AvoidObstacleConstraint(this.character));
// Movement Constraints
MovementConstraints = new List <IConstraint>();
StaticObstacleConstraint obsConstraint = new StaticObstacleConstraint(character)
{
AvoidMargin = 10f
};
MovementConstraints.Add(obsConstraint);
if (CharacterInUse.Equals(CharacterType.Car))
{
Actuator = new CarActuator(this.character);
}
else if (CharacterInUse.Equals(CharacterType.Human))
{
Actuator = new HumanActuator(this.character);
}
}
protected override MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character)
{
Vector3 charOrientation = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation);
float charSpeed = character.KinematicData.velocity.sqrMagnitude;
float angleDiff = Mathf.Deg2Rad * (Vector3.Angle(charOrientation, output.linear));
float angleDiffAbs = Math.Abs(angleDiff);
float distance = (GoalPosition - character.KinematicData.position).sqrMagnitude;
if (character.BackingUp || angleDiffAbs >= MathConstants.MATH_PI - MathConstants.MATH_PI / 3f && charSpeed <= 1 && distance < 900f) // 900 = 30^2
{
character.BackingUp = true;
Vector3 contraryVector =
MathHelper.ConvertOrientationToVector(MathHelper.ConvertVectorToOrientation((GoalPosition - character.KinematicData.position)) + MathConstants.MATH_PI);
character.KinematicData.orientation = MathHelper.ConvertVectorToOrientation(Vector3.Lerp(charOrientation, contraryVector, 0.1f));
return(output);
}
if (!character.BackingUp)
{
if (Physics.Raycast(character.KinematicData.position, character.KinematicData.velocity, 30f))
{
//Debug.DrawLine(character.KinematicData.position, character.KinematicData.velocity.normalized*30f+character.KinematicData.position, Color.black);
CapCharacterVelocity(character);
}
if (angleDiff > MathConstants.MATH_PI_2 / 6f && charSpeed >= 4900) // 4900 = 70^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 6f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 40f;
return(output);
}
if (angleDiff > MathConstants.MATH_PI_2 / 3f && charSpeed >= 3600) // 3600 = 60^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_2 / 3f).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 30f;
return(output);
}
if (angleDiff > MathConstants.MATH_PI_4 && charSpeed >= 2500) // 2500 = 50^2
{
output.linear = MathHelper.ConvertOrientationToVector(MathConstants.MATH_PI_4).normalized;
character.KinematicData.velocity = character.KinematicData.velocity.normalized * 25f;
return(output);
}
if (angleDiffAbs >= MathConstants.MATH_PI_2 / 3f && charSpeed <= 100) // 100 = 10^2
{
// aqui altera apenas a direcção em que em que o carro vira
if (angleDiff < 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation - MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
else if (angleDiff >= 0)
{
output.linear = MathHelper.ConvertOrientationToVector(character.KinematicData.orientation + MathConstants.MATH_PI_2 / 48f);
character.KinematicData.velocity *= 2f;
}
return(output);
}
}
return(output);
}
public MovementOutput GetOutput(GlobalPath suggestedPath, DynamicCharacter character)
{
return(base.GetOutput(suggestedPath, character));
}
public bool WillViolate(GlobalPath path, out Vector3 suggestedPosition)
{
var targetsToAvoid = false;
var shortestTime = float.MaxValue;
var closestMinSeparation = 0f;
var closestDistance = 0f;
var closestDeltaPos = Vector3.zero;
var closestDeltaVel = Vector3.zero;
DynamicCharacter closestTarget = null;
foreach (var target in this.Pedestrians)
{
var deltaPos = target.KinematicData.position - this.Character.KinematicData.position;
var deltaVel = target.KinematicData.velocity - this.Character.KinematicData.velocity;
var deltaSpeed = deltaVel.magnitude; // can't be optimized to sqrMagnitude with no side effects
if (deltaSpeed < 0.005f)
{
continue;
}
var timeToClosest = -Vector3.Dot(deltaPos, deltaVel) / (deltaSpeed * deltaSpeed);
if (timeToClosest > MaxTimeLookAhead)
{
continue;
}
var distance = deltaPos.magnitude; // can't be optimized to sqrMagnitude with no side effects
var minSeparation = distance - deltaSpeed * timeToClosest;
if (minSeparation > 2 * CollisionRadius)
{
continue;
}
if (timeToClosest > 0 && timeToClosest < shortestTime)
{
targetsToAvoid = true;
shortestTime = timeToClosest;
closestTarget = target;
closestMinSeparation = minSeparation;
closestDistance = distance;
closestDeltaPos = deltaPos;
closestDeltaVel = deltaVel;
}
}
if (!targetsToAvoid)
{
suggestedPosition = Vector3.zero;
return(false);
}
Vector3 avoidanceDirection;
if (closestMinSeparation <= 0 || closestDistance < 2 * CollisionRadius)
{
avoidanceDirection = this.Character.KinematicData.position - closestTarget.KinematicData.position;
}
else
{
avoidanceDirection = (closestDeltaPos + closestDeltaVel * shortestTime) * -1;
}
suggestedPosition = this.Character.KinematicData.position + avoidanceDirection.normalized * AvoidMargin;
return(true);
}
public PedestrianAvoidanceConstraint(SteeringPipeline pipeline, DynamicCharacter character, List <Pedestrian> pedestrians)
{
this.Pedestrians = pedestrians;
this.Character = character;
}
private void InitializeCharacter(DynamicCharacter character)
{
var blended = new BlendedMovement
{
Character = character.KinematicData,
MovementDebugColor = Color.black
};
var priority = new PriorityMovement
{
Character = character.KinematicData
};
// VELOCITY MATCHING
var flockVelocityMatching = new FlockVelocityMatching()
{
Character = character.KinematicData,
Flock = this.getCharactersKinematicData(this.Characters),
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.green
};
// SEPARATION
var flockSeparation = new FlockSeparation()
{
Character = character.KinematicData,
Flock = this.getCharactersKinematicData(this.Characters),
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.grey
};
// COHESION
var flockCohesion = new FlockCohesion()
{
Character = character.KinematicData,
Flock = this.getCharactersKinematicData(this.Characters),
MaxAcceleration = MAX_ACCELERATION,
MovementDebugColor = Color.cyan
};
// OBSTACLE AVOIDANCE
var obstacleAvoidMovement = new DynamicObstacleAvoid()
{
MaxAcceleration = MAX_ACCELERATION / 2,
Character = character.KinematicData,
MovementDebugColor = Color.magenta
};
// FLEE
var flockFlee = new FlockFlee()
{
Character = character.KinematicData,
Flock = this.getCharactersKinematicData(this.Characters),
Target = new KinematicData(),
MaxAcceleration = MAX_ACCELERATION * 3.0f,
MovementDebugColor = Color.green
};
//TODO: ADD THE 3 MOVEMENTS
blended.Movements.Add(new MovementWithWeight(flockSeparation, 1.5f));
blended.Movements.Add(new MovementWithWeight(flockCohesion, 1.7f));
blended.Movements.Add(new MovementWithWeight(flockVelocityMatching, 2.0f));
blended.Movements.Add(new MovementWithWeight(flockFlee, 2.0f));
priority.Movements.Add(obstacleAvoidMovement);
priority.Movements.Add(blended);
character.Movement = priority;
}
protected abstract MovementOutput FilterMovementOutput(MovementOutput output, DynamicCharacter character);
