// Start is called before the first frame update
protected override void Start()
{
moveTypeSeek = new Seek();
moveTypeSeek.character = this;
moveTypeSeek.target = target;
moveTypeFlee = new Seek();
moveTypeFlee.flee = true;
moveTypeFlee.character = this;
moveTypeFlee.target = target;
moveTypeEvade = new Evade();
moveTypeEvade.character = this;
moveTypeEvade.target = target;
moveTypeAvoid = new ObstacleAvoidance();
moveTypeAvoid.character = this;
moveTypeAvoid.target = target;
rotateTypeFace = new Face();
rotateTypeFace.character = this;
rotateTypeFace.target = target;
rotateTypeLWYG = new LookWhereYoureGoing();
rotateTypeLWYG.character = this;
rotateTypeLWYG.target = target;
}
//Function to create leader ships
void CreateLeaders(Vector3 newpos)
{
GameObject leader = GameObject.Instantiate <GameObject> (prefab);
leader.transform.parent = this.transform;
leader.transform.position = this.transform.TransformPoint(newpos);
leader.transform.rotation = this.transform.rotation;
//add steering behaviours
Wander w = leader.AddComponent <Wander>();
Seek seek = leader.AddComponent <Seek> ();
seek.enabled = !seek.enabled; //disable seek behaviour
ObstacleAvoidance obavd = leader.AddComponent <ObstacleAvoidance> ();
//Change speed of boid
Boid b = leader.GetComponent <Boid> ();
b.maxSpeed = 2;
//Create followers of leader
for (int i = 1; i <= followers; i++)
{
Vector3 offset = new Vector3(gap * i, 0, -gap * i);
CreateFollower(offset, leader.GetComponent <Boid> ());
offset = new Vector3(-gap * i, 0, -gap * i);
CreateFollower(offset, leader.GetComponent <Boid> ());
}
}
//void based steeringbehaviours
public void ObstacleAvoidenceOn()
{
if (!behaviours.Contains(ObstacleAvoidance.GetInstance()))
{
behaviours.Add(ObstacleAvoidance.GetInstance());
}
}
public static ObstacleAvoidance GetInstance()
{
if (instance == null)
{
instance = new ObstacleAvoidance();
}
return(instance);
}
void Start()
{
Separation separate = new Separation();
separate.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("bird");
kBirds = new Kinematic[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
kBirds[j++] = goBirds[i].GetComponent <Kinematic>();
}
separate.targets = kBirds;
Arrive cohere = new Arrive();
cohere.character = this;
cohere.target = myCohereTarget;
LookWhereGoing myRotateType = new LookWhereGoing();
myRotateType.character = this;
mySteering = new BlendedSteering();
mySteering.behaviors = new BehaviorAndWeight[3];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = separate;
mySteering.behaviors[0].weight = 1f;
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = cohere;
mySteering.behaviors[1].weight = 1f;
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = myRotateType;
mySteering.behaviors[2].weight = 1f;
ObstacleAvoidance myAvoid = new ObstacleAvoidance();
myAvoid.character = this;
myAvoid.target = myCohereTarget;
myAvoid.flee = true;
BlendedSteering myHighPrioritySteering = new BlendedSteering();
myHighPrioritySteering.behaviors = new BehaviorAndWeight[1];
myHighPrioritySteering.behaviors[0] = new BehaviorAndWeight();
myHighPrioritySteering.behaviors[0].behavior = myAvoid;
myHighPrioritySteering.behaviors[0].weight = 1f;
myAdvancedSteering = new PrioritySteering();
myAdvancedSteering.groups = new BlendedSteering[2];
myAdvancedSteering.groups[0] = new BlendedSteering();
myAdvancedSteering.groups[0] = myHighPrioritySteering;
myAdvancedSteering.groups[1] = new BlendedSteering();
myAdvancedSteering.groups[1] = mySteering;
}
// Use this for initialization
void Start()
{
separation = this.GetComponent <Separation>();
arrive = this.GetComponent <Arrive>();
//align = this.GetComponent<Align>();
velocityMatching = this.GetComponent <VelocityMatch>();
velocityOutput = new SteeringOutput();
avoidance = this.GetComponent <ObstacleAvoidance>();
//m_droneGO.GetComponent<Rigidbody>().AddForce(new Vector3(Random.Range(0,50), Random.Range(0, 50), Random.Range(0, 50)),ForceMode.VelocityChange);
}
void Start()
{
myMoveType = new ObstacleAvoidance();
myMoveType.character = this;
myMoveType.target = myTarget;
myRotateType = new LookWhereGoing();
myRotateType.character = this;
myRotateType.target = myTarget;
}
public Goblin(string name, Vector2D pos, World w, MovingEntity Target) : base(name, pos, w)
{
// State.
