public MCTSBiasedRAVE(CurrentStateWorldModel WorldModel) : base(WorldModel)
{
ActionHistory = new List <Pair <int, Action> >();
if (BestSelection)
{
lastestActions = new List <GOB.Action>();
}
}
public MCTS(CurrentStateWorldModel currentStateWorldModel)
{
this.InProgress = false;
this.CurrentStateWorldModel = currentStateWorldModel;
this.MaxIterations = 15000;
this.MaxIterationsProcessedPerFrame = 10;
this.RandomGenerator = new System.Random();
}
public MCTS(CurrentStateWorldModel currentStateWorldModel)
{
this.InProgress = false;
this.CurrentStateWorldModel = currentStateWorldModel;
this.MaxIterations = 100;
this.MaxIterationsProcessedPerFrame = 10;
this.RandomGenerator = new System.Random(Guid.NewGuid().GetHashCode());
}
public MCTS(CurrentStateWorldModel currentStateWorldModel)
{
this.InProgress = false;
this.CurrentStateWorldModel = currentStateWorldModel;
this.MaxIterations = 100;
this.MaxIterationsProcessedPerFrame = 10;
this.RandomGenerator = new System.Random();
this.SumProcessingTime = 0.0f;
this.MaxSelectionDepthReached = 0;
this.MaxPlayoutDepthReached = 0;
}
public MCTS(CurrentStateWorldModel currentStateWorldModel)
{
this.InProgress = false;
this.CurrentStateWorldModel = currentStateWorldModel;
this.MaxIterations = 2000;
this.NumberOfRuns = 10;
this.MaxIterationsProcessedPerFrame = 100;
this.MaxPlayoutDepthAllowed = 5;
this.MaxPlayoutSimulations = 5; //stochastic simulations
this.RandomGenerator = new System.Random();
}
private MCTSNode Expand(MCTSNode parent, GOB.Action action)
{
WorldModel worldmodel = CurrentStateWorldModel.GenerateChildWorldModel();
action.ApplyActionEffects(worldmodel);
MCTSNode n = new MCTSNode(worldmodel)
{
Action = action,
Parent = parent,
N = 0,
Q = 0
};
parent.ChildNodes.Add(n);
return(n);
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the GOB decision making
//let's start by creating 4 main goals
this.SurviveGoal = new Goal(SURVIVE_GOAL, 5.0f)
{
InsistenceValue = 20.0f
};
this.GainXPGoal = new Goal(GAIN_XP_GOAL, 5.0f)
{
ChangeRate = 0.1f,
InsistenceValue = 15.0f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.BeQuickGoal = new Goal(BE_QUICK_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.GainXPGoal);
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.BeQuickGoal);
this.Goals.Add(this.GetRichGoal);
//initialize the available actions
this.Actions = new List <IAJ.Unity.DecisionMaking.GOB.Action>();
foreach (var potion in GameObject.FindGameObjectsWithTag("ManaPotion"))
{
this.Actions.Add(new GetManaPotion(this, potion));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("HealthPotion"))
{
this.Actions.Add(new GetHealthPotion(this, potion));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Skeleton"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Orc"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Dragon"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
this.Actions.Add(new LevelUp(this));
MathHelper.Shuffle(this.Actions);
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
if (!MCTSActive)
{
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
}
else
{
this.MCTSAlgorithm = new MCTSBiased(worldModel);
}
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialize your pathfinding algorithm here!
//use the best heuristic from Project 2
this.AStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
//initialization of the GOB decision making
//let's start by creating 4 main goals
this.SurviveGoal = new Goal(SURVIVE_GOAL, 1.0f);
this.GainLevelGoal = new Goal(GAIN_LEVEL_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.BeQuickGoal = new Goal(BE_QUICK_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.BeQuickGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.GainLevelGoal);
//initialize the available actions
//Uncomment commented actions after you implement them
this.Actions = new List <Action>();
//this.Actions.Add(new ShieldOfFaith(this));
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("ManaPotion"))
{
//this.Actions.Add(new GetManaPotion(this, potion));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("HealthPotion"))
{
this.Actions.Add(new GetHealthPotion(this, potion));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Skeleton"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new DivineSmite(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Orc"))
{
this.Actions.Add(new SwordAttack(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Dragon"))
{
this.Actions.Add(new SwordAttack(this, enemy));
}
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
this.DiaryText.text = "My Diary \n I awoke. What a wonderful day to kill Monsters!\n";
}
public MCTSBiasedPlayout(CurrentStateWorldModel currentStateWorldModel) : base(currentStateWorldModel)
{
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
var clusterGraph = Resources.Load <ClusterGraph>("ClusterGraph");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayHeuristic(clusterGraph)));
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic()));
//initialization of the GOB decision making
//let's start by creating 4 main goals
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.GainXPGoal = new Goal(GAIN_XP_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.BeQuickGoal = new Goal(BE_QUICK_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.BeQuickGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.GainXPGoal);
//initialize the available actions
this.Actions = new List <Action>();
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("ManaPotion"))
{
this.Actions.Add(new GetManaPotion(this, potion));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("HealthPotion"))
{
this.Actions.Add(new GetHealthPotion(this, potion));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Skeleton"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Orc"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Dragon"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
this.MCTSDecisionMaking = new MCTS(worldModel);
this.MCTSDecisionMaking.MaxIterations = 1000;
