public Decomposer(SteeringPipeline pipeline, NavMeshPathGraph navMesh, DynamicCharacter character)
{
Character = character;
Pipeline = pipeline;
aStarPathFinding = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 150;
}
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.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;
}
public GoalBounding(NavMeshPathGraph navMesh, BoundingBox mapSize) {
//Hack to access private field with all the nodes of the mesh
List<NavigationGraphNode> nodeList = (List<NavigationGraphNode>)Utils.Reflection.GetInstanceField(
typeof(RAINNavigationGraph), navMesh, "_pathNodes");
nodeInfos = new NodeRecordArray(nodeList, mapSize);
}
public List <Vector3> SmoothPath(List <Vector3> pathPositions, NavMeshPathGraph _navMesh, int _mode)
{
mode = _mode;
if (mode < 0 || mode > 2)
{
mode = 1;
}
if (mode == 1)
{
ray = new Ray();
hit = new RaycastHit();
}
navMesh = _navMesh;
smoothedPositions.Clear();
count = pathPositions.Count;
lastAdded = pathPositions.First();
smoothedPositions.Add(lastAdded);
for (int i = 0; i < count - 2; i++)
{
if (!CanBeDeleted(lastAdded, pathPositions[i + 2]))
{
smoothedPositions.Add(pathPositions[i + 1]);
lastAdded = pathPositions[i + 1];
}
}
smoothedPositions.Add(pathPositions.Last());
return(smoothedPositions);
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.draw = true;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathfindingAlgorithm;
this.AStarPathFinding.NodesPerSearch = 100;
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.MCTSActive = true; //change this if you want to try DL-GOAP
this.draw = false;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathfindingAlgorithm;
this.AStarPathFinding.NodesPerSearch = 100;
}
public NodeArrayAStarPathFinding(NavMeshPathGraph graph, IHeuristic heuristic) : base(graph, null, null, heuristic)
{
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
// Use this for initialization
void Start()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new SimpleUnorderedNodeList(), new ZeroHeuristic());
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.draw = false;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathfindingAlgorithm;
this.AStarPathFinding.NodesPerFrame = 15;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.InProgress = false;
this.Heuristic = heuristic;
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.draw = true;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathfindingAlgorithm;
this.AStarPathFinding.NodesPerFrame = 100; //it was NodesPerSearch before
this.characterAnimator = this.GetComponentInChildren <Animator> ();
}
public InfluenceMap(NavMeshPathGraph navMesh, IOpenLocationRecord open, IClosedLocationRecord closed, IInfluenceFunction influenceFunction, float influenceThreshold)
{
this.NavMeshGraph = navMesh;
this.Open = open;
this.Closed = closed;
this.InfluenceFunction = influenceFunction;
this.InfluenceThreshold = influenceThreshold;
this.NodesPerFlood = 50;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.NodesPerFrame = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.draw = true;
this.navMesh = navMeshGraph;
this.AStarPathfinding = pathfindingAlgorithm;
this.AStarPathfinding.NodeLimit = 100;
this.characterAnimator = this.GetComponentInChildren <Animator> ();
}
public NodeArrayAStarPathFinding(NavMeshPathGraph graph, IHeuristic heuristic) : base(graph, null, null, heuristic)
{
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
public InfluenceMap(NavMeshPathGraph navMesh, IOpenLocationRecord open, IClosedLocationRecord closed, IInfluenceFunction influenceFunction, float influenceThreshold)
{
this.NavMeshGraph = navMesh;
this.Open = open;
this.Closed = closed;
this.InfluenceFunction = influenceFunction;
this.InfluenceThreshold = influenceThreshold;
this.NodesPerFlood = 50;
}
public AStarPathfinding(NavMeshPathGraph graph, IOpenSet open, IClosedSet closed, IHeuristic heuristic)
{
this.NavMeshGraph = graph;
this.Open = open;
this.Closed = closed;
this.NodesPerSearch = uint.MaxValue; //by default we process all nodes in a single request
this.InProgress = false;
this.Heuristic = heuristic;