hunting = new Hunting(this);
retreating = new Retreating(this);
guarding = new Guarding(this);
wandering = new Wandering(this);
regroup = new Regroup(this);
obey = new Obeying(this);
equip = new Equip(this);
setState(guarding); // Starting state.
FollowingOrder = false;
Key = _lastKey + 1;
_lastKey++;
debugText = new List <string>();
this.Target = Target;
Mass = 50;
MaxSpeed = 5;
MaxForce = 25;
DamagePerAttack = 10;
AttackRange = 10;
AttackSpeed = 15; // Lower is faster.
GroupValue = 10;
NeighborsRange = 100;
SeparationValue = 8;
CohesionValue = 1;
AlignmentValue = 16;
FollowValue = 20;
_SB = new ArrivalBehaviour(me: this, target: Target, slowingRadius: SlowingRadius);
_FleeB = new FleeBehaviour(me: this, target: Target, panicDistance: PanicDistance);
_FlockB = new FlockBehaviour(me: this, groupValue: GroupValue, cohesionValue: CohesionValue, alignmentValue: AlignmentValue, separationValue: SeparationValue);
_LFB = new LeaderFollowingBehaviour(me: this, leader: Leader, slowingRadius: SlowingRadius, leaderBehindDist: 30, groupValue: GroupValue, followValue: FollowValue, separationValue: SeparationValue);
_OA = new ObstacleAvoidance(this);
_WA = new WallAvoidance(this);
_WB = new WanderBehaviour(this, 100, 200);
Velocity = new Vector2D(0, 0);
SlowingRadius = 100;
PanicDistance = 200; // Distance at which goblin starts fleeing.
PassiveDistance = 1000; // Distance at which goblin goes to guard.
BraveryDistance = 100;
WanderRadius = 10;
WanderDistance = 1;
Scale = 4;
VColor = Color.Black;
AddDebugText("Current state: " + currentState, 0);
AddDebugText("Previous state: " + previousState, 1);
}
// Start is called before the first frame update
void Start()
{
//DATOS DE PERSONAJE
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
//ARRIVE INITIALIZATION
enemy = new GameObject();//creamos un enemigo ficticio que sera el mouse
enemy.transform.position = Vector3.zero;
kineticsEnemy = new Kinetics(0f, Vector3.zero, enemy.transform);
arrive = new Arrive(kineticsAgent, kineticsEnemy, maxAccelerationArrive, agent.maxspeed, targetRadiusArrive, slowRadiusArrive, timeTotargetArrive);
arrive.weigth = 1f;
//AVOID INITIALIZATION
obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
for (int i = 0; i < obstacles.Length; i++)
{
obs_trans.Add(obstacles[i].transform);
}
Transform[] obstacles_transforms = obs_trans.ToArray();
obstacleAvoidance = new ObstacleAvoidance(kineticsAgent, obstacles_transforms, avoidDistance, lookAheadAvoid, steeringAgent);
obstacleAvoidance.weigth = 1f;
//FACE INITIALIZATION
face = new Face(kineticsAgent, kineticsEnemy);
face.weigth = 1f;
//BLEND INITIALIZATION
behaviorsArrive[0] = arrive;
behaviorsArrive[1] = face;
behaviorsAvoid[0] = obstacleAvoidance;
blendArrive = new BlendedSteering(behaviorsArrive, maxAccelBlend, maxAngularBlend);
blendAvoid = new BlendedSteering(behaviorsAvoid, maxAccelBlend, maxAngularBlend);
//PRIORITY INITIALIZATION
groups[0] = blendAvoid;//OJO avoid tiene prioridad por eso va primero
groups[1] = blendArrive;
priority = new PrioritySteering(groups, steeringAgent);
}
public MovingEntity(World world)
{
this.Mass = 30;
this.MaxSpeed = .01f;
this.MinSpeed = 1.0f;
this.Velocity = new Vector2();
this.Orientation = new Vector2(1, 0);
