/// <summary>
/// Run our selected child. If no child is selected, select one. If can't select one, return false.
/// </summary>
/// <param name="tank">Tank being controlled.</param>
/// <returns>Whether we want to continue running.</returns>
public override bool Tick(AIInput g)
{
BehaviorTreeNode next = SelectChild(g);
//Debug.Log(next);
if (next == null)
{
return(false);
}
if (selected != next)
{
Deactivate(g);
next.Activate(g);
selected = next;
}
bool response = next.Tick(g);
if (response == false)
{
Deactivate(g);
sequentialChild++;
sequentialChild %= Children.Count;
}
return(response);
}
/// <summary>
/// Run the specified decider and returns its value
/// </summary>
/// <param name="d">Decider to run</param>
/// <param name="tank">Tank being controlled</param>
/// <returns>True if decider wants to run</returns>
public static bool Decide(this DeciderType d, AIInput g)
{
Vector3 direction = BehaviorTreeNode.Player.position - g.transform.position;
switch (d)
{
case DeciderType.Always:
return(true);
case DeciderType.LineOfSight:
//Debug.DrawRay(tur.transform.position + new Vector3(0, 1, 0), BehaviorTreeNode.Player.position - tur.transform.position);
Vector3 adjust = new Vector3(0, 0.2f, 0);
Vector3 dif = direction - adjust;
return(!Physics2D.Raycast(g.transform.position + adjust, direction, direction.magnitude, (1 << 8) | (1 << 10))); //Debug.Log(a);
case DeciderType.FacingTarget:
return(Vector3.Angle(g.transform.right, direction) < 10);
case DeciderType.Threat0:
Vector3 vec = g.threat[0];
bool r = Vec3.lessThan(Vec3.Abs(direction), vec);
return(r);
case DeciderType.Half:
Health h = g.GetComponent <Health>();
return((float)(h.currentHealth) / h.maxHealth > 0.5f);
default:
throw new ArgumentException("Unknown Decider: " + d);
}
}
public NormalState(AIInput owner, float wanderStrength, CollisionNotifier collisionNotifier)
{
this.owner = owner;
this.wanderStrength = wanderStrength;
this.collisionNotifier = collisionNotifier;
coinMask = LayerMask.GetMask("Coin");
collisionDelegate = new CollisionNotifier.OnCollision(OnCollision);
}
/// <summary>
/// We're not running anymore; recursively deactivate our selected child.
/// </summary>
/// <param name="tank">Tank being controlled</param>
public override void Deactivate(AIInput g)
{
if (selected)
{
selected.Deactivate(g);
selected = null;
}
}
public override void Activate(AIInput g)
{
// Check to make sure the subset property is satisfied
if (!Children.Any(c => c.Decide(g)))
{
Debug.Log(name + " activated without runnable child");
}
}
private void Awake()
{
_input = GetComponent <AIInput>();
_stateMachine = GetComponent <StateMachine>();
_movement = GetComponent <Movement>();
InitializeStateMachine();
}
public override bool Tick(AIInput g)
{
g.moveHor(Player.transform.position);
g.FG(Player.transform.position.x - g.transform.position.x < 0);
return(false);
}
public AggressiveState(AIInput owner, float wanderStrength, float guidePointDistance, float time, CollisionNotifier collisionNotifier)
{
this.owner = owner;
this.wanderStrength = wanderStrength;
this.guidePointDistance = guidePointDistance;
maxTime = time;
this.collisionNotifier = collisionNotifier;
collisionDelegate = new CollisionNotifier.OnCollision(OnCollision);
}
double computeState0(AIInput input)
{
var transform = input.Myself.Get <TransformComponent>();
Vector3 v1 = transform.Forward;
Vector3 v2 = new Vector3(v1.X, 0, v1.Z);
return(Vector3.Angle(v1, v2));
}
public override bool Check(BTInput _input)
{
AIInput input = _input as AIInput;
if (input != null)
{
return(input.CheckCondition(AIConditionType.HasTarget));
}
return(false);