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathFinding pathFindingAlgorithm)
{
this.draw = true;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathFindingAlgorithm;
this.AStarPathFinding.NodesPerSearch = 2000;
this.actionsPerformed = 0;
this.characterAnimator = this.GetComponentInChildren <Animator>();
}
private static void CalculateGoalBounds()
{
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
//this is needed because RAIN AI does some initialization the first time the QuantizeToNode method is called
//if this method is not called, the connections in the navigationgraph are not properly initialized
navMesh.QuantizeToNode(new Vector3(0, 0, 0), 1.0f);
var dijkstra = new GoalBoundsDijkstraMapFlooding(navMesh);
GoalBoundingTable goalBoundingTable = new GoalBoundingTable();
var nodes = GetNodesHack(navMesh);
goalBoundingTable.table = new NodeGoalBounds[nodes.Count];
NodeGoalBounds auxGoalBounds;
//calculate goal bounds for each edge
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is NavMeshEdge)
{
//initialize the GoalBounds structure for the edge
auxGoalBounds = new NodeGoalBounds
{
connectionBounds = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds[nodes[i].OutEdgeCount]
};
for (int j = 0; j < nodes[i].OutEdgeCount; j++)
{
auxGoalBounds.connectionBounds[j] = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds();
auxGoalBounds.connectionBounds[j].InitializeBounds(nodes[i].LocalPosition);
}
if (i % 10 == 0)
{
float percentage = (float)i / (float)nodes.Count;
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Calculating goal bounds for each edge", percentage);
}
//run a Dijkstra mapflooding for each node
dijkstra.Search(nodes[i], auxGoalBounds);
goalBoundingTable.table[i] = auxGoalBounds;
}
}
//saving the table to a binary file
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Saving GoalBoundsTable to an Asset file", 100);
goalBoundingTable.Save(Application.dataPath + "/Resources/", "GoalBoundingTable.dat");
//saving the assets, this takes forever using Unity's serialization mechanism
EditorUtility.ClearProgressBar();
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding AStarPathFinding)
{
this.MCTSActive = true;
this.draw = true;
this.navMesh = navMeshGraph;
this.AStarPathFinding = AStarPathFinding;
this.AStarPathFinding.NodesPerFrame = 100;
this.characterAnimator = this.GetComponentInChildren <Animator> ();
}
// 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;
}
public GoalBoundsDijkstraMapFlooding(NavMeshPathGraph graph)
{
this.NavMeshGraph = graph;
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
//this.aStarPathFinding = new AStarPathfinding(this.navMesh, new NodePriorityHeap(), new NodeHashmap(), new EuclideanHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
private List<NavigationGraphNode> GetNodesHack(NavMeshPathGraph graph)
{
//this hack is needed because in order to implement NodeArrayA* you need to have full acess to all the nodes in the navigation graph in the beginning of the search
//unfortunately in RAINNavigationGraph class the field which contains the full List of Nodes is private
//I cannot change the field to public, however there is a trick in C#. If you know the name of the field, you can access it using reflection (even if it is private)
//using reflection is not very efficient, but it is ok because this is only called once in the creation of the class
//by the way, NavMeshPathGraph is a derived class from RAINNavigationGraph class and the _pathNodes field is defined in the base class,
//that's why we're using the type of the base class in the reflection call
return (List<NavigationGraphNode>)Utils.Reflection.GetInstanceField(typeof(RAINNavigationGraph), graph, "_pathNodes");
}
public SecureNodeArrayAStarPathFinding(AutonomousCharacter character, NavMeshPathGraph graph, IHeuristic heuristic)
: base(graph, null, null, heuristic)
{
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
this.character = character;
}
public void Initialize(NavMeshPathGraph navMeshGraph, AStarPathfinding pathfindingAlgorithm)
{
this.draw = false;
this.navMesh = navMeshGraph;
this.AStarPathFinding = pathfindingAlgorithm;
this.AStarPathFinding.NodesPerFrame = 200;