this.wallAvoidance = new WallAvoidance(this, world, 15f, 1.5f);
this.obstacleAvoidance = new ObstacleAvoidance(this, world);
}
protected virtual void Start()
{
InitOffset();
HP = MaxHP;
PlayerGroup = Owner.Group;
steerBh = Singleton.SteerBehavior;
flockBh = Singleton.FlockBehavior;
avoidanceBh = Singleton.ObstacleAvoidance;
}
public virtual void Awake()
{
lineOfSight = GetComponent <LineOfSight>();
obstacleAvoidance = new ObstacleAvoidance(transform, obstacleAvoidRadius, obstacleAvoidWeight, obstacle);
rb = GetComponent <Rigidbody>();
stopUpdate = true;
manager = FindObjectOfType <GameManager>();
InitializeRouletteWheel();
}
private void Start()
{
sight = gameObject.GetComponent <LineOfSight>();
seek = gameObject.GetComponent <Seek>();
flee = gameObject.GetComponent <Flee>();
obstacleavoidance = gameObject.GetComponent <ObstacleAvoidance>();
//combat = gameObject.GetComponent<EnemyCombat>();
_enemy = gameObject.GetComponent <Enemy>();
timer = 0;
CreateDecisionTree();
}
public static SteeringOutput GetSteering(KinematicState ownKS, SArrive arriveInfo, SObstacleAvoidance obstacleInfo, ref bool obstacleAvoided)
{
SteeringOutput obstacleAvoidSteering = ObstacleAvoidance.GetSteering(ownKS, obstacleInfo);
if (obstacleAvoidSteering != NULL_STEERING)
{
obstacleAvoided = true;
return(obstacleAvoidSteering);
}
obstacleAvoided = false;
return(Arrive.GetSteering(ownKS, arriveInfo));
}
// Start is called before the first frame update
protected virtual void Start()
{
arrive = new Arrive();
look = new LookWhereGoing();
seperate = new Seperation();
avoid = new ObstacleAvoidance();
flockGroups = new BlendedSteering[3];
arrive.target = target;
arrive.ai = this;
look.target = target;
look.ai = this;
seperate.ai = this;
avoid.ai = this;
AbstractKinematic[] kBirds;
GameObject[] birds = GameObject.FindGameObjectsWithTag("Bird");
kBirds = new AbstractKinematic[birds.Length - 1];
int j = 0;
for (int i = 0; i < birds.Length - 1; i++)
{
if (birds[i] == this)
{
continue;
}
kBirds[j++] = birds[i].GetComponent <AbstractKinematic>();
}
seperate.targets = kBirds;
InitializePriorityOne();
InitializePriorityTwo();
InitializePriorityThree();
/*
* flocking.behaviors = new BehaviorAndWeight[3];
* BehaviorAndWeight behavior1 = new BehaviorAndWeight();
* behavior1.behavior = arrive;
* behavior1.weight = 100f;
* flocking.behaviors[0] = behavior1;
* BehaviorAndWeight behavior2 = new BehaviorAndWeight();
* behavior2.behavior = look;
* behavior2.weight = 1f;
* flocking.behaviors[1] = behavior2;
* BehaviorAndWeight behavior3 = new BehaviorAndWeight();
* behavior3.behavior = seperate;
* behavior3.weight = 20f;
* flocking.behaviors[2] = behavior3;
*/
}
// Start is called before the first frame update
protected override void Start()
{
if (obstacle)
{
avoidTypeObs = new ObstacleAvoidance();
avoidTypeObs.character = this;
avoidTypeObs.target = obstacleTarget;
}
else
{
avoidTypeCol = new CollisionAvoidance();
avoidTypeCol.character = this;
avoidTypeCol.targets = avoidingTargets;
}
}
//Function to create leader
void CreateLeaders(Vector3 newpos)
{
GameObject leader = GameObject.Instantiate <GameObject> (prefab);
leader.transform.parent = this.transform;
leader.transform.position = this.transform.TransformPoint(newpos);
leader.transform.rotation = this.transform.rotation;