}
public override bool Check(BTInput _input)
{
AIInput input = _input as AIInput;
if (input != null)
{
return(input.CheckCondition(AIConditionType.IsAttackRange));
}
return(false);
}
public override bool Tick(AIInput g)
{
g.setCtrl(new AIInput.aiMove(Vector2.zero));
g.stall();
//Debug.Log("Waiting");
if (g.waiting)
{
return(true);
}
return(false);
}
protected override BTResult OnExecute(ref BTInput _input)
{
AIInput input = _input as AIInput;
if (input != null)
{
return(input.DoAction(AIActionType.Attack));
}
return(base.OnExecute(ref _input));
}
//Setup TrackerObject
public void SetupAIKart()
{
input = GetComponent <AIInput>();
ak = this.GetComponent <ArcadeKart>();
ak.SetCanMove(true);
target = circuit.GetChild(currentWP).transform.position;
tracker = new GameObject();
tracker.transform.position = gameObject.transform.position;
tracker.transform.rotation = gameObject.transform.rotation;
}
public AIOutput Predict(BotConfig config, string utterance)
{
//attempt to find any exact matches before going to ml
foreach (var conversation in config.Conversations)
{
foreach (var configuredUtterance in conversation.StartNode.Utterances)
{
if (configuredUtterance.Statement.ToLower() == utterance.ToLower())
{
return(new AIOutput()
{
Prediction = conversation.ID.ToString(), ExactMatch = true, Score = new float[] { 1 }
});
}
}
}
MLContext mlContext = new MLContext();
ITransformer mlModel;
//load model if not loaded
if (!LoadedModels.ContainsKey(config.ModelFile))
{
if (!System.IO.File.Exists(config.ModelFile))
{
//model was not found!
throw new Exception($"Model not found at '{config.ModelFile}'");
}
else
{
//add to loaded models for faster future responses
var model = mlContext.Model.Load(config.ModelFile, out DataViewSchema inputSchema);
LoadedModels.Add(config.ModelFile, model);
mlModel = model;
}
}
else
{
mlModel = LoadedModels[config.ModelFile];
}
var prediction = mlContext.Model.CreatePredictionEngine <AIInput, AIOutput>(mlModel);
var input = new AIInput()
{
Utterance = utterance
};
AIOutput result = prediction.Predict(input);
result.ExactMatch = false;
return(result);
}
protected override BTResult OnExecute(ref BTInput _input)
{
AIInput input = _input as AIInput;
if (input != null)
{
return(input.DoAction(AIActionType.Idle));
}
return(BTResult.Success);
}
public override void Update(AIInput input)
{
var ai = input.Myself.Get <AIComponent>();
var aircraft = input.Myself.Get <AircraftComponent>();
var transform = input.Myself.Get <TransformComponent>();
if (aircraft.Armor == 0.0f)
{
return;
}
int n = frame % N;
for (int i = 0; i < A; i++)
{
a[i, n] = a_[i, n];
}
for (int i = 0; i < S; i++)
{
s[i, n] = s_[i, n];
}
r[n] = computeReward(input);
s[0, n] = computeState0(input);
s[1, n] = computeState1(input);
s[2, n] = computeState2(input);
float q1 = (float)QNetwork.Value(s.Col(n), new VectorXd(new double[] { 0 }));
float q2 = (float)QNetwork.Value(s.Col(n), new VectorXd(new double[] { 1 }));
float min_ = min(q1, q2);
q1 += -min_;
q2 += -min_;
if (q1 == 0 && q2 == 0)
{
q1 = q2 = 1;
}
double _a = random(new float[] { q1, q2 });
a[0, n] = _a;
destination = transform.Position;
destination.Y += _a == 0 ? 1 : -1;
ai.AutoPilot(destination);
if (n == N - 1)
{
QNetwork.Update(s, a, s_, a_, r);
}
}
public void DoSpawn_Character(bool bUpdateForce)
{
while (transform.childCount > 1)
{
DestroyImmediate(transform.GetChild(0).gameObject);
}
for (int i = 0; i < transform.childCount; i++)
{
GameObject pChildObject = transform.GetChild(0).gameObject;
if (bUpdateForce)
{
DestroyImmediate(pChildObject);
}
else if (pChildObject.name.Contains(p_eCharacterType.ToString_GarbageSafe()) == false)
