public Intension Generate(Perception perception, Habits habits, MentalState mental, PhysicalState ps, float t)
{
Intension intension = default;
var sensorData = perception.GetSensorData();
var distance = sensorData.closestDangerObj == null ? -1 : sensorData.closestDangerObj.distance;
if (distance > 0)
{
var mono = sensorData.closestDangerObj.obj as MonoBehaviour;
intension = new AvoidIntension(mono.gameObject);
if (this.intensionStack.Count == 0 || this.intensionStack.Last.Value.IntensionType != Intension.Type.Avoid)
{
this.intensionStack.AddLast(intension);
}
}
else
{
//fear of most dangerous predator m
var p = sensorData.GetClosestByType(ObjectType.Predator);
var Fm = p != null?ps.Fi(p.distance) : 0;
var F = mental.fear;
if (F > this.f0)
{
if (Fm < this.f1 && habits.schooling)
{
intension = new SchoolIntension();
}
else
{
var mono = p.obj as MonoBehaviour;
intension = new EscapedIntension(mono.gameObject);
}
}
else
{
if (this.IsLastEatOrMate())
{
intension = this.intensionStack.Last.Value;
this.intensionStack.RemoveLast();
}
else
{
intension = this.GenerateNewIntension(perception, habits, mental, ps, t);
}
}
}
if (this.intensionStack.Count > 1)
{
this.intensionStack.RemoveFirst();
}
LogTool.AssertIsTrue(intension != null);
return(intension);
}
public void Init(Intension intension, Perception perception, FishBody body)
{
this.motorControllers.Clear();
var focusser = perception.GetFocuser();
var normal = body.modelData.Normal;
var left = body.modelData.Left;
var dir = focusser.target.obj.obj.Position - body.modelData.GeometryCenter;
var motorType = focusser.motorPreference.MaxValue.type;
if (motorType == Focusser.MotorPreference.Type.MoveForward)
{
if (this.smc == null)
{
this.smc = new SwimMC();
this.curves = this.smc.ActivationData.ToAnimationCurves();
}
if (focusser.target.obj != null)
{
this.smc.UpdateSpeed(focusser.target.obj.distance);
}
this.motorControllers.Add(this.smc);
}
else if (motorType == Focusser.MotorPreference.Type.TurnLeft)
{
if (this.tlmc == null)
{
this.tlmc = new TurnLeftMC();
this.curves = this.tlmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.tlmc.UpdateAngle(angle);
this.motorControllers.Add(this.tlmc);
this.smc?.UpdateSpeed(0);
}
else if (motorType == Focusser.MotorPreference.Type.TurnRight)
{
if (this.trmc == null)
{
this.trmc = new TurnRightMC();
this.curves = this.trmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.trmc.UpdateAngle(angle);
this.motorControllers.Add(this.trmc);
this.smc?.UpdateSpeed(0);
}
var balance = new BalanceMC();
balance.UpdateBalance(left, normal);
this.motorControllers.Add(balance);
}
protected BehaviorRoutine GenerateBehaviorRoutine(Intension intension, Perception perception)
{
//MC logical
var ret = new BehaviorRoutine();
ret.Init(intension, perception, this.body);
return(ret);
}
public void UpdateBrain(FishSimulator.Delta delta, Perception perception)
{
var t = delta.deltaTime;
this.physicalState.UpdateTime(t);
this.mentalState.UpdateState(t, this.physicalState, perception.GetSensorData());
this.currentIntension = this.intensionGenerator.Generate(perception, this.habits, this.mentalState, this.physicalState, t);
this.currentDesire.UpdateDesire(this.mentalState, this.currentIntension);
}
// public FishBrain Brain => this.brain;
// public bool IsDone { get; set; }
public void Init()
{
this.body = this.GetComponentInChildren <FishBody>();
this.body.Init();
this.brain = this.GetComponentInChildren <FishBrain>();
this.brain.Init();
this.perception = this.GetComponentInChildren <Perception>();
this.perception.Init();
this.logger = this.logger ?? new FishLogger();
this.localDelta = this.localDelta ?? new FishSimulator.Delta();
this.Reset();
FishSimulatorRunner.Instance.Controller.AddController(this);
}
protected Intension GenerateNewIntension(Perception perception, Habits habits, MentalState mental, PhysicalState ps, float t)
{
Intension intension = default;
var H = mental.hunger;
var L = mental.libido;
if (this.r < math.max(H, L))
{
if (H == L)
{
if (ThreadSafeRandom.NextFloat() > 0.5f)
{
intension = new EatIntension();
}
else
{
intension = new MateIntension();
}
}
else
{
if (H > L)
{
intension = new EatIntension();
}
else
{
intension = new MateIntension();
}
}
}
else
{
//perception.temperatureSensor;
//perception.visionSensor;
//generate wonder or leave
intension = new WanderIntension();
}
return(intension);
}