this.smoothedPath = new GlobalPath();
}
private static List <NavigationGraphNode> GetNodesHack(NavMeshPathGraph graph)
{
//this hack is needed because in order to implement NodeArrayA* you need to have full acess to all the nodes in the navigation graph in the beginning of the search
//unfortunately in RAINNavigationGraph class the field which contains the full List of Nodes is private
//I cannot change the field to public, however there is a trick in C#. If you know the name of the field, you can access it using reflection (even if it is private)
//using reflection is not very efficient, but it is ok because this is only called once in the creation of the class
//by the way, NavMeshPathGraph is a derived class from RAINNavigationGraph class and the _pathNodes field is defined in the base class,
//that's why we're using the type of the base class in the reflection call
return((List <NavigationGraphNode>)Assets.Scripts.IAJ.Unity.Utils.Reflection.GetInstanceField(typeof(RAINNavigationGraph), graph, "_pathNodes"));
}
// 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 static bool CheckifHit(Vector3 start, Vector3 end, NavMeshPathGraph navMesh)
{
float delta = 0.0f;
for (delta = 0.02f; delta < 1; delta += 0.02f)
{
if (!navMesh.IsPointOnGraph(Vector3.Lerp(start, end, delta), 1))
{
return(true);
}
}
return(false);
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar)
{
Drag = DRAG,
MaxSpeed = MAX_SPEED
};
aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
aStarPathFinding.NodesPerSearch = 100;
}
// Use this for initialization
void Awake()
{
BinaryFormatter bf = new BinaryFormatter();
FileStream file = File.Open("Assets/GoalBoundingData/GoalBounding.dat", FileMode.Open);
GoalBoundingTable goalBoundingTable = (GoalBoundingTable)bf.Deserialize(file);
file.Close();
this.currentClickNumber = 1;
navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic(), goalBoundingTable));
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic()));
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar)
{
Drag = DRAG,
MaxSpeed = MAX_SPEED
};
this.bots = GameObject.FindGameObjectsWithTag("Bot");
this.decomposer = new Decomposer(new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic()));
this.decomposer.searchAlgorithm.NodesPerSearch = 100;
}
// Use this for initialization
void Awake ()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
BoundingBox mapSize = new BoundingBox();
mapSize.minX = -200;
mapSize.minZ = -200;
mapSize.maxX = 200;
mapSize.maxZ = 200;
this.goalbounding = new GoalBounding(navMesh, mapSize);
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh,new SimpleHeuristic(),true);
this.aStarPathFinding.NodesPerSearch = 100;
}
public NodeArrayAStarPathFinding(NavMeshPathGraph graph, IHeuristic heuristic, bool usingGoalBounding) : base(graph, null, null, heuristic)
{
//do not change this
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes, new BoundingBox());
this.Open = this.NodeRecordArray;
this.Closed = this.NodeRecordArray;
this.UsingGoalBounding = usingGoalBounding;
this.fileReader = new FileReader();
if (usingGoalBounding)
{
fileReader.fileName = "goalBoundingInfo.xml";
NodeRecordArray = fileReader.readFile(this.NodeRecordArray);
}
}
public List <Vector3> SmoothPath(List <Vector3> pathPositions, NavMeshPathGraph _navMesh, int _mode)
{
setMode(_mode);
navMesh = _navMesh;
smoothedPositions.Clear();
count = pathPositions.Count;
lastAdded = pathPositions.First();
smoothedPositions.Add(lastAdded);
for (int i = 0; i < count - 2; i++)
{
if (!CanBeDeleted(lastAdded, pathPositions[i + 2]))
{
smoothedPositions.Add(pathPositions[i + 1]);
lastAdded = pathPositions[i + 1];
}
}
smoothedPositions.Add(pathPositions.Last());
return(smoothedPositions);
}
// 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);
}
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic(), this);
this.aStarPathFinding.NodesPerSearch = 500;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh,new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.ResourceInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.CombinedInfluence = new Dictionary<LocationRecord, float>();
