public void reportNewLocation(WorldAgent newAgent)
{
int newX = (int)Math.Floor(newAgent.transform.position.x / GetSettingFloat("ViewRange"));
int newY = (int)Math.Floor(newAgent.transform.position.y / GetSettingFloat("ViewRange"));
Pair <int, int> currPos = _coordsOfAgent[newAgent.Id];
_coordsOfAgent[newAgent.Id] = new Pair <int, int>(newX, newY);
_agentGrid[currPos.First, currPos.Second].Remove(newAgent);
_agentGrid[newX, newY].Add(newAgent);
}
public void AddAgent(WorldAgent newAgent)
{
newAgent.transform.position = GetNewLocation();
// newAgent.transform.position = GetCenterLocation();
newAgent.transform.eulerAngles = GetNewAngle();
newAgent.GetComponent <SpriteRenderer>().color = GetNewColor();
int newX = (int)Math.Floor(newAgent.transform.position.x / SearchRadius);
int newY = (int)Math.Floor(newAgent.transform.position.y / SearchRadius);
_coordsOfAgent[newAgent.Id] = new Pair <int, int>(newX, newY);
_agentGrid[newX, newY].Add(newAgent);
}
public Pair <Double, Vector3> SearchGrid(WorldAgent newAgent, int newX, int newY, double currClosestDistance, Vector3 targetDirection)
{
foreach (WorldAgent nearestNeighbor in _agentGrid[newX, newY])
{
double newDistance = newAgent.FindDistance(nearestNeighbor);
if (newDistance < currClosestDistance)
{
currClosestDistance = newDistance;
targetDirection = nearestNeighbor.transform.position;
}
}
return(new Pair <Double, Vector3>(currClosestDistance, targetDirection));
}
public Pair <Double, Vector3> SearchGrid(WorldAgent newAgent, int newX, int newY, double currClosestDistance, Vector3 targetDirection, Vector3 simForward)
{
foreach (WorldAgent nearestNeighbor in _agentGrid[newX, newY])
{
double newDistance = newAgent.FindDistance(nearestNeighbor);
if (newDistance < currClosestDistance && newDistance < GetSettingFloat("ViewRange"))
{
Vector3 targDirection = nearestNeighbor.transform.position - newAgent.transform.position;
float angleToNearestNeighbor = Vector3.Angle(simForward, targDirection);
if (angleToNearestNeighbor < GetSettingFloat("ViewAngle") / 2)
{
currClosestDistance = newDistance;
targetDirection = nearestNeighbor.transform.position;
}
}
}
return(new Pair <Double, Vector3>(currClosestDistance, targetDirection));
}
public void AddAgent(WorldAgent newAgent)
{
// newAgent.transform.position = GetTestLocation();
newAgent.transform.position = GetNewLocation();
// newAgent.transform.position = GetCenterLocation();
newAgent.transform.eulerAngles = GetNewAngle();
// newAgent.transform.eulerAngles = GetTestAngle();
newAgent.BaseTurn = GetRandomTurnSpeed();
newAgent.BaseSpeed = GetRandomSpeed();
// newAgent.BaseSpeed = 0;
float newScale = GetTurnScale(newAgent.BaseTurn);
newAgent.transform.localScale = new Vector3(newScale, newScale, 0);
newAgent.GetComponent <SpriteRenderer>().color = GetSpeedColor(newAgent.BaseSpeed);
int newX = (int)Math.Floor(newAgent.transform.position.x / GetSettingFloat("ViewRange"));
int newY = (int)Math.Floor(newAgent.transform.position.y / GetSettingFloat("ViewRange"));
_coordsOfAgent[newAgent.Id] = new Pair <int, int>(newX, newY);
_agentGrid[newX, newY].Add(newAgent);
}
public Vector3 GetNextHeading(WorldAgent newAgent)
{
Vector3 heading = newAgent.transform.eulerAngles;
Vector3 testForward = new Vector3((float)Math.Cos(newAgent.transform.eulerAngles.z * Math.PI / 180), (float)Math.Sin(newAgent.transform.eulerAngles.z * Math.PI / 180));
float highAngle = (heading.z + GetSettingFloat("ViewAngle") / 2) % 360;
float highAngleX = (float)Math.Cos(highAngle * Math.PI / 180);
