public DijkstraSearchThread(NavigationGraphNode startNode, NodeGoalBounds bounds, GoalBoundsDijkstraMapFlooding dijkstra, GoalBoundingTable goalBoundingTable, int index)
{
this.startNode = startNode;
this.bounds = bounds;
this.dijkstra = dijkstra;
this.goalBoundingTable = goalBoundingTable;
this.index = index;
}
private static void CalculateGoalBounds()
{
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
//this is needed because RAIN AI does some initialization the first time the QuantizeToNode method is called
//if this method is not called, the connections in the navigationgraph are not properly initialized
navMesh.QuantizeToNode(new Vector3(0, 0, 0), 1.0f);
var dijkstra = new GoalBoundsDijkstraMapFlooding(navMesh);
GoalBoundingTable goalBoundingTable = new GoalBoundingTable();
var nodes = GetNodesHack(navMesh);
goalBoundingTable.table = new NodeGoalBounds[nodes.Count];
NodeGoalBounds auxGoalBounds;
//calculate goal bounds for each edge
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is NavMeshEdge)
{
//initialize the GoalBounds structure for the edge
auxGoalBounds = new NodeGoalBounds
{
connectionBounds = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds[nodes[i].OutEdgeCount]
};
for (int j = 0; j < nodes[i].OutEdgeCount; j++)
{
auxGoalBounds.connectionBounds[j] = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds();
auxGoalBounds.connectionBounds[j].InitializeBounds(nodes[i].LocalPosition);
}
if (i % 10 == 0)
{
float percentage = (float)i / (float)nodes.Count;
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Calculating goal bounds for each edge", percentage);
}
//run a Dijkstra mapflooding for each node
dijkstra.Search(nodes[i], auxGoalBounds);
goalBoundingTable.table[i] = auxGoalBounds;
}
}
//saving the table to a binary file
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Saving GoalBoundsTable to an Asset file", 100);
goalBoundingTable.Save(Application.dataPath + "/Resources/", "GoalBoundingTable.dat");
//saving the assets, this takes forever using Unity's serialization mechanism
EditorUtility.ClearProgressBar();
}
// Use this for initialization
void Awake()
{
this.currentClickNumber = 1;
GoalBoundingTable goalBoundingTable = Resources.Load("GoalBoundingTable") as GoalBoundingTable;
//GoalBoundingTable goalBoundingTable = Resources.Load<GoalBoundingTable>("Assets/GoalBoundingTable.asset");
//read the goal boundings table asset
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new NodePriorityHeap(), new NodeHashMap(), new EuclideanHeuristic()));
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic()));
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic(), goalBoundingTable));
}
// Use this for initialization
void Awake()
{
BinaryFormatter bf = new BinaryFormatter();
FileStream file = File.Open("Assets/GoalBoundingData/GoalBounding.dat", FileMode.Open);
GoalBoundingTable goalBoundingTable = (GoalBoundingTable)bf.Deserialize(file);
file.Close();
this.currentClickNumber = 1;
navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic(), goalBoundingTable));
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanHeuristic()));
}
// Use this for initialization
void Awake()
{
this.currentClickNumber = 1;
//comentar o metodo que nao queremos usar e descomentar o que queremos usar (organizado do pior ao melhor):
//AStar com Unordered List
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new SimpleUnorderedNodeList(), new HashtableSet(), new EuclidianDistanceHeuristic()));
//AStar com PriorityHeap
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new NodePriorityHeap(), new HashtableSet(), new EuclidianDistanceHeuristic()));
//NodeAStar
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclidianDistanceHeuristic()));
//GoalBounding
this.goalBoundsTable = Resources.Load <GoalBoundingTable>("GoalBoundingTable");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclidianDistanceHeuristic(), this.goalBoundsTable));
}
// Use this for initialization
void Awake()
{
this.currentClickNumber = 1;
//first table
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new SimpleUnorderedNodeList(), new SimpleUnorderedNodeList(), new EuclideanDistance()));
//secound table
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new SimpleUnorderedNodeList(), new ClosedSetDictionary(), new EuclideanDistance()));
//third table
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new AStarPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new NodePriorityHeap(), new ClosedSetDictionary(), new EuclideanDistance()));
//fourth table
//this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new NodeArrayAStarPathFinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanDistance()));
//quinta table
GoalBoundingTable goalBoundsTable = Resources.Load <GoalBoundingTable>("GoalBoundingTable");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanDistance(), goalBoundsTable));
}
public GoalBoundingPathfinding(NavMeshPathGraph graph, IHeuristic heuristic, GoalBoundingTable goalBoundsTable) : base(graph, heuristic)
{
this.GoalBoundingTable = goalBoundsTable;
}
private static void CalculateGoalBounds()
{
Debug.Log("Creating goalbounds table");
DateTime startTime = DateTime.Now;
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
//this is needed because RAIN AI does some initialization the first time the QuantizeToNode method is called
//if this method is not called, the connections in the navigationgraph are not properly initialized
navMesh.QuantizeToNode(new Vector3(0, 0, 0), 1.0f);
GoalBoundingTable goalBoundingTable = new GoalBoundingTable();
var nodes = GetNodesHack(navMesh);