this.MCTSDecisionMaking.MaxIterationsProcessedPerFrame = 25;
}
public MCTSBiasedLimited(CurrentStateWorldModel currentStateWorldModel) : base(currentStateWorldModel)
{
}
public MCTSRAVE(CurrentStateWorldModel worldModel) : base(worldModel)
{
}
public MCTSRAVE(CurrentStateWorldModel worldModel) : base(worldModel)
{
this.ActionHistory = new List <Pair <int, GOB.Action> >();
}
public MCTSRave(CurrentStateWorldModel currentStateWorldModel) : base(currentStateWorldModel)
{
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
var clusterGraph = Resources.Load <ClusterGraph>("ClusterGraph");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new GatewayHeuristic(clusterGraph)));
//initialization of the GOB decision making
//let's start by creating 4 main goals
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.GainXPGoal = new Goal(GAIN_XP_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.BeQuickGoal = new Goal(BE_QUICK_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.BeQuickGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.GainXPGoal);
//initialize the available actions
this.Actions = new List <Action>();
this.Actions.Add(new LevelUp(this));
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("ManaPotion"))
{
this.Actions.Add(new GetManaPotion(this, potion));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("HealthPotion"))
{
this.Actions.Add(new GetHealthPotion(this, potion));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Skeleton"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Orc"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Dragon"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
if (MCTSBias)
{
//temporary model used to sort
var WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
if (MCTSBiasActions)
{
this.Actions.Sort((item1, item2) => item1.getHValue(WorldModel as WorldModel) < item2.getHValue(WorldModel) ? 1 : 0);
//model with sorted values
WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
}
this.MCTSDecisionMaking = new MCTSBiasedPlayout(WorldModel);
}
else if (MCTSearch)
{
var WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
if (MCTSBiasActions)
{
this.Actions.Sort((item1, item2) => item1.getHValue(WorldModel as WorldModel) < item2.getHValue(WorldModel) ? 1 : 0);
//model with sorted values
WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
}
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(WorldModel, this.Actions, this.Goals);
this.MCTSDecisionMaking = new MCTS(WorldModel);
}
else if (MCTSRave)
{
var WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
if (MCTSBiasActions)
{
this.Actions.Sort((item1, item2) => item1.getHValue(WorldModel as WorldModel) < item2.getHValue(WorldModel) ? 1 : 0);
//model with sorted values
WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
}
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(WorldModel, this.Actions, this.Goals);
this.MCTSDecisionMaking = new MCTSRAVE(WorldModel);
}
else if (MCTSBiasRave)
{
var WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
if (MCTSBiasActions)
{
this.Actions.Sort((item1, item2) => item1.getHValue(WorldModel as WorldModel) < item2.getHValue(WorldModel) ? 1 : 0);
//model with sorted values
WorldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
}
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(WorldModel, this.Actions, this.Goals);
this.MCTSDecisionMaking = new MCTSBiasedRAVE(WorldModel);
}
this.MCTSDecisionMaking.MaxIterations = 5000;
this.MCTSDecisionMaking.MaxIterationsProcessedPerFrame = 25;
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialize your pathfinding algorithm here!
//use goalBoundingPathfinding for a more efficient algorithm
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclidianDistanceHeuristic()));
//this.goalBoundsTable = Resources.Load<GoalBoundingTable>("GoalBoundingTable");
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclidianDistanceHeuristic(), this.goalBoundsTable));
//initialization of the GOB decision making
//let's start by creating 4 main goals
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.GainXPGoal = new Goal(GAIN_XP_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.BeQuickGoal = new Goal(BE_QUICK_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.BeQuickGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.GainXPGoal);
//initialize the available actions
this.Actions = new List <Action>();
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("ManaPotion"))
{
this.Actions.Add(new GetManaPotion(this, potion));
}
foreach (var potion in GameObject.FindGameObjectsWithTag("HealthPotion"))
{
this.Actions.Add(new GetHealthPotion(this, potion));
}
this.Actions.Add(new LevelUp(this));
foreach (var enemy in GameObject.FindGameObjectsWithTag("Skeleton"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Orc"))
{
this.Actions.Add(new SwordAttack(this, enemy));
this.Actions.Add(new Fireball(this, enemy));
}
foreach (var enemy in GameObject.FindGameObjectsWithTag("Dragon"))
{
this.Actions.Add(new SwordAttack(this, enemy));
//this.Actions.Add(new Fireball(this, enemy));
}
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
//escolher entre MCTS ou GOAP
if (MCTSActive)
{
this.MCTSDecisionMaking = new MCTS(worldModel);
}
else
{
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
}
}
public MCTSBiasedPlayout(CurrentStateWorldModel currentStateWorldModel, IHeuristic heuristic)
: base(currentStateWorldModel)
{
this.Heuristic = heuristic;
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List <Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List <Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
//flags used for the influence map
this.RedFlags = new List <IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List <IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel, this.Actions, this.Goals);
}
public MCTSBiasedPlayout(CurrentStateWorldModel currentStateWorldModel) : base(currentStateWorldModel)
{
weights = new float[] { 1, 3, 2, 4, 1 };
}