float highAngleY = (float)Math.Sin(highAngle * Math.PI / 180);
float lowAngle = (360 + (heading.z - GetSettingFloat("ViewAngle") / 2)) % 360;
float lowAngleX = (float)Math.Cos(lowAngle * Math.PI / 180);
float lowAngleY = (float)Math.Sin(lowAngle * Math.PI / 180);
Vector3 highForward = new Vector3(highAngleX, highAngleY);
Vector3 lowForward = new Vector3(lowAngleX, lowAngleY);
float actualX = newAgent.transform.position.x;
float actualY = newAgent.transform.position.y;
int newX = (int)Math.Floor(actualX / GetSettingFloat("ViewRange"));
int newY = (int)Math.Floor(actualY / GetSettingFloat("ViewRange"));
double currClosestDistance = double.PositiveInfinity;
Vector3 targetDirection = Vector3.negativeInfinity;
// search current grid
Pair <double, Vector3> currPair = SearchGrid(newAgent, newX, newY, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
if (newX != 0)
{
if (newY != 0 && Math.Sqrt((actualX - newX * GetSettingFloat("ViewRange")) * (actualX - newX * GetSettingFloat("ViewRange")) + (actualY - newY * GetSettingFloat("ViewRange")) * (actualY - newY * GetSettingFloat("ViewRange"))) < currClosestDistance)
{
// search bottom left grid
Vector3 topLeft = new Vector3((newX - 1) * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 bottomRight = new Vector3(newX * GetSettingFloat("ViewRange"), (newY - 1) * GetSettingFloat("ViewRange"));
Vector3 targetTopLeft = topLeft - newAgent.transform.position;
Vector3 targetBottomRight = bottomRight - newAgent.transform.position;
float highCrossTopLeft = Vector3.Cross(highForward, targetTopLeft).z;
float highCrossBottomRight = Vector3.Cross(highForward, targetBottomRight).z;
float lowCrossTopLeft = Vector3.Cross(lowForward, targetTopLeft).z;
float lowCrossBottomRight = Vector3.Cross(lowForward, targetBottomRight).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossTopLeft <= 0 && highCrossBottomRight >= 0) || (lowCrossTopLeft <= 0 && lowCrossBottomRight >= 0))
{
currPair = SearchGrid(newAgent, newX - 1, newY - 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (newY != GridY - 1 && Math.Sqrt((actualX - newX * GetSettingFloat("ViewRange")) * (actualX - newX * GetSettingFloat("ViewRange")) + ((newY + 1) * GetSettingFloat("ViewRange") - actualY) * ((newY + 1) * GetSettingFloat("ViewRange") - actualY)) <
currClosestDistance)
{
// search top left grid
Vector3 topRight = new Vector3(newX * GetSettingFloat("ViewRange"), (newY + 2) * GetSettingFloat("ViewRange"));
Vector3 bottomLeft = new Vector3((newX - 1) * GetSettingFloat("ViewRange"), (newY + 1) * GetSettingFloat("ViewRange"));
Vector3 targetTopRight = topRight - newAgent.transform.position;
Vector3 targetBottomLeft = bottomLeft - newAgent.transform.position;
float highCrossTopRight = Vector3.Cross(highForward, targetTopRight).z;
float highCrossBottomLeft = Vector3.Cross(highForward, targetBottomLeft).z;
float lowCrossTopRight = Vector3.Cross(lowForward, targetTopRight).z;
float lowCrossBottomLeft = Vector3.Cross(lowForward, targetBottomLeft).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossTopRight <= 0 && highCrossBottomLeft >= 0) || (lowCrossTopRight <= 0 && lowCrossBottomLeft >= 0))
{
currPair = SearchGrid(newAgent, newX - 1, newY + 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (actualX - newX * GetSettingFloat("ViewRange") < currClosestDistance)
{
// search left grid
Vector3 topRight = new Vector3(newX * GetSettingFloat("ViewRange"), (newY + 1) * GetSettingFloat("ViewRange"));