//add steering behaviours
Arrive arive = leader.AddComponent <Arrive> ();
arive.targetPosition = leader.transform.position + leader.transform.forward * 100; //add target position to arrive there
Seek seek = leader.AddComponent <Seek> ();
seek.enabled = !seek.enabled;
Path path = leader.AddComponent <Path> ();
path.mothership = mothership;
FollowPath fpath = leader.AddComponent <FollowPath> ();
fpath.path = path;
fpath.enabled = !fpath.enabled;
ObstacleAvoidance obavd = leader.AddComponent <ObstacleAvoidance> ();
obavd.enabled = !obavd.enabled;
//Add boid and seek to the bombs(missiles)
int count = leader.transform.Find("Bombs").gameObject.transform.childCount;
for (int i = 0; i < count; i++)
{
Boid b = leader.transform.Find("Bombs").GetChild(i).gameObject.AddComponent <Boid> ();
b.maxSpeed = 25f;
b.explosionPrefab = expPrefab;
Seek sb = leader.transform.Find("Bombs").GetChild(i).gameObject.AddComponent <Seek> ();
sb.target = RandomTarget();
sb.enabled = !sb.enabled;
}
//Create followers
for (int i = 1; i <= followers; i++)
{
Vector3 offset = new Vector3(gap * i, 0, -gap * i);
CreateFollower(offset, leader.GetComponent <Boid> ());
offset = new Vector3(-gap * i, 0, -gap * i);
CreateFollower(offset, leader.GetComponent <Boid> ());
}
}
// Start is called before the first frame update
void Start()
{
//myMoveType = new Seek();
myMoveType = new ObstacleAvoidance();
myMoveType.character = this;
myMoveType.target = myTarget;
myMoveType.flee = flee;
mySeekRotateType = new Face();
mySeekRotateType.character = this;
mySeekRotateType.target = myTarget;
myFleeRotateType = new LookWhereGoing();
myFleeRotateType.character = this;
myFleeRotateType.target = myTarget;
}
void Start()
{
obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
//Inicializamos las estructuras necesarias de otros componentes
for (int i = 0; i < obstacles.Length; i++)
{
obs_trans.Add(obstacles[i].transform);
}
kineticsAgent = agent.kineticsAgent;
steeringAgent = agent.steeringAgent;
Transform[] obstacles_transforms = obs_trans.ToArray();
//Inicializamos movimientos
obstacleAvoidance = new ObstacleAvoidance(kineticsAgent, obstacles_transforms, avoidDistance, lookAhead, steeringAgent);
}
public override void SetWayPoints(List <Node> newPoints, Vector3 finalPos)
{
if (newPoints.Count == 0)
{
return;
}
_waypoints = newPoints;
_finalPos = finalPos;
_nextPoint = 0;
var pos = _waypoints[_nextPoint].transform.position;
pos.y = transform.position.y;
_sb = new ObstacleAvoidance(transform, _waypoints[_nextPoint].transform, obstacleDistance, avoidWeight, avoidLayer);
_lastConnection = false;
}
/// <summary>
/// Creates a new instance
/// </summary>
public Behaviors()
{
Alignment = new Alignment();
Arrive = new Arrive();
Cohesion = new Cohesion();
Evade = new Evade();
Flee = new Flee();
Hide = new Hide();
Interpose = new Interpose();
ObstacleAvoidance = new ObstacleAvoidance();
OffsetPursuit = new OffsetPursuit();
PathFollowing = new PathFollowing();
Pursuit = new Pursuit();
Seek = new Seek();
Separation = new Separation();
WallAvoidance = new WallAvoidance();
Wander = new Wander();
}
//Function to create followers
void CreateFollower(Vector3 offset, Boid leader)
{
GameObject follower = GameObject.Instantiate <GameObject> (prefab);