this.SecurityMap = new Dictionary<LocationRecord, float>();
//initialization of the GOB decision making
//let's start by creating 5 main goals
//the eat goal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
this.Actions.Add(new PlaceFlag(this));
this.ActiveResources = new Dictionary<NavigationGraphNode, IInfluenceUnit>();
int boars = 0;
int chests = 0;
int trees = 0;
int beds = 0;
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
chests++;
this.Actions.Add(new PickUpChest(this, chest));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(chest.transform.position, 1.0f)));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
trees++;
this.Actions.Add(new GetArrows(this, tree));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(tree.transform.position, 1.0f)));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
beds++;
this.Actions.Add(new Sleep(this, bed));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(bed.transform.position, 1.0f)));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
boars++;
this.AddResource(new Resource(this.navMesh.QuantizeToNode(boar.transform.position, 1.0f)));
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
this.ResourceInfluenceMap.Initialize(this.ActiveResources.Values.ToList());
//flags used for the influence map
this.RedFlags = new List<IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List<IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModelFEAR(this.GameManager, this.Actions, this.Goals);
worldModel.InitArrays( boars, trees, beds, chests);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
private static void CalculateGoalBounds()
{
Debug.Log("Creating goalbounds table");
DateTime startTime = DateTime.Now;
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
//this is needed because RAIN AI does some initialization the first time the QuantizeToNode method is called
//if this method is not called, the connections in the navigationgraph are not properly initialized
navMesh.QuantizeToNode(new Vector3(0, 0, 0), 1.0f);
GoalBoundingTable goalBoundingTable = new GoalBoundingTable();
var nodes = GetNodesHack(navMesh);
goalBoundingTable.table = new NodeGoalBounds[nodes.Count];
var dijkstra = new GoalBoundsDijkstraMapFlooding(nodes);
NodeGoalBounds auxGoalBounds;
//calculate goal bounds for each edge
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is NavMeshEdge)
{
//initialize the GoalBounds structure for the edge
auxGoalBounds = new NodeGoalBounds();
auxGoalBounds.connectionBounds = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds[nodes[i].OutEdgeCount];
for (int j = 0; j < nodes[i].OutEdgeCount; j++)
{
auxGoalBounds.connectionBounds[j] = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds();
auxGoalBounds.connectionBounds[j].InitializeBounds(nodes[i].Position);
}
if (i % 10 == 0)
{
float percentage = (float)i / (float)nodes.Count;
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Calculating goal bounds for each edge", percentage);
}
//run a Dijkstra mapflooding for each node
dijkstra.Search(nodes[i], auxGoalBounds);
goalBoundingTable.table[i] = auxGoalBounds;
//edgeIndex++;
}
}
BinaryFormatter bf = new BinaryFormatter();
if (File.Exists("Assets/GoalBoundingData/GoalBounding.dat"))
{
File.Delete("Assets/GoalBoundingData/GoalBounding.dat");
}
FileStream file = File.Create("Assets/GoalBoundingData/GoalBounding.dat");
bf.Serialize(file, goalBoundingTable);
file.Close();
EditorUtility.ClearProgressBar();
TimeSpan time = DateTime.Now - startTime;
Debug.Log("Duration creating goalboundtable : " + time.ToString());
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.5f;
StringPullingPathSmoothing.MinWidth = 0.1f;
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
//this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new SimpleUnorderedNodeList(), new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
public GoalBoundingNodeArrayAStarPathFinding(NavMeshPathGraph graph, IHeuristic heuristic)
: base(graph, heuristic)
{
}
public GoalBoundingPathfinding(NavMeshPathGraph graph, IHeuristic heuristic, GoalBoundingTable goalBoundsTable) : base(graph, heuristic)
{
this.GoalBoundingTable = goalBoundsTable;