goalBoundingTable.table = new NodeGoalBounds[nodes.Count];
var dijkstra = new GoalBoundsDijkstraMapFlooding(nodes);
NodeGoalBounds auxGoalBounds;
//calculate goal bounds for each edge
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is NavMeshEdge)
{
//initialize the GoalBounds structure for the edge
auxGoalBounds = new NodeGoalBounds();
auxGoalBounds.connectionBounds = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds[nodes[i].OutEdgeCount];
for (int j = 0; j < nodes[i].OutEdgeCount; j++)
{
auxGoalBounds.connectionBounds[j] = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds();
auxGoalBounds.connectionBounds[j].InitializeBounds(nodes[i].Position);
}
if (i % 10 == 0)
{
float percentage = (float)i / (float)nodes.Count;
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Calculating goal bounds for each edge", percentage);
}
//run a Dijkstra mapflooding for each node
dijkstra.Search(nodes[i], auxGoalBounds);
goalBoundingTable.table[i] = auxGoalBounds;
//edgeIndex++;
}
}
BinaryFormatter bf = new BinaryFormatter();
if (File.Exists("Assets/GoalBoundingData/GoalBounding.dat"))
{
File.Delete("Assets/GoalBoundingData/GoalBounding.dat");
}
FileStream file = File.Create("Assets/GoalBoundingData/GoalBounding.dat");
bf.Serialize(file, goalBoundingTable);
file.Close();
EditorUtility.ClearProgressBar();
TimeSpan time = DateTime.Now - startTime;
Debug.Log("Duration creating goalboundtable : " + time.ToString());
}
public GoalBoundingPathfinding(NavMeshPathGraph graph, IHeuristic heuristic, GoalBoundingTable goalBoundsTable) : base(graph, heuristic)
{
this.GoalBoundingTable = goalBoundsTable;
dikjstra = new GoalBoundsDijkstraMapFlooding(graph);
}
private static void CalculateGoalBounds()
{
//get the NavMeshGraph from the current scene
NavMeshPathGraph navMesh = GameObject.Find("Navigation Mesh").GetComponent <NavMeshRig>().NavMesh.Graph;
//this is needed because RAIN AI does some initialization the first time the QuantizeToNode method is called
//if this method is not called, the connections in the navigationgraph are not properly initialized
navMesh.QuantizeToNode(new Vector3(0, 0, 0), 1.0f);
GoalBoundingTable goalBoundingTable = ScriptableObject.CreateInstance <GoalBoundingTable>();
var nodes = GetNodesHack(navMesh);
goalBoundingTable.table = new NodeGoalBounds[nodes.Count];
// List of threads to wait.
List <Thread> threads = new List <Thread>();
//calculate goal bounds for each edge
for (int i = 0; i < nodes.Count; i++)
{
if (nodes[i] is NavMeshEdge)
{
var dijkstra = new GoalBoundsDijkstraMapFlooding(navMesh);
NodeGoalBounds auxGoalBounds;
//initialize the GoalBounds structure for the edge
auxGoalBounds = ScriptableObject.CreateInstance <NodeGoalBounds>();
auxGoalBounds.connectionBounds = new Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds[nodes[i].OutEdgeCount];
for (int j = 0; j < nodes[i].OutEdgeCount; j++)
{
auxGoalBounds.connectionBounds[j] = ScriptableObject.CreateInstance <Assets.Scripts.IAJ.Unity.Pathfinding.DataStructures.GoalBounding.Bounds>();
auxGoalBounds.connectionBounds[j].InitializeBounds(nodes[i].Position);
}
if (i % 10 == 0)
{
float percentage = (float)i / (float)nodes.Count;
EditorUtility.DisplayProgressBar("GoalBounding precomputation progress", "Calculating goal bounds for each edge", percentage);
}
//run a Dijkstra mapflooding for each node
//run in a new thread:
/*
* dijkstra.Search(nodes[i], auxGoalBounds);
*
* goalBoundingTable.table[i] = auxGoalBounds;
*/
var searchThread = new DijkstraSearchThread(nodes[i], auxGoalBounds, dijkstra, goalBoundingTable, i);
Thread t = new Thread(new ThreadStart(searchThread.Search));
threads.Add(t);
t.Start();
//t.Join();
//edgeIndex++;
}
}
foreach (Thread t in threads)
{
t.Join();
}
//saving the assets, this takes forever using Unity's serialization mechanism
goalBoundingTable.SaveToAssetDatabase();
EditorUtility.ClearProgressBar();
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
goalBoundsTable = Resources.Load <GoalBoundingTable>("GoalBoundingTable");
//initialize your pathfinding algorithm here!
//use goalBoundingPathfinding for a more efficient algorithm
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanDistanceHeuristic(), 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 = 0.5f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 2.5f,
ChangeRate = 0.5f
};
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));
}
this.Actions.Add(new LevelUp(this));
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 = new MCTSBiasedPlayout(worldModel);
//this.MCTSDecisionMaking.MaxIterations = 500;
//this.MCTSDecisionMaking.MaxIterationsProcessedPerFrame = 100;
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//Goal Bounding Node Array A*, EuclideanDistanceHeuristic
var goalBoundsTable = GoalBoundingTable.Load(Application.dataPath + "/Resources/", "GoalBoundingTable.dat");
this.Initialize(NavigationManager.Instance.NavMeshGraphs[0], new GoalBoundingPathfinding(NavigationManager.Instance.NavMeshGraphs[0], new EuclideanDistanceHeuristic(), 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.SurviveGoal,
this.BeQuickGoal,
this.GetRichGoal,
this.GainXPGoal
};
//initialize the available actions
this.Actions = new List <Action>
{
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));
}
this.InitialState = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
// Select Decision-Making Algorithm
//this.DecisionMaking = new DepthLimitedGOAPDecisionMaking(this.InitialState, this.Actions,this.Goals);
//this.DecisionMaking = new MCTS(this.InitialState);
this.DecisionMaking = new MCTSBiasedPlayout(this.InitialState, new PropertyWeightedSumHeuristic());
}