{
DestroyImmediate(pChildObject);
}
}
if (transform.childCount == 0)
{
GameObject pObjectPrefab = GameObject.Instantiate(Resources.Load("Character/" + p_eCharacterType.ToString_GarbageSafe())) as GameObject;
pObjectPrefab.transform.SetParent(transform);
pObjectPrefab.transform.DoResetTransform();
}
for (int i = 0; i < listJewel.Count; i++)
{
listJewel[i].EventOnAwake();
}
AIInput pAIMovementInput = transform.GetChild(0).GetComponent <AIInput>();
if (pAIMovementInput != null)
{
pAIMovementInput.DoInitJewelList(listJewel);
}
if (pWeapon_Equip != null)
{
PlayerItemCollector pCollector = transform.GetChild(0).GetComponentInChildren <PlayerItemCollector>();
pCollector.DoCreateAndEquipWeapon(pWeapon_Equip.name);
}
if (pStats != null)
{
p_pCharacter = transform.GetChild(0).GetComponent <CharacterModel>();
p_pCharacter.pStat = Stats.Instantiate(pStats);
p_pCharacter.pStat.DoInit(p_pCharacter);
}
}
public override void Update__(AIInput input)
{
var aircraft = input.Myself.Get <AircraftComponent>();
var transform = input.Myself.Get <TransformComponent>();
if (aircraft.Armor == 0.0f)
{
return;
}
if (input.Target != null)
{
Vector3 destination = input.Target.Get <TransformComponent>().Position;
// (逃げる)
if (frame % 2400 > 1200)
//if (false)
{
aircraft.Decelerate();
}
else
{
// （攻撃する）
if (uniform(0, 1000) == 0 && aircraft.Locking)
{
aircraft.Attack();
}
aircraft.Accelerate();
}
// (自動操縦)
var p = destination * transform.Matrix.Inverse;
if (0.2f < Vector3.Angle(new Vector3(p.X, p.Y, 0), new Vector3(0, 1, 0)))
{
aircraft.Roll((p.X > 0) ? 0.5f : -0.5f);
}
else
{
// 上に曲がる
if (0.2f < abs(Vector3.Angle(p, new Vector3(0, 0, 1))))
{
aircraft.Pitch(-1.0f);
}
}
}
else
{
}
}
// Use this for initialization
public override bool Tick(AIInput g)
{
g.moveHor(Player.transform.position);
if (jumpRange != 0)
{
Vector3 dif = Player.transform.position - g.transform.position;
if (Mathf.Abs(dif.x) < jumpRange && dif.y > 1)
{
g.jump();
}
}
return(false);
}
double computeReward(AIInput input)
{
Vector3 point;
var collision1 = input.Myself.Get <CollisionComponent>().Shape;
if (collision1.Velocity.Magnitude == 0)
{
var transform = input.Myself.Get <TransformComponent>();
LineSegment segment = new LineSegment();
segment.Matrix.Identity();
segment.Matrix.Translate(transform.Position);
segment.Direction = new Vector3(0, -300, 0);
point = Entity.Find("ground").Get <CollisionComponent>().Shape.Collide((AbstractShape)segment);
if (float.IsNaN(point.X))
{
return(1.0f / 300.0f);
}
else
{
return(1.0f / (transform.Position - point).Magnitude);
}
}
var collision2 = Entity.Find("ground").Get <CollisionComponent>().Shape;
point = collision2.Collide(collision1);
if (!float.IsNaN(point.X))
{
return(-100);
}
else
{
var transform = input.Myself.Get <TransformComponent>();
LineSegment segment = new LineSegment();
segment.Matrix.Identity();
segment.Matrix.Translate(transform.Position);
segment.Direction = new Vector3(0, -300, 0);
point = Entity.Find("ground").Get <CollisionComponent>().Shape.Collide((AbstractShape)segment);
if (float.IsNaN(point.X))
{
return(1.0f / 300.0f);
}
else
{
return(1.0f / (transform.Position - point).Magnitude);
}
}
}
public AINavigation(AIInput input)
{
_user = input.User;
_tr = _user.transform;
// _seeker = _tr.gameObject.AddComponent<Seeker> ();
// _seeker.pathCallback += OnPathComplete;
GameObject go = GameObject.FindGameObjectWithTag("Player");
if(go == null)
Debug.LogError("Could not find the player");
target = go.transform;
// _user.StartCoroutine (RepeatTrySearchPath ());
}
/// <summary>
/// Select a child to run based on the policy.
