// Store information on whether each red unit is carrying a civilian or not
void updateRedUnitDatabase()
{
// Clear
redUnitDatabase.Clear();
// Get all red units
redUnits = new List <GameObject>();
redUnits.AddRange(GameObject.FindGameObjectsWithTag("RedTruck"));
redUnits.AddRange(GameObject.FindGameObjectsWithTag("RedDismount"));
// Loop through all actor beliefs and update the database
foreach (Belief_Actor b in actorBeliefs)
{
// We care only about red units
Belief_Actor ba = (Belief_Actor)b;
if (ba.getAffiliation().Equals((int)Affiliation.RED))
{
// Save the info if the belief is new enough
// Note: Watch out for the difference of two unsigned numbers!
if (thisSoaActor.getCurrentTime_ms() <= ba.getBeliefTime() ||
(float)(thisSoaActor.getCurrentTime_ms() - ba.getBeliefTime()) <= beliefTimeout_ms)
{
RedUnitInfo redUnitInfo = new RedUnitInfo(ba, redUnits, redBases, protectedSites);
if (redUnitInfo.distToClosestRedBase > redBaseKeepoutDist * SimControl.KmToUnity)
{
redUnitDatabase.Add(ba.getId(), new RedUnitInfo(ba, redUnits, redBases, protectedSites));
}
}
}
}
}
public virtual void UpdatePose()
{
simX_km = transform.position.x / SimControl.KmToUnity;
simZ_km = transform.position.z / SimControl.KmToUnity;
if (nma != null)
{
velocityX = (nma.velocity.x / SimControl.KmToUnity) / 60f * 1000f;
velocityXValid = true;
velocityY = (nma.velocity.y / SimControl.KmToUnity) / 60f * 1000f;
velocityYValid = true;
velocityZ = (nma.velocity.z / SimControl.KmToUnity) / 60f * 1000f;
velocityZValid = true;
//Debug.Log("VELOCITY " + unique_id + " " + (nma.velocity.magnitude / 60f * 1000f));
}
Belief_Actor newActorData = new Belief_Actor(
unique_id, (int)affiliation, type, isAlive,
numStorageSlots, numCasualtiesStored,
numSuppliesStored, numCiviliansStored,
isWeaponized, hasJammer, fuelRemaining_s,
simX_km, simAltitude_km, simZ_km,
velocityXValid, velocityX,
velocityYValid, velocityY,
velocityZValid, velocityZ);
addMyBeliefData(newActorData);
}
// Called when the actor has been killed
public virtual void Kill(string killerName)
{
if (isAlive)
{
// Set that it is no longer alive
isAlive = false;
// Log event
if (gameObject.CompareTag("HeavyUAV"))
{
simControlScript.soaEventLogger.LogHeavyUAVLost(gameObject.name, killerName);
}
else if (gameObject.CompareTag("SmallUAV"))
{
simControlScript.soaEventLogger.LogSmallUAVLost(gameObject.name, killerName);
}
// Convert position from Unity to km for Belief_Actor
Belief_Actor newActorData = new Belief_Actor(
unique_id, (int)affiliation, type, isAlive,
numStorageSlots, numCasualtiesStored,
numSuppliesStored, numCiviliansStored,
isWeaponized, hasJammer, fuelRemaining_s,
transform.position.x / SimControl.KmToUnity,
simAltitude_km,
transform.position.z / SimControl.KmToUnity);
//addBeliefToUnmergedBeliefDictionary(newActorData);
addMyBeliefData(newActorData);
//addBeliefToBeliefDictionary(newActorData);
//addBelief(newActorData, remoteBeliefs);
// Don't move anymore
simulateMotion = false;
if (navAgent != null)
{
navAgent.ResetPath();
navAgent.enabled = false;
}
if (motionScript != null)
{
motionScript.enabled = false;
}
// TODO: Make sure dead unit does not act as relay for comms
// Change appearance to look destroyed
Vector3 destroyedPos = transform.position;
destroyedPos.y = 0.85f;
transform.position = destroyedPos;
}
}
public RedUnitInfo(Belief_Actor ba, List <GameObject> redUnits, List <GameObject> redBases, List <GameObject> protectedSites)
{
// Get ID
id = ba.getUnique_id();
// Extract 6 state (in Unity space)
pos = new Vector3(
ba.getPos_x() * SimControl.KmToUnity,
ba.getPos_y() * SimControl.KmToUnity,
ba.getPos_z() * SimControl.KmToUnity);
vel = new Vector3(
