/// <summary>
/// This method will be called automaticaly each time when AntAIAgent decide to update the plan.
/// You should attach this script to the same object where is AntAIAgent.
/// </summary>
public void CollectConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// 1. Classic setup of the World Conditions for planner.
// -------------------------------------------------------
// aWorldState.BeginUpdate(aAgent.planner);
// {
// aWorldState.Set("Is Cargo Delivered", false);
// aWorldState.Set("See Cargo", IsSeeCargo());
// aWorldState.Set("Has Cargo", _control.HasCargo);
// aWorldState.Set("See Base", IsSeeBase());
// aWorldState.Set("Near Base", IsNearBase());
// }
// aWorldState.EndUpdate();
// 2. Optimized setup of the World Conditions for the planner.
// -----------------------------------------------------------
aWorldState.BeginUpdate(aAgent.planner);
{
aWorldState.Set(DeliveryBot.IsCargoDelivered, false);
aWorldState.Set(DeliveryBot.SeeCargo, IsSeeCargo());
aWorldState.Set(DeliveryBot.HasCargo, _control.HasCargo);
aWorldState.Set(DeliveryBot.SeeBase, IsSeeBase());
aWorldState.Set(DeliveryBot.NearBase, IsNearBase());
}
aWorldState.EndUpdate();
// HINT: When you have finished the AI Scenario, just export all conditions
// as enum and use it to set conditions from the code.
}
public AntAICondition post; // Последующие условия.
public AntAIAction(string aName, int aCost = 1)
{
cost = aCost;
name = aName;
state = aName;
pre = new AntAICondition();
post = new AntAICondition();
}
public void Act(AntAICondition aPost)
{
for (int i = 0; i < AntAIPlanner.MAX_ATOMS; i++)
{
mask[i] = mask[i] || aPost.mask[i];
if (aPost.mask[i])
{
values[i] = aPost.values[i];
}
}
}
public AntAICondition Clone()
{
AntAICondition clone = new AntAICondition();
for (int i = 0; i < AntAIPlanner.MAX_ATOMS; i++)
{
clone.values[i] = values[i];
clone.mask[i] = mask[i];
}
return(clone);
}
public bool Match(AntAICondition aOther)
{
for (int i = 0; i < AntAIPlanner.MAX_ATOMS; i++)
{
if ((mask[i] && aOther.mask[i]) && (values[i] != aOther.values[i]))
{
return(false);
}
}
return(true);
}
public bool Equals(AntAICondition aCondition)
{
for (int i = 0; i < AntAIPlanner.MAX_ATOMS; i++)
{
if (values[i] != aCondition.values[i])
{
return(false);
}
}
return(true);
}
public int Heuristic(AntAICondition aOther)
{
int dist = 0;
for (int i = 0; i < AntAIPlanner.MAX_ATOMS; i++)
{
if (aOther.mask[i] && values[i] != aOther.values[i])
{
dist++;
}
}
return(dist);
}
private void Start()
{
// 1. Create the AI planner.
// -------------------------
var planner = new AntAIPlanner();
// Load scenario for planner.
A.Assert(scenario == null, "Scenario not selected!");
planner.LoadScenario(scenario);
// 2. Create world state.
// ----------------------
var worldState = new AntAICondition();
worldState.BeginUpdate(planner);
worldState.Set("Is Cargo Delivered", false);
worldState.Set("See Cargo", false);
worldState.Set("Has Cargo", false);
worldState.Set("See Base", false);
worldState.Set("Near Base", false);
worldState.EndUpdate();
// 3. Build plan.
// --------------
var plan = new AntAIPlan();
planner.MakePlan(ref plan, worldState, planner.GetDefaultGoal());
// Output plan.
Debug.Log("<b>Plan:</b>");
for (int i = 0; i < plan.Count; i++)
{
Debug.Log((i + 1) + ". " + plan[i]);
}
// 4. Change world state and rebuild plan.
// ---------------------------------------
worldState.BeginUpdate(planner);
worldState.Set("Has Cargo", true);
worldState.EndUpdate();
planner.MakePlan(ref plan, worldState, planner.FindGoal("Delivery"));
// Output plan.
Debug.Log("<b>Plan:</b>");
for (int i = 0; i < plan.Count; i++)
{
Debug.Log((i + 1) + ". " + plan[i]);
}
}
public void GetConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// Получаем список всех объектов которые необходимо отслеживать.
if (_visualNodes == null)
{
_visualNodes = AntEngine.Current.GetNodes <VisualNode>();
}
// 1. Обновляем информацию о себе.
// -------------------------------
aWorldState.Set(aAgent.planner, "ArmedWithGun", control.Tower.HasGun);
aWorldState.Set(aAgent.planner, "ArmedWithBomb", control.Tower.HasBomb);
aWorldState.Set(aAgent.planner, "HasAmmo", control.Tower.HasAmmo);
aWorldState.Set(aAgent.planner, "Injured", (health.HP != health.maxHP));
aWorldState.Set(aAgent.planner, "EnemyAlive", true); // Наш враг всегда жив, потому что респавнится.
aWorldState.Set(aAgent.planner, "Alive", (health.HP > 0.0f));
aWorldState.Set(aAgent.planner, "HasObstacle", sensor.HasObstacle);
if (sensor.HasObstacle)
{
sensor.HasObstacle = false;
}
// 2. Обрабатываем зрение.