follower.transform.position = leader.transform.TransformPoint(offset);
follower.transform.parent = this.transform;
follower.transform.rotation = this.transform.rotation;
//add steering behaviours
Wander w = follower.AddComponent <Wander>();
Seek seek = follower.AddComponent <Seek> ();
seek.enabled = !seek.enabled;
ObstacleAvoidance obavd = follower.AddComponent <ObstacleAvoidance> ();
Boid b = follower.GetComponent <Boid> ();
b.maxSpeed = 2;
}
/// <summary>
/// Creates a new instance
/// </summary>
public Behaviors()
{
Alignment = new Alignment();
Arrive = new Arrive();
Cohesion = new Cohesion();
Evade = new Evade();
Flee = new Flee();
Hide = new Hide();
Interpose = new Interpose();
ObstacleAvoidance = new ObstacleAvoidance();
OffsetPursuit = new OffsetPursuit();
PathFollowing = new PathFollowing();
Pursuit = new Pursuit();
Seek = new Seek();
Separation = new Separation();
WallAvoidance = new WallAvoidance();
Wander = new Wander();
}
//Could create the list here and use at the AI script aswell
private void Awake()
{
//find mothership reference gameobject
mothership = GameObject.Find("Mothership");
mshipsize = mothership.GetComponent <Collider> ().bounds.size; //get size of mothership.. use for making random missile target
//create av8 leaders
for (int i = 1; i <= leaders; i++)
{
Vector3 rndPos = new Vector3(Random.Range((-leaders * gapL), (leaders * gapL)), Random.Range((-leaders * gapL), (leaders * gapL)), 0);
CreateLeaders(rndPos);
}
//Create K.Russel plane.. use for last scene
GameObject leader = GameObject.Instantiate <GameObject> (krprefab);
leader.transform.position = this.transform.TransformPoint(new Vector3(0, -50, 0));
leader.transform.rotation = this.transform.rotation;
//add steering behaviours
//Follows a static path gameobject
FollowPath fpath = leader.AddComponent <FollowPath> ();
fpath.path = GameObject.Find("KRpath").GetComponent <Path>();
fpath.enabled = fpath.enabled;
ObstacleAvoidance obavd = leader.AddComponent <ObstacleAvoidance> ();
leader.GetComponent <Boid> ().maxSpeed = 30;
// float thetaInc = (Mathf.PI * 2) / leaders;
// for (int i = 1; i <= leaders; i++) {
//
// float theta = thetaInc * i;
// Vector3 newpos = new Vector3 (Mathf.Sin (theta) * gapL, 0, Mathf.Cos (theta) * gapL);
// Debug.Log (newpos);
// CreateLeaders (newpos);
// }
// for (int i = 1; i <=leaders; i++)
// {
// Vector3 offset = new Vector3(- gapL, 0, 0);
// gapL += gapL;
// CreateLeaders(offset);
// }
}
public Hobgoblin(string name, Vector2D pos, World w, MovingEntity Target) : base(name, pos, w)
{
// State.
hunting = new Hunting(this);
retreating = new Retreating(this);
guarding = new Guarding(this);
wandering = new Wandering(this);
command = new Command(this);
equip = new Equip(this);
setState(guarding); // Starting state.
Key = _lastKey + 1;
_lastKey++;
debugText = new List <string>();
Mass = 100;
MaxSpeed = 5;
MaxForce = 40;
DamagePerAttack = 25;
AttackRange = 20;
AttackSpeed = 30; // Lower is faster.
CurrentCommand = 3; // Default command.
CommandRadius = 125; // Size of area where goblins will respond to commanding.
SlowingRadius = 100;
PanicDistance = 200; // Distance at which hobgoblin starts fleeing.
PassiveDistance = 250; // Distance at which hobgoblin goes to guard.
