//threatening's motor schema. When the target crowd acrosses the threaten line, the selected UAV will become aggrasive and if the crowd
//keeps going forward and reaches the block line, the UAV will trigger the blocking
public Dictionary<GameObject, bool> threatenMS(GameObject target, GameObject UAV, Dictionary<GameObject,bool> block)
{
GameObject blockLine = GameObject.Find ("Block Line");
GameObject threatenLine = GameObject.Find ("Threaten Line");
GameObject approachLine = GameObject.Find ("Approach Line");
GameObject safeLine = GameObject.Find ("Safe Line");
GameObject backWallR = GameObject.Find ("Wall_Back1");
GameObject backWallL = GameObject.Find ("Wall_Back2");
float UAVrange = 0.5f;
float leftLimit = UAVrange + backWallL.transform.position.x + backWallL.transform.localScale.z/2.0f;
float rightLimit = backWallR.transform.position.x - backWallL.transform.localScale.z/2.0f - UAVrange;
float Tx = target.transform.position.x; //target's position
float Ty = target.transform.position.y;
float Tz = target.transform.position.z;
float Ux = UAV.transform.position.x; //UAV's position
float Uy = UAV.transform.position.y;
float Uz = UAV.transform.position.z;
float diffx = Tx - Ux; //differences between x,y,z of Target and UAV
float diffy = Ty - Uy;
float diffz = Tz - Uz;
float blockL = Uz - blockLine.transform.position.z; //block limit
float threatenL = Uz - threatenLine.transform.position.z;
float approachL = Uz - approachLine.transform.position.z;
float safeL = Uz - safeLine.transform.position.z;
float followDistance = 0.3f;
float movement = 0.0f;
float moveSpeed = 2.0f;
float eyelevel = 1.5f;
float watchStay = 2.0f;
float dBetweenUandT = Mathf.Abs (diffz);
if (dBetweenUandT > blockL && dBetweenUandT <= threatenL) { //UAV is aggresive at beginning
Debug.Log ("Threaten");
Time.timeScale = 3.0f;
StayInDoorRange stay = new StayInDoorRange();
if (stay.stayInDoorRange(Ux,Uy,Uz)){
if (diffx < -followDistance) {
movement = Time.deltaTime * -moveSpeed;
} else if (diffx > followDistance) {
movement = Time.deltaTime * moveSpeed;
} else {
movement = 0.0f;
}
UAV.transform.Translate (movement, 0, 0, target.transform);
} else {
if (Ux >= rightLimit) {
movement = Time.deltaTime * -0.5f;
UAV.transform.Translate (movement, 0, 0, target.transform);
} else if (Ux <= leftLimit) {
movement = Time.deltaTime * 0.5f;
UAV.transform.Translate (movement, 0, 0, target.transform);
}
}
// StayInDoorRange stay = new StayInDoorRange();
if (stay.stayInDoorRange(Ux,Uy,Uz)){
float mX = Time.deltaTime * UnityEngine.Random.Range (-2.0F, 2.0F);
float mY = Time.deltaTime * UnityEngine.Random.Range (-2.0F, 2.0F);
UAV.transform.Translate (mX, mY, 0, target.transform);
}
} else if (dBetweenUandT <= blockL){ //block the crowd when it passes the block limit
Debug.Log("BLOOOOOOOOCK!");
block[target] = true;
}
return block;
}
//coordinate function, combining watching, approaching and threatening.