dikjstra = new GoalBoundsDijkstraMapFlooding(graph);
}
// Use this for initialization
void Start()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new DictionaryData(), new ZeroHeuristic());
}
public InfluenceMapAStarPathfinding(NavMeshPathGraph graph, IHeuristic heuristic, InfluenceMap redMap, InfluenceMap greenMap)
: base(graph,heuristic)
{
this.RedMap = redMap;
this.GreenMap = greenMap;
}
// 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;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh,new ZeroHeuristic());
//this.aStarPathFinding = new AStarPathfinding(this.navMesh, new NodePriorityHeap(), new DictionaryData(), new ZeroHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.character = new DynamicCharacter(this.characterAvatar);
this.character.Drag = 0.3f;
StringPullingPathSmoothing.MinWidth = 0.1f;
this.aStarPathFindingEuclidean = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFindingGBEuclidean = new GoalBoundingNodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFindingZero = new NodeArrayAStarPathFinding(this.navMesh, new ZeroHeuristic());
this.aStarPathFindingGBZero = new GoalBoundingNodeArrayAStarPathFinding(this.navMesh, new ZeroHeuristic());
this.aStarPathFindingEuclidean.NodesPerSearch = 100;
this.aStarPathFindingZero.NodesPerSearch = 100;
this.aStarPathFindingGBEuclidean.NodesPerSearch = 100;
this.aStarPathFindingGBEuclidean.NodesPerSearch = 100;
//default
this.aStarPathFinding = this.aStarPathFindingGBEuclidean;
currentAStar = "A* GoalBounding Euclidean Distance";
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
// this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
//this.aStarPathFinding.NodesPerSearch = 100;
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
this.Character.Movement = InitializeSteeringPipeline(this.Character);
}
public NodeAStarDecomposer()
{
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}
// Use this for initialization
void Start()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
IHeuristic heuristic = null;
switch (Heuristic)
{
case HeuristicType.Zero:
heuristic = new ZeroHeuristic();
break;
case HeuristicType.Euclidean:
heuristic = new EuclideanHeuristic();
break;
default:
break;
}
this.aStarPathFinding = new AStarPathfinding(this.navMesh, new SimpleUnorderedNodeList(), new HashTableNodeList(), heuristic);
}
public override void RestartNodeArray(NavMeshPathGraph graph)
{
var nodes = this.GetNodesHack(graph);
this.NodeRecordArray = new NodeRecordArray(nodes);
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.Character = new DynamicCharacter(this.gameObject) { Drag = 0.3f};
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
steeringPipeline.Constraints.Add(
new Assets.Scripts.IAJ.Unity.SteeringPipeline.ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 5f,
MaxWhiskersLookAhead = 7f
});
steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = this.Character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
this.Character.Movement = steeringPipeline;
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
public virtual void RestartNodeArray(NavMeshPathGraph graph)
{
}
// Use this for initialization
void Awake()
{
this.draw = false;
this.currentClickNumber = 1;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
//this.aStarPathFinding = new AStarPathfinding(this.navMesh, new RightPriorityList(), new HashTableNodeList(), new EuclideanHeuristic());
this.aStarPathFinding.NodesPerSearch = 50;
}
// This will regenerate the navigation mesh when called
public void GenerateNavmesh()
{
NavMeshRig tRig = GetComponent<NavMeshRig>();
// Unregister any navigation mesh we may already have (probably none if you are using this)
tRig.NavMesh.UnregisterNavigationGraph();
tRig.NavMesh.Size = 40;
tRig.NavMesh.MaxSlope = 45;
tRig.NavMesh.WalkableHeight = 2;
tRig.NavMesh.WalkableRadius = 3;
tRig.NavMesh.StepHeight = 0.75f;
tRig.NavMesh.CellSize = 0.5f;
tRig.NavMesh.StartCreatingContours(_threadCount);
while (tRig.NavMesh.Creating)
{
tRig.NavMesh.CreateContours();
// This could be changed to a yield (and the function to a coroutine) although as
// of RAIN of 2.1.4.0 (fixed since then), our navigation mesh editor has issues with it
