public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
arriveBehaviour = new PathfindToPoint();
seekBehaviour = new Seek();
arriveBehaviour.Init(myLeg, myBrain.levelGrid);
seekBehaviour.Init(myLeg);
myLeg.addSteeringBehaviour(arriveBehaviour);
myLeg.addSteeringBehaviour(seekBehaviour);
myLeg.maxSpeed = 11f;
time = 0f;
ferocityRate = controller.memory.GetValue<float>("ferocity");
sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");
sheepMemory = sheepTarget.getMemory();
sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");
arriveBehaviour.setTarget(sheepTarget.getObject());
//for machine learning
float panic = sheepBrain.memory.GetValue<float>("Panic");
float courage = sheepBrain.memory.GetValue<float>("cowardLevel");
float chasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
float distanceWithMe = Vector2.Distance(sheepBrain.legs.getPosition(), myBrain.legs.getPosition());
float distanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
float hungry = myBrain.memory.GetValue<float>("hungryLevel");
float sheepHP = sheepBrain.memory.GetValue<float>("HP");
string sheep = panic + "," + courage + "," + chasedBy + "," + distanceWithMe + "," + distanceWithSheperd + "," + hungry + "," + sheepHP;
myBrain.memory.SetValue("targeting", sheep);
yield return null;
}
public override IEnumerator Run(Brain controller)
{
bool thereIsShepherd = false;
float highestLeaderLevel = 0f;
List<SensedObject> seenSheep = new List<SensedObject>();
List<SensedObject> seenWolf = new List<SensedObject>();
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Sheep))
{
seenSheep.Add(obj);
}
else if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
Memory wolfMemory = obj.getMemory();
if (highestLeaderLevel <= wolfMemory.GetValue<float>("leaderLevel"))
{
highestLeaderLevel = wolfMemory.GetValue<float>("leaderLevel");
}
seenWolf.Add(obj);
}
else if(obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsShepherd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
controller.memory.SetValue("shouldHide", 3f);
}
myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
if(thereIsShepherd) {
UpdateCaution(playerTrans);
} else {
myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
}
myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
if(myBrain.memory.GetValue<float>("watched") > 0)
{
//Debug.Log (myBrain.memory.GetValue<float>("watched"));
}
//check if this wolf has been given command to attack or not
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
//decrease leaderLevel because it has been given command by others
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decreaseLeaderLevel * Time.deltaTime));
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//Change to hunting phase
Debug.Log("I've received command. I'm hunting! Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
else
{
if (seenSheep.Count > 0)
{
//choose the target
//if the wolf hasn't have his target, pick it
target = chooseTarget(seenSheep);
if (target != null)
{
//target is alive
if (target.getObject().GetComponent<Brain>().memory.GetValue<float>("HP") > 0)
{
//set the target for this wolf
controller.memory.SetValue("hasCommand", target);
//calling sheep that it is being targeted
Memory sheepMemory = target.getMemory();
//get a list of wolves that are chasing this sheep
List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");
//add itself in
if (wolvesChasing != null)
{
wolvesChasing.Add(this.myBrain);
sheepMemory.SetValue("chasedBy", wolvesChasing);
}
//send signal to other wolf in its sensing radius, tell them to change to hunting phase
if (controller.memory.GetValue<float>("leaderLevel") >= highestLeaderLevel)
{
//increase its leaderLevel whenever it issue a decision to hunt
if (controller.memory.GetValue<float>("leaderLevel") < 100f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") + increaseLeaderLevel);
}
//set the maximum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") > 100f)
{
controller.memory.SetValue("leaderLevel", 100f);
}
//call other to change to hunting phase
foreach (SensedObject objWolf in seenWolf)
{
//give out command to attack the same target
Memory wolfMemory = objWolf.getMemory();
wolfMemory.SetValue("hasCommand", target);
Debug.Log("I'm the leader! I sent command!");
}
}
//Change to hunting phasemyBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
Debug.Log("I'm hunting. Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
}
}
}
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
time = 0f;
//decrease its hungryLevel when it change to hunting state
//controller.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - 4f);
mainMachine.RequestStateTransition(hunting.GetTarget());
}
else
{
if (time >= 20f) //wait for 20 sec
{
//decrease its leaderLevel if it can't find any sheep or cant issue and command
if (controller.memory.GetValue<float>("leaderLevel") > 10f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decayLeaderLevel / myBrain.memory.GetValue<float>("ferocity")));
}
if (controller.memory.GetValue<float>("hungryLevel") > 0f)
{
myBrain.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - (decayHungryLevel * (myBrain.memory.GetValue<float>("ferocity") / 5)));
}
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//set the minimum hungryLevel for wolf
if (controller.memory.GetValue<float>("hungryLevel") < 0f)
{
controller.memory.SetValue("hungryLevel", 0f);
Debug.Log("I died because I'm too hungry");
myBrain.getGameObject().SetActiveRecursively(false);
controller.memory.GetValue<Genome>("Genome").manager.SpawnWolf(controller.memory.GetValue<Vector2>("StartPoint"));
}
}
else
{
time += Time.deltaTime;
}
}
yield return null;
}