_SB = new ArrivalBehaviour(me: this, target: Target, slowingRadius: SlowingRadius);
_FleeB = new FleeBehaviour(me: this, target: Target, panicDistance: PanicDistance);
_OA = new ObstacleAvoidance(this);
_WA = new WallAvoidance(this);
_WB = new WanderBehaviour(this, 100, 200);
Velocity = new Vector2D(0, 0);
SlowingRadius = 100;
Scale = 10;
VColor = Color.Black;
AddDebugText("Current state: " + currentState, 0);
AddDebugText("Previous state: " + previousState, 1);
}
//Method to create Follwers
void CreateFollower(Vector3 offset, Boid leader)
{
GameObject follower = GameObject.Instantiate <GameObject> (prefab);
follower.transform.position = leader.transform.TransformPoint(offset);
follower.transform.parent = this.transform;
follower.transform.rotation = this.transform.rotation;
follower.name = "follower";
//add steering behaviours
OffsetPursue op = follower.AddComponent <OffsetPursue> ();
op.leader = leader;
Seek seek = follower.AddComponent <Seek> ();
seek.enabled = !seek.enabled;
Path path = follower.AddComponent <Path> ();
path.mothership = mothership;
FollowPath fpath = follower.AddComponent <FollowPath> ();
fpath.path = path;
fpath.enabled = !fpath.enabled;
ObstacleAvoidance obavd = follower.AddComponent <ObstacleAvoidance> ();
obavd.enabled = !obavd.enabled;
//Add boid and seek to the bombs(missiles)
int count = follower.transform.Find("Bombs").gameObject.transform.childCount;
for (int i = 0; i < count; i++)
{
Boid b = follower.transform.Find("Bombs").GetChild(i).gameObject.AddComponent <Boid> ();
b.maxSpeed = 25f;
b.explosionPrefab = expPrefab;
Seek sb = follower.transform.Find("Bombs").GetChild(i).gameObject.AddComponent <Seek> ();
sb.target = RandomTarget();
sb.enabled = !sb.enabled;
}
}
public override void Run()
{
var point = _waypoints[_nextPoint];
var posPoint = point.transform.position;
posPoint.y = transform.position.y;
Vector3 dir;
if (!_lastConnection)
{
dir = posPoint - transform.position;
}
else
{
dir = _finalPos - transform.position;
}
if (dir.magnitude < nextWaypointDistance)
{
if (!_lastConnection)
{
if (_nextPoint + 1 < _waypoints.Count)
{
_nextPoint++;
_sb = new ObstacleAvoidance(transform, _waypoints[_nextPoint].transform, obstacleDistance, avoidWeight, avoidLayer);
}
else if (_nextPoint + 1 >= _waypoints.Count)
{
_lastConnection = true;
_sb = new ObstacleAvoidance(transform, _finalPos, obstacleDistance, avoidWeight, avoidLayer);
}
}
}
_model.Move(dir.normalized + _sb.GetDir());
}
Steering getDefaultSteering2(Entry e)
{
e.bird.maxSpeed = 30f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(false);
var separation = new Separation(e.bird, flock, 5f, -0.5f);
var cohesion = new Cohesion(e.bird, flock, 30f, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, 20f, -0.5f);
var seek = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var flee = new Separation(e.bird, anchorFlock, 10f, -1f); // move towards the anchor
separation.aknnApproxVal = 1.0;
cohesion.aknnApproxVal = 1.0;
velMatch.aknnApproxVal = 25.0;
separation.maxNeighborhoodSize = 5;
cohesion.maxNeighborhoodSize = 10;
velMatch.maxNeighborhoodSize = 5;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, 2f), // 0
new BehaviorAndWeight(cohesion, 1f), // 1
new BehaviorAndWeight(velMatch, 0.5f), // 2
new BehaviorAndWeight(seek, 1.25f), // 3
new BehaviorAndWeight(flee, 2f)
);
return new PrioritySteering(1f, blended);
}
void Start()
{
myMoveType = new ObstacleAvoidance();
myMoveType.character = this;
myMoveType.target = myTarget;
}
Steering getDefaultSteering(Entry e)
{
e.bird.maxSpeed = 7.5f;
(e.bird as Starling).transform.Find("Sphere").gameObject.SetActive(true);
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var separation = new Separation(e.bird, flock, 5f, 0f);
var cohesion = new Cohesion(e.bird, flock, 75f, 0f); cohesion.aknnApproxVal = 25f; cohesion.maxNeighborhoodSize = 15;
var velMatch = new VelocityMatch(e.bird, flock, 20f, 0.0f); velMatch.aknnApproxVal = 50f;
var bbox = new Bounds(new Vector3(1162, 113, 770), new Vector3(500, 150, 500));
var wander = new SteeringBehaviors.Wander(e.bird, e.bird.maxSpeed, 30f, 50f, bbox);
wander.theta = UnityEngine.Random.Range(0f, 360f);
var blended = new BlendedSteering[3];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird,
new BehaviorAndWeight(separation, 1f));
blended[2] = new BlendedSteering(e.bird, new BehaviorAndWeight(wander, 0.85f), // 0
new BehaviorAndWeight(cohesion, 0.90f),
new BehaviorAndWeight(velMatch, 0.50f));
return new PrioritySteering(1f, blended);
}
Steering getDefaultSteering(Entry e, Flock flock)
{
var separation = new Separation(e.bird, flock, _separationDistance, -0.5f);
var cohesion = new Cohesion(e.bird, flock, _cohesionDistance, -0.5f);
var velMatch = new VelocityMatch