private void coordinate(GameObject target, GameObject UAV)
{
GameObject blockLine = GameObject.Find ("Block Line");
GameObject threatenLine = GameObject.Find ("Threaten Line");
GameObject approachLine = GameObject.Find ("Approach Line");
GameObject watchLine = GameObject.Find ("Watch Line");
GameObject safeLine = GameObject.Find ("Safe Line");
float Ix = 12.0f;
float Iy = 3.0f;
float Iz = 4155.0f;
float Tx = target.transform.position.x; //target's position
float Ty = target.transform.position.y;
float Tz = target.transform.position.z;
float Ux = UAV.transform.position.x; //UAV's position
float Uy = UAV.transform.position.y;
float Uz = UAV.transform.position.z;
float diffx = Tx - Ux;
float diffy = Ty - Uy;
float diffz = Tz - Uz;
float blockL = Uz - blockLine.transform.position.z;
float threatenL = Uz - threatenLine.transform.position.z;
float approachL = Uz - approachLine.transform.position.z;
float watchL = Uz - watchLine.transform.position.z;
float safeL = Uz - safeLine.transform.position.z;
float movement = 0.0f;
float moveSpeed = 2.0f;
float eyelevel = 1.5f;
float watchStay = 2.0f;
float dBetweenUandT = Mathf.Abs (diffz);
if (dBetweenUandT > watchL && dBetweenUandT <= safeL) {
// Debug.Log ("Above Eye Level");
if (Uy <= eyelevel) {
movement = Time.deltaTime * moveSpeed;
} else if (Uy > eyelevel && Uy <= watchStay) {
movement = Time.deltaTime * moveSpeed;
} else {
movement = 0.0f;
}
UAV.transform.Translate (0, movement, 0, target.transform);
}else if (dBetweenUandT > approachL && dBetweenUandT <= watchL) {
Watching watchMS = new Watching ();
watchMS.watchMS (target, UAV);
}else if (dBetweenUandT > threatenL && dBetweenUandT <= approachL) {
Approaching approachMS = new Approaching ();
approachMS.approachMS (target, UAV);
}else if (dBetweenUandT <= threatenL) {
Threatening threatenMS = new Threatening ();
block = threatenMS.threatenMS (target, UAV, block);
// Debug.Log(block[target]);
}else {
StayInDoorRange stay = new StayInDoorRange();
if (stay.stayInDoorRange(Ux,Uy,Uz)){
float mX = Time.deltaTime * UnityEngine.Random.Range (-5.0F, 5.0F);
float mY = Time.deltaTime * UnityEngine.Random.Range (-5.0F, 5.0F);
float mZ = Time.deltaTime * UnityEngine.Random.Range (-5.0F, 5.0F);
UAV.transform.Translate (mX, mY, 0, target.transform);
} else {
float mX = Time.deltaTime * (Ix - Ux) * 5.0f;
float mY = Time.deltaTime * (Iy - Uy) * 5.0f;
float mZ = Time.deltaTime * (Iz - Uz) * 5.0f;
UAV.transform.Translate (mX, mY, 0, target.transform);
}
}
}
//approaching's motor schema. When the target crowd passes the approaching line, the UAV will follow it in X direction.
public void approachMS(GameObject target, GameObject UAV)
{
GameObject threatenLine = GameObject.Find ("Threaten Line");
GameObject approachLine = GameObject.Find ("Approach Line");
GameObject backWallR = GameObject.Find ("Wall_Back1");
GameObject backWallL = GameObject.Find ("Wall_Back2");
float UAVrange = 0.5f;
float leftLimit = UAVrange + backWallL.transform.position.x + backWallL.transform.localScale.z/2.0f;
float rightLimit = backWallR.transform.position.x - backWallL.transform.localScale.z/2.0f - UAVrange;
float Ix = 12.0f;
float Iy = 3.0f;
float Iz = 4155.0f;
float Tx = target.transform.position.x; //target's position
float Ty = target.transform.position.y;
float Tz = target.transform.position.z;
float Ux = UAV.transform.position.x; //UAV's position
float Uy = UAV.transform.position.y;
float Uz = UAV.transform.position.z;
float diffx = Tx - Ux;
float diffy = Ty - Uy;
float diffz = Tz - Uz;
float threatenL = Uz - threatenLine.transform.position.z;
float approachL = Uz - approachLine.transform.position.z;
float followDistance = 0.2f;
float movement = 0.0f;
float moveSpeed = 2.0f;
float eyelevel = 1.5f;
float watchStay = 2.0f;
float dBetweenUandT = Mathf.Abs (diffz);
if (dBetweenUandT > threatenL && dBetweenUandT <= approachL) {
Debug.Log ("Approach");
StayInDoorRange stay = new StayInDoorRange();
if (stay.stayInDoorRange(Ux,Uy,Uz)){
if (diffx < -followDistance) {
movement = Time.deltaTime * -moveSpeed;
} else if (diffx > followDistance) {
movement = Time.deltaTime * moveSpeed;
} else {
movement = 0.0f;
}
UAV.transform.Translate (movement, 0, 0, target.transform);
} else {
if (Ux >= rightLimit) {
movement = Time.deltaTime * -0.5f;
UAV.transform.Translate (movement, 0, 0, target.transform);
} else if (Ux <= leftLimit) {
movement = Time.deltaTime * 0.5f;
UAV.transform.Translate (movement, 0, 0, target.transform);
}
}
if (Uy > eyelevel) {
movement = Time.deltaTime * -moveSpeed;
} else if (Uy < eyelevel) {
movement = Time.deltaTime * moveSpeed;
} else {
movement = 0.0f;
}
UAV.transform.Translate (0, movement, 0, target.transform);
}
}