/// </summary>
/// <param name="tank">Tank being controlled</param>
/// <returns>Child to run, or null if no runnable children.</returns>
private BehaviorTreeNode SelectChild(AIInput g)
{
switch (Policy)
{
case SelectionPolicy.Prioritized:
for (int i = 0; i < Children.Count; i++)
{
BehaviorTreeNode child = Children[i];
//Debug.Log(child +" - "+i);
if (selected == child)
{
return(child);
}
if (child.Decide(g))
{
return(child);
}
}
//Debug.Log("none");
return(null);
case SelectionPolicy.Sequential:
for (int i = 0; i < Children.Count; i++)
{
int j = (i + sequentialChild) % Children.Count;
BehaviorTreeNode child = Children[j];
//Debug.Log(child +" - "+i);
if (selected == child)
{
return(child);
}
if (child.Decide(g))
{
sequentialChild = j;
return(child);
}
}
//Debug.Log("none");
return(null);
default:
throw new NotImplementedException("Unimplemented policy: " + Policy);
}
}
public override bool Tick(AIInput g)
{
Vector3 selected;
if (!g.point)
{
return(false);
}
selected = g.point.transform.position;
//Debug.Log(selected);
g.move(selected);
if ((g.transform.position - selected).magnitude <= range)
{
return(false);
}
return(true);
}
double computeState2(AIInput input)
{
var transform = input.Myself.Get <TransformComponent>();
LineSegment segment = new LineSegment();
segment.Matrix.Identity();
segment.Matrix.Translate(transform.Position);
segment.Direction = new Vector3(0, -300, 0);
var point = Entity.Find("ground").Get <CollisionComponent>().Shape.Collide((AbstractShape)segment);
if (float.IsNaN(point.X))
{
return(300);
}
else
{
return((transform.Position - point).Magnitude);
}
}
public override void OnAwake(bool notify = true)
{
base.OnAwake(notify);
aiInput = instance.GetComponentInChildren <AIInput>();
if (aiInput == null)
{
Debug.LogWarning("AIInput is expected in the prefab");
return;
}
pc2d = instance.GetComponentInChildren <PlatformerCollider2D>();
character = instance.GetComponentInChildren <Character>();
aiInput.SetX(1);
character.onAreaChange += OnAreaChange;
character.onStateChange += OnStateChange;
pc2d.onLeftWall += OnLeftWall;
pc2d.onRightWall += OnRightWall;
}
public Human(Vector2 spawnPosition, Texture2D texture, List <Entity> obstacles, int team)
{
animationFactory = new AnimationFactory();
Position = spawnPosition;
Texture = texture;
Team = team;
Scale = 1f;
Input = new AIInput();
_PhysicsHandler = new PhysicsHandler();
List <ICollision> collidableList = new List <ICollision>();
foreach (var obstacle in obstacles)
{
if (obstacle._collision != null)
{
collidableList.Add(obstacle._collision);
}
}
_collision = new HumanCollision(spawnPosition, collidableList);
_collision.Parent = this;
healthBar = new HealthBar();
healthBar.ParentTransform = this;
healthBar.Health = this;
}
public override bool Tick(AIInput g)
{
g.move(Player.transform.position);
g.shoot();
return(false);
}
// Use this for initialization
void Start()
{
ai = GetComponent <AIInput>();
}
public override void Activate(AIInput g)
{
g.wait(waitTime);
//Debug.Log(arrivalTime+ "here");
}
public override void Activate(AIInput g)
{
g.pickPoint();
//Debug.Log(arrivalTime+ "here");
}
