public override void StateStart()
{
lightToUse = LightManager.GetClosestLightInRange(EnemyAI.transform.position, EnemyAI.lightsInUse, EnemyAI.gameObject);
if (lightToUse != null)
{
EnemyAI.lightsInUse.Add(lightToUse);
}
}
public override void StateBehaviour()
{
if (Wisp.neuralNetworkRoam != null)
{
timer += Time.deltaTime;
if (timer >= 3.0f)
{
timer = 0.0f;
float dist = Vector3.Distance(pos, Wisp.transform.position);
if (dist < 1.5f)
{
Wisp.SelfDestroy(null);
}
Wisp.neuralNetworkRoam.AddFitness(dist * Time.deltaTime);
pos = Wisp.transform.position;
}
}
Wisp.transform.position = Wisp.transform.position + Wisp.transform.forward * Wisp.Speed * Time.deltaTime;
bool raycastforwardHit = false;
RaycastHit raycastHitForward;
if (Physics.SphereCast(Wisp.transform.position, 0.5f, Wisp.transform.forward, out raycastHitForward, Wisp.forwardRaycastDistance))
{
raycastforwardHit = true;
}
RaycastHit raycastHitLeft;
Vector3 left = Quaternion.AngleAxis(-60f, Vector3.up) * Wisp.transform.forward;
Physics.SphereCast(Wisp.transform.position, 0.5f, left, out raycastHitLeft, Wisp.forwardRaycastDistance);
RaycastHit rayCastHitRight;
Vector3 right = Quaternion.AngleAxis(60f, Vector3.up) * Wisp.transform.forward;
Physics.SphereCast(Wisp.transform.position, 0.5f, right, out rayCastHitRight, Wisp.forwardRaycastDistance);
float[] inputs = new float[] {
raycastHitForward.distance,
raycastHitLeft.distance,
rayCastHitRight.distance
};
float[] outputs = Wisp.neuralNetworkRoam.FeedForward(inputs);
//Rotate left based on outputs 0
if (outputs[0] > 0.0f)
{
Wisp.transform.Rotate(0.0f, -10.0f, 0.0f);
}
//Rotate right based on outputs 1
if (outputs[1] > 0.0f)
{
Wisp.transform.Rotate(0.0f, 10.0f, 0.0f);
}
List <GameObject> onTimeOut = new List <GameObject>();
for (int i = 0; i < Wisp.lightTimers.Count; i++)
{
onTimeOut.Add(Wisp.lightTimers[i].light);
}
GameObject light = LightManager.GetClosestLightInRange(Wisp.transform.position, onTimeOut);
if (light != null)
{
Wisp.lightTimers.Add(new LightTimer(light, 30.0f));
Wisp.stateMachine.SwitchState(new AttractState(Wisp, light.transform, light.GetComponent <Light>().range / 10.0f));
}
if (raycastforwardHit)
{
if (raycastHitForward.distance < 3.0f && raycastHitForward.collider.CompareTag("Enemy"))
{
Wisp.stateMachine.SwitchState(new FleeState(Wisp, raycastHitForward.collider.transform, 1.0f));
}
}
}