ba.getVelocity_x() * SimControl.KmToUnity,
ba.getVelocity_y() * SimControl.KmToUnity,
ba.getVelocity_z() * SimControl.KmToUnity);
velIsValid = ba.getVelocity_x_valid() && ba.getVelocity_y_valid() && ba.getVelocity_z_valid();
// Not a pursue candidate by default
isCatchable = false;
// Compute distances
computeProximityToProtectedSites(protectedSites);
computeProximityToRedBases(redBases);
// Look up Unity specific properties
foreach (GameObject g in redUnits)
{
// Find the corresponding game object
if (g.GetComponent <SoaActor>().unique_id == id)
{
// Save hasCivilian
switch (g.tag)
{
case "RedDismount":
case "RedTruck":
hasCivilian = g.GetComponent <SoaActor>().numCiviliansStored > 0;
break;
default:
// Unrecognized
Debug.LogError("RedUnitInfo(): Unrecognized g.tag " + g.tag);
break;
}
// Save max speed (in Unity coordinates)
maxSpeed = g.GetComponent <NavMeshAgent>().speed;
}
}
}
/**
* Update the position of the actor vectors. This function is called when in simulation mode
* If Sim is in charge of waypoints, get the current target from the motion script and add to
* belief map. Otherwise get the waypointBelief from the dictionary and set as navAgent destination.
*
* TODO create functions for when in client mode and only reading position data
*/
public virtual void updateActor()
{
if (!isAlive)
{
return;
}
Belief myActor = null;
displayTruePosition = true;
if (myActor != null && myActor.getId() != unique_id)
{
Debug.LogError("Update Actor " + unique_id + " has invalid id " + myActor.getId());
return;
}
if (simulateMotion)
{
displayActor = true;
// Setup waypoint belief
if (useExternalWaypoint)
{
Belief_Waypoint newWaypoint = beliefRepo.Find <Belief_Waypoint>(Belief.BeliefType.WAYPOINT, unique_id);
Belief_WaypointPath newPath = beliefRepo.Find <Belief_WaypointPath>(Belief.BeliefType.WAYPOINT_PATH, unique_id);
motionScript.On = false;
if (wpMotionScript != null)
{
if (newPath != null && newWaypoint != null)
{
//If we have a path and a waypoint choose the newest one
if (newPath.getBeliefTime() < newWaypoint.getBeliefTime())
{
newPath = null;
}
else
{
newWaypoint = null;
}
}
if (newPath != null)
{
wpMotionScript.SetWaypointBelief(newPath);
wpMotionScript.On = true;
}
else if (newWaypoint != null)
{
wpMotionScript.SetWaypointBelief(newWaypoint);
wpMotionScript.On = true;
}
//SetDesiredAltitude(wpMotionScript.desiredAltitude_km);
}
else if (newWaypoint != null)
{
// Received a waypoint in km, transform to Unity coordinates and then use it to set the nav agent's destination
if (navAgent != null)
{
navAgent.SetDestination(SimControl.ConstrainUnityDestinationToBoard(
new Vector3(
newWaypoint.getPos_x() * SimControl.KmToUnity,
transform.position.y, // Nav agent ignores the y coordinate (altitude)
newWaypoint.getPos_z() * SimControl.KmToUnity
)
));
}
// Set the desired altitude separately [km]
SetDesiredAltitude(newWaypoint.getPos_y());
}
else if (navAgent != null)
{
// Stay put
navAgent.SetDestination(SimControl.ConstrainUnityDestinationToBoard(
new Vector3(transform.position.x, transform.position.y, transform.position.z)));
}
}
else if (motionScript != null)
{
// Convert position coordinates from unity to km before making new belief waypoint
Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
motionScript.targetPosition.x / SimControl.KmToUnity,
desiredAltitude_km,
motionScript.targetPosition.z / SimControl.KmToUnity);
addMyBeliefData(newWaypoint);
}
else if (wpMotionScript != null)
{
// Special case for blue balloon
// Convert position coordinates from unity to km before making new belief waypoint
/*
* Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