Vector3 bottomRight = new Vector3(newX * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 targetTopRight = topRight - newAgent.transform.position;
Vector3 targetBottomRight = bottomRight - newAgent.transform.position;
float highCrossTopRight = Vector3.Cross(highForward, targetTopRight).z;
float highCrossBottomRight = Vector3.Cross(highForward, targetBottomRight).z;
float lowCrossTopRight = Vector3.Cross(lowForward, targetTopRight).z;
float lowCrossBottomRight = Vector3.Cross(lowForward, targetBottomRight).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossTopRight <= 0 && highCrossBottomRight >= 0) || (lowCrossTopRight <= 0 && lowCrossBottomRight >= 0))
{
currPair = SearchGrid(newAgent, newX - 1, newY, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
}
if (newY != 0 && actualY - newY * GetSettingFloat("ViewRange") < currClosestDistance)
{
// search bottom grid
Vector3 topLeft = new Vector3(newX * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 topRight = new Vector3((newX + 1) * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 targetTopLeft = topLeft - newAgent.transform.position;
Vector3 targetTopRight = topRight - newAgent.transform.position;
float highCrossTopRight = Vector3.Cross(highForward, targetTopRight).z;
float highCrossTopLeft = Vector3.Cross(highForward, targetTopLeft).z;
float lowCrossTopRight = Vector3.Cross(lowForward, targetTopRight).z;
float lowCrossTopLeft = Vector3.Cross(lowForward, targetTopLeft).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossTopLeft <= 0 && highCrossTopRight >= 0) || (lowCrossTopLeft <= 0 && lowCrossTopRight >= 0))
{
currPair = SearchGrid(newAgent, newX, newY - 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (newY != GridY - 1 && (newY + 1) * GetSettingFloat("ViewRange") - actualY < currClosestDistance)
{
// search top grid
Vector3 bottomRight = new Vector3((newX + 1) * GetSettingFloat("ViewRange"),
(newY + 1) * GetSettingFloat("ViewRange"));
Vector3 bottomLeft = new Vector3(newX * GetSettingFloat("ViewRange"), (newY + 1) * GetSettingFloat("ViewRange"));
Vector3 targetBottomRight = bottomRight - newAgent.transform.position;
Vector3 targetBottomLeft = bottomLeft - newAgent.transform.position;
float highCrossBottomRight = Vector3.Cross(highForward, targetBottomRight).z;
float highCrossBottomLeft = Vector3.Cross(highForward, targetBottomLeft).z;
float lowCrossBottomRight = Vector3.Cross(lowForward, targetBottomRight).z;
float lowCrossBottomLeft = Vector3.Cross(lowForward, targetBottomLeft).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossBottomRight <= 0 && highCrossBottomLeft >= 0) || (lowCrossBottomRight <= 0 && lowCrossBottomLeft >= 0))
{
currPair = SearchGrid(newAgent, newX, newY + 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (newX != GridX - 1)
{
if (newY != 0 && Math.Sqrt(((newX + 1) * GetSettingFloat("ViewRange") - actualX) * ((newX + 1) * GetSettingFloat("ViewRange") - actualX) + (actualY - newY * GetSettingFloat("ViewRange")) * (actualY - newY * GetSettingFloat("ViewRange"))) < currClosestDistance)
{
// search bottom right grid
Vector3 bottomLeft = new Vector3((newX + 1) * GetSettingFloat("ViewRange"), (newY - 1) * GetSettingFloat("ViewRange"));
Vector3 topRight = new Vector3((newX + 2) * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 targetBottomLeft = bottomLeft - newAgent.transform.position;
Vector3 targetTopRight = topRight - newAgent.transform.position;
float highCrossBottomLeft = Vector3.Cross(highForward, targetBottomLeft).z;