// -----------------------
// Сбрасываем состояние всех возможных значений зрения.
aWorldState.Set(aAgent.planner, "NearEnemy", false);
aWorldState.Set(aAgent.planner, "EnemyVisible", false);
aWorldState.Set(aAgent.planner, "GunInlineOfSight", false);
aWorldState.Set(aAgent.planner, "AmmoInlineOfSight", false);
aWorldState.Set(aAgent.planner, "BombInlineOfSight", false);
aWorldState.Set(aAgent.planner, "HealInlineOfSight", false);
VisualNode visual;
// Перебираем все объекты которые можно просматривать.
for (int i = 0, n = _visualNodes.Count; i < n; i++)
{
visual = _visualNodes[i];
// Если объект из другой группы.
if (vision.group != visual.Visual.group)
{
// Если объект попадает в область зрения.
if (vision.IsSee(visual.entity.Position))
{
blackboard[visual.Visual.conditionName].AsBool = true;
blackboard[string.Concat(visual.Visual.conditionName, "_Pos")].AsVector2 = visual.entity.Position;
// Отмечаем что видим.
aWorldState.Set(aAgent.planner, visual.Visual.conditionName, true);
if (vision.enemyGroup == visual.Visual.group &&
AntMath.Distance(control.Position, visual.entity.Position) < 1.5f)
{
aWorldState.Set(aAgent.planner, "NearEnemy", true);
}
}
}
}
// 3. Обрабатываем наведение пушки на врага.
// -----------------------------------------
aWorldState.Set(aAgent.planner, "EnemyLinedUp", false);
if (aWorldState.Has(aAgent.planner, "EnemyVisible") && control.Tower.HasGun)
{
if (blackboard["EnemyVisible"].AsBool)
{
float angle = AntMath.AngleDeg((Vector2)control.Position, blackboard["EnemyVisible_Pos"].AsVector2);
if (AntMath.Equal(AntMath.Angle(control.Tower.Angle), AntMath.Angle(angle), 10.0f))
{
aWorldState.Set(aAgent.planner, "EnemyLinedUp", true);
}
}
}
}
public void CollectConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// 1. Remove all stored data from previous ticks.
// ----------------------------------------------
ClearSensors();
// 2. Get fresh Vision and Touch data.
// -----------------------------
UpdateVision();
UpdateTouch();
// 3. Update World State.
// ----------------------
aWorldState.Set(TankScenario.Alive, true);
aWorldState.Set(TankScenario.Injured, (_control.Health < _control.maxHealth));
aWorldState.Set(TankScenario.EnemyAlive, true); // All time is true ;)
aWorldState.Set(TankScenario.HasGun, _control.Tower.IsHasGun);
aWorldState.Set(TankScenario.HasAmmo, _control.Tower.IsHasAmmo);
aWorldState.Set(TankScenario.HasBomb, _control.Tower.IsHasBomb);
// Reset items visibility.
aWorldState.Set(TankScenario.SeeGun, false);
aWorldState.Set(TankScenario.SeeAmmo, false);
aWorldState.Set(TankScenario.SeeBomb, false);
aWorldState.Set(TankScenario.SeeRepair, false);
// Update vision for items.
for (int i = 0; i < SEE_ITEMS_COUNT; i++)
{
if (_seeItems[i] != null)
{
// Adds founded spawner and item to the our memory.
// This data maybe will be required by bot in the near future.
_blackboard.TrackSpawner(_seeItems[i].Position, _seeItems[i].kind);
_blackboard.TrackItem(_seeItems[i], _seeItems[i].kind);
// Update the world state.
switch (_seeItems[i].kind)
{
case ItemKind.Gun:
aWorldState.Set(TankScenario.SeeGun, true);
break;
case ItemKind.Ammo:
aWorldState.Set(TankScenario.SeeAmmo, true);
break;
case ItemKind.Bomb:
aWorldState.Set(TankScenario.SeeBomb, true);
break;
case ItemKind.Repair:
aWorldState.Set(TankScenario.SeeRepair, true);
break;
}
}
}
// Update vision for enemies.
aWorldState.Set(TankScenario.SeeEnemy, false);
for (int i = 0; i < TANKS_COUNT; i++)
{
if (_seeTanks[i] != null)
{
_blackboard.TrackTank(_seeTanks[i]);
aWorldState.Set(TankScenario.SeeEnemy, true);
}
}
// Check the enemy on line of the fire.
aWorldState.Set(TankScenario.OnLineofFire, false);
if (_blackboard.HasEnemy)
{
float angle = AntMath.AngleDeg(_control.Position, _blackboard.EnemyTank.Position);
if (AntMath.Equal(AntMath.Angle(angle), AntMath.Angle(_control.Tower.Angle), 10.0f))
{
aWorldState.Set(TankScenario.OnLineofFire, true);
}
}
// Check the touching of enemy tanks.
aWorldState.Set(TankScenario.NearEnemy, false);
for (int i = 0; i < TANKS_COUNT; i++)
{
if (_touchTanks[i] != null)
{
aWorldState.Set(TankScenario.NearEnemy, true);
break;
}
}
}
