void Awake()
{
current = this;
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacle.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle[i].transform.position,
potential = 60,
gradation = 10,
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
}
void Awake()
{
current = this;
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacle.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle[i].transform.position,
potential = 60,
gradation = 10,
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
}
private void addPotentail(PFPotentialField curfield, int multiplier)
{
for (int i = (int)Mathf.Max(origin.x, (curfield.position.x - curfield.potentialBoundsHalfWidth));
i < Mathf.Min((origin.x + width), (curfield.position.x + curfield.potentialBoundsHalfWidth)); i++)
{
for (int j = (int)Mathf.Max(origin.y, (curfield.position.y - curfield.potentialBoundsHalfHeight));
j < Mathf.Min((origin.y + height), (curfield.position.y + curfield.potentialBoundsHalfHeight)); j++)
{
map[i][j] += multiplier * curfield.getLocalPotential(i - (int)curfield.position.x, j - (int)curfield.position.y);
}
}
}
private void addPotentail(PFPotentialField curfield, int multiplier)
{
for (int i = (int)Mathf.Max(origin.x, (curfield.position.x - curfield.potentialBoundsHalfWidth));
i < Mathf.Min((origin.x + width), (curfield.position.x + curfield.potentialBoundsHalfWidth)); i++)
{
for (int j = (int)Mathf.Max(origin.y, (curfield.position.y - curfield.potentialBoundsHalfHeight));
j < Mathf.Min((origin.y + height), (curfield.position.y + curfield.potentialBoundsHalfHeight)); j++)
{
map[i][j] += multiplier * curfield.getLocalPotential(i - (int)curfield.position.x, j - (int)curfield.position.y);
}
}
}
public void removePotentialField(PFPotentialField curfield)
{
addPotentail(curfield, -1);
}
public void addPotentialField(PFPotentialField curfield)
{
addPotentail(curfield, 1);
}
// Use this for initialization
void Start()
{
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacles.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacles[i].position,
potential = 100,
gradation = 10
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
agent1 = new PFAgent() {
type = PF_TYPE.Repell,
position = agent1_tran.position,
potential = 4,
gradation = 1
};
agent2 = new PFAgent()
{
type = PF_TYPE.Repell,
position = agent2_tran.position,
potential = 4,
gradation = 1
};
agent1_tran.gameObject.GetComponent<BaseControl_2>().agent = agent1;
agent1_tran.gameObject.GetComponent<BaseControl_2>().neighbour_agent = agent2;
agent2_tran.gameObject.GetComponent<BaseControl_2>().agent = agent2;
agent2_tran.gameObject.GetComponent<BaseControl_2>().neighbour_agent = agent1;
agent1Mp = new PFDynamicPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
agent1Mp.addPotentialField(goalField);
agent1Mp.addPotentialField(agent2);
agent2Mp = new PFDynamicPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
agent2Mp.addPotentialField(goalField);
agent2Mp.addPotentialField(agent1);
agent1.addStaticPotentialsMap(obstaclesPotentialsMap);
agent1.addDynamicPotentialsMap(agent1Mp);
agent2.addStaticPotentialsMap(obstaclesPotentialsMap);
agent2.addDynamicPotentialsMap(agent2Mp);
}
public void removePotentialField(PFPotentialField curField)
{
fields.Remove(curField);
}
public void addPotentialField(PFPotentialField curField)
{
fields.Add(curField);
}
public void removePotentialField(PFPotentialField curfield)
{
addPotentail(curfield, -1);
}
public void addPotentialField(PFPotentialField curfield)
{
addPotentail(curfield, 1);
}