float highCrossTopRight = Vector3.Cross(highForward, targetTopRight).z;
float lowCrossBottomLeft = Vector3.Cross(lowForward, targetBottomLeft).z;
float lowCrossTopRight = Vector3.Cross(lowForward, targetTopRight).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossBottomLeft <= 0 && highCrossTopRight >= 0) || (lowCrossBottomLeft <= 0 || lowCrossTopRight >= 0))
{
currPair = SearchGrid(newAgent, newX + 1, newY - 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (newY != GridY - 1 && Math.Sqrt(((newX + 1) * GetSettingFloat("ViewRange") - actualX) * ((newX + 1) * GetSettingFloat("ViewRange") - actualX) + ((newY + 1) * GetSettingFloat("ViewRange") - actualY) * ((newY + 1) * GetSettingFloat("ViewRange") - actualY)) <
currClosestDistance)
{
// search top right grid
Vector3 bottomRight = new Vector3((newX + 2) * GetSettingFloat("ViewRange"), (newY + 1) * GetSettingFloat("ViewRange"));
Vector3 topLeft = new Vector3((newX + 1) * GetSettingFloat("ViewRange"), (newY + 2) * GetSettingFloat("ViewRange"));
Vector3 targetBottomRight = bottomRight - newAgent.transform.position;
Vector3 targetTopLeft = topLeft - newAgent.transform.position;
float highCrossBottomRight = Vector3.Cross(highForward, targetBottomRight).z;
float highCrossTopLeft = Vector3.Cross(highForward, targetTopLeft).z;
float lowCrossBottomRight = Vector3.Cross(lowForward, targetBottomRight).z;
float lowCrossTopLeft = Vector3.Cross(lowForward, targetTopLeft).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossBottomRight <= 0 && highCrossTopLeft >= 0) || (lowCrossBottomRight <= 0 && lowCrossTopLeft >= 0))
{
currPair = SearchGrid(newAgent, newX + 1, newY + 1, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if ((newX + 1) * GetSettingFloat("ViewRange") - actualX < currClosestDistance)
{
// search right grid
Vector3 bottomLeft = new Vector3((newX + 1) * GetSettingFloat("ViewRange"), newY * GetSettingFloat("ViewRange"));
Vector3 topLeft = new Vector3((newX + 1) * GetSettingFloat("ViewRange"), (newY + 1) * GetSettingFloat("ViewRange"));
Vector3 targetBottomLeft = bottomLeft - newAgent.transform.position;
Vector3 targetTopLeft = topLeft - newAgent.transform.position;
float highCrossBottomLeft = Vector3.Cross(highForward, targetBottomLeft).z;
float highCrossTopLeft = Vector3.Cross(highForward, targetTopLeft).z;
float lowCrossBottomLeft = Vector3.Cross(lowForward, targetBottomLeft).z;
float lowCrossTopLeft = Vector3.Cross(lowForward, targetTopLeft).z;
if (GetSettingFloat("ViewAngle") >= 360 || (highCrossBottomLeft <= 0 && highCrossTopLeft >= 0) || (lowCrossBottomLeft <= 0 && lowCrossTopLeft >= 0))
{
currPair = SearchGrid(newAgent, newX + 1, newY, currClosestDistance, targetDirection, testForward);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
}
if (Double.IsPositiveInfinity(currClosestDistance))
{
float newZ = (float)(heading.z + Math.PI * GetSettingFloat("TurnSpeed") * newAgent.BaseTurn * (RandomGen.NextDouble() - 0.5));
heading = new Vector3(0, 0, newZ);
}
else
{
Vector3 targetDir = targetDirection - newAgent.transform.position;
float endAngle = Vector3.Angle(testForward, targetDir);
Vector3 crossProduct = Vector3.Cross(testForward, targetDir);
if (endAngle > GetSettingFloat("TurnSpeed") * newAgent.BaseTurn)
{
endAngle = GetSettingFloat("TurnSpeed") * newAgent.BaseTurn;
}
if (crossProduct.z < 0)
{
endAngle = -endAngle;
}
float endHeading = (heading.z + endAngle + 360) % 360;
return(new Vector3(0, 0, endHeading));
}
return(heading);