* wpMotionScript.targetPosition.x / SimControl.KmToUnity,
* desiredAltitude_km,
* wpMotionScript.targetPosition.z / SimControl.KmToUnity);
* addMyBeliefData(newWaypoint);
*/
Belief_WaypointPath waypointPath = beliefRepo.Find <Belief_WaypointPath>(Belief.BeliefType.WAYPOINT_PATH, unique_id);
if (waypointPath != null)
{
wpMotionScript.SetWaypointBelief(waypointPath);
}
}
else
{
// Special case for blue balloon
// Convert position coordinates from unity to km before making new belief waypoint
Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
pcMotionScript.targetPosition.x / SimControl.KmToUnity,
desiredAltitude_km,
pcMotionScript.targetPosition.z / SimControl.KmToUnity);
addMyBeliefData(newWaypoint);
}
// Clear and update classifications
foreach (SoaClassifier c in Classifiers)
{
c.UpdateClassifications(Detections);
}
// Update each weapon
foreach (SoaWeapon w in Weapons)
{
w.UpdateWeapon(Detections);
}
// Go through each detected object's Soa Actor, get unique ID, affiliation, and pos. Broadcast belief out to everyone
// Send detections to Sim Controller to be logged
foreach (GameObject gameObject in Detections)
{
SoaActor soaActor = gameObject.GetComponent <SoaActor>();
// Actor's position must be converted from Unity to km when generating belief
Belief_Actor detectedActor;
if (classificationDictionary.ContainsKey(soaActor.unique_id) && classificationDictionary[soaActor.unique_id])
{
// Me or one of my peers has classified this actor before, provide actual affiliation, isWeaponized info, and storage
detectedActor = new Belief_Actor(
soaActor.unique_id, (int)soaActor.affiliation, soaActor.type, soaActor.isAlive,
soaActor.numStorageSlots, soaActor.numCasualtiesStored,
soaActor.numSuppliesStored, soaActor.numCiviliansStored,
soaActor.isWeaponized, soaActor.hasJammer, soaActor.fuelRemaining_s,
gameObject.transform.position.x / SimControl.KmToUnity,
soaActor.simAltitude_km,
gameObject.transform.position.z / SimControl.KmToUnity);
}
else
{
// No one that I'm aware of has classified this actor before, hide affiliation, weapon/jamming, and storage
detectedActor = new Belief_Actor(
soaActor.unique_id, (int)Affiliation.UNCLASSIFIED, soaActor.type, soaActor.isAlive,
0, 0,
0, 0,
false, false, soaActor.fuelRemaining_s,
gameObject.transform.position.x / SimControl.KmToUnity,
soaActor.simAltitude_km,
gameObject.transform.position.z / SimControl.KmToUnity);
}
addMyBeliefData(detectedActor);
simControlScript.logDetectedActor(unique_id, detectedActor);
}
Detections.Clear();
//Evaluate if grid cell changed and log
if (prevHexGridCell != null)
{
currentCell = hexGrid.Map[transform.position];
if (prevHexGridCell != currentCell)
{
prevHexGridCell = currentCell;
simControlScript.logGridCellMove(unique_id, currentCell.X, currentCell.Y);
//Debug.LogWarning("Actor " + unique_id + " Moved to cell " + prevHexGridCell.X + " " + prevHexGridCell.Y);
}
}
else
{
currentCell = hexGrid.Map[transform.position];
prevHexGridCell = currentCell;
}
List <Belief_Actor> localKillDetections = new List <Belief_Actor>();
lock (killDetections)
{
localKillDetections.AddRange(killDetections);
killDetections.Clear();
}
foreach (Belief_Actor belief_actor in localKillDetections)
{
addMyBeliefData(new Belief_Actor(
belief_actor.getId(), (int)belief_actor.getAffiliation(), belief_actor.getType(), false,
belief_actor.getNumStorageSlots(), belief_actor.getNumCasualtiesStored(),
belief_actor.getNumSuppliesStored(), belief_actor.getNumCiviliansStored(),
belief_actor.getIsWeaponized(), belief_actor.getHasJammer(), belief_actor.getFuelRemaining(),
belief_actor.getPos_x(),
belief_actor.getPos_y(),
belief_actor.getPos_z()));
}
// ???
useGhostModel = false;
}
}