Thread.Sleep(10);
}
tRig.NavMesh.RegisterNavigationGraph();
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
}
private static void CreateClusterGraph()
{
Cluster cluster;
Gateway gateway;
//get cluster game objects
var clusters = GameObject.FindGameObjectsWithTag("Cluster");
//get gateway game objects
var gateways = GameObject.FindGameObjectsWithTag("Gateway");
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
ClusterGraph clusterGraph = ScriptableObject.CreateInstance <ClusterGraph>();
//create gateway instances for each gateway game object
for (int i = 0; i < gateways.Length; i++)
{
var gatewayGO = gateways[i];
gateway = ScriptableObject.CreateInstance <Gateway>();
gateway.Initialize(i, gatewayGO);
clusterGraph.gateways.Add(gateway);
}
//create cluster instances for each cluster game object and check for connections through gateways
foreach (var clusterGO in clusters)
{
cluster = ScriptableObject.CreateInstance <Cluster>();
cluster.Initialize(clusterGO);
clusterGraph.clusters.Add(cluster);
//determine intersection between cluster and gateways and add connections when they intersect
foreach (var gate in clusterGraph.gateways)
{
if (MathHelper.BoundingBoxIntersection(cluster.min, cluster.max, gate.min, gate.max))
{
cluster.gateways.Add(gate);
gate.clusters.Add(cluster);
}
}
}
// Second stage of the algorithm, calculation of the Gateway table
GlobalPath solution = null;
//float cost;
Gateway startGate;
Gateway endGate;
var pathfindingAlgorithm = new NodeArrayAStarPathFinding(navMesh, new EuclideanDistanceHeuristic());
clusterGraph.gatewayDistanceTable = new GatewayDistanceTableRow[clusterGraph.gateways.Count];
for (int i = 0; i < clusterGraph.gateways.Count; i++)
{
var row = new GatewayDistanceTableRow();
row.entries = new GatewayDistanceTableEntry[clusterGraph.gateways.Count];
startGate = clusterGraph.gateways[i];
for (int j = 0; j < clusterGraph.gateways.Count; j++)
{
endGate = clusterGraph.gateways[j];
row.entries[j] = new GatewayDistanceTableEntry()
{
startGatewayPosition = startGate.Localize(),
endGatewayPosition = endGate.Localize()
};
if (i != j)
{
pathfindingAlgorithm.InitializePathfindingSearch(startGate.Localize(), endGate.Localize());
bool finished = pathfindingAlgorithm.Search(out solution);
if (finished && solution != null)
{
row.entries[j].shortestDistance = solution.Length;
}
else
{
row.entries[j].shortestDistance = float.MaxValue;
}
}
else
{
row.entries[j].shortestDistance = 0.0f;
}
}
clusterGraph.gatewayDistanceTable[i] = row;
}
//Debug.Log("Distance table with: " + clusterGraph.gatewayDistanceTable.Length + " rows and " + clusterGraph.gatewayDistanceTable[0].entries.Length + " columns.");
//string print = "[";
//for (int i = 0; i < clusterGraph.gatewayDistanceTable.Length; i++)
//{
// print += "[";
// for(int j= 0; j < clusterGraph.gatewayDistanceTable[i].entries.Length; j++)
// {
// print += clusterGraph.gatewayDistanceTable[i].entries[j].shortestDistance + ", ";
// }
// print += "]\n";
//}
//print += "]";
//Debug.Log(print);
//do not change this
var nodes = GetNodesHack(navMesh);
clusterGraph.nodesCluster = new Cluster[nodes.Count];
foreach (var n in nodes)
{
var pos = n.LocalPosition;
foreach (var c in clusterGraph.clusters)
{
if (pos.x >= c.min.x && pos.x <= c.max.x && pos.z >= c.min.z && pos.z <= c.max.z)
{
clusterGraph.nodesCluster[n.NodeIndex] = c;
break;
}
}
}
//create a new asset that will contain the ClusterGraph and save it to disk (DO NOT REMOVE THIS LINE)
clusterGraph.SaveToAssetDatabase();
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = this.Character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh,new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
//flags used for the influence map
this.RedFlags = new List<IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List<IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
public GoalBoundingPathfinding(NavMeshPathGraph graph, IHeuristic heuristic, GoalBoundingTable goalBoundsTable) : base(graph, heuristic)
{
this.GoalBoundingTable = goalBoundsTable;
}
public void Start()
{
navMesh = NavigationManager.Instance.NavMeshGraphs[0];
}