}
public Vector3 GetNextHeading(WorldAgent newAgent)
{
Vector3 heading = newAgent.transform.eulerAngles;
float actualX = newAgent.transform.position.x;
float actualY = newAgent.transform.position.y;
int newX = (int)Math.Floor(actualX / SearchRadius);
int newY = (int)Math.Floor(actualY / SearchRadius);
double currClosestDistance = double.PositiveInfinity;
Vector3 targetDirection = Vector3.negativeInfinity;
Pair <double, Vector3> currPair = SearchGrid(newAgent, newX, newY, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
if (newX != 0)
{
if (newY != 0 && (Math.Sqrt((actualX - newX * SearchRadius) * (actualX - newX * SearchRadius) + (actualY - newY * SearchRadius) * (actualY - newY * SearchRadius)) < currClosestDistance))
{
currPair = SearchGrid(newAgent, newX - 1, newY - 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if (newY != (YDim - 1) && (Math.Sqrt((actualX - newX * SearchRadius) * (actualX - newX * SearchRadius) + ((newY + 1) * SearchRadius - actualY) * ((newY + 1) * SearchRadius - actualY)) <
currClosestDistance))
{
currPair = SearchGrid(newAgent, newX - 1, newY + 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if (actualX - newX * SearchRadius < currClosestDistance)
{
currPair = SearchGrid(newAgent, newX - 1, newY, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (newY != 0 && (actualY - newY * SearchRadius < currClosestDistance))
{
currPair = SearchGrid(newAgent, newX, newY - 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if (newY != (YDim - 1) && ((newY + 1) * SearchRadius - actualY < currClosestDistance))
{
currPair = SearchGrid(newAgent, newX, newY + 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if (newX != (XDim - 1))
{
if (newY != 0 && (Math.Sqrt(((newX + 1) * SearchRadius - actualX) * ((newX + 1) * SearchRadius - actualX) + (actualY - newY * SearchRadius) * (actualY - newY * SearchRadius)) < currClosestDistance))
{
currPair = SearchGrid(newAgent, newX + 1, newY - 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if (newY != (YDim - 1) && (Math.Sqrt(((newX + 1) * SearchRadius - actualX) * ((newX + 1) * SearchRadius - actualX) + ((newY + 1) * SearchRadius - actualY) * ((newY + 1) * SearchRadius - actualY)) <
currClosestDistance))
{
currPair = SearchGrid(newAgent, newX + 1, newY + 1, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
if ((newX + 1) * SearchRadius - actualX < currClosestDistance)
{
currPair = SearchGrid(newAgent, newX + 1, newY, currClosestDistance, targetDirection);
currClosestDistance = currPair.First;
targetDirection = currPair.Second;
}
}
if (Double.IsPositiveInfinity(currClosestDistance))
{
double newZ = heading.z + Math.PI * MaxRotate * (RandomGen.NextDouble() - 0.5);
heading = new Vector3(0, 0, (float)newZ);
}
else
{
Vector3 targetDir = targetDirection - newAgent.transform.position;
Vector3 defaultPointer = new Vector3(1, 0, 0);
// double endAngle = Math.Atan(targetDir.y / targetDir.x) / Math.PI * 180;
float endAngle = Vector3.Angle(defaultPointer, targetDir);
Vector3 crossProduct = Vector3.Cross(defaultPointer, targetDir);
if (crossProduct.z < 0)
{
endAngle = 360 - endAngle;
// problem is this doesn't find the next closest neighbor to follow
}
double angleToNew = endAngle - heading.z;
if (angleToNew > 180)
{
angleToNew = -(360 - angleToNew);
}
if (angleToNew > MaxRotate)
{
angleToNew = MaxRotate;
}
else if (angleToNew < -MaxRotate)
{
angleToNew = -MaxRotate;
}
return(new Vector3(0, 0, heading.z + (float)angleToNew));
}
return(heading);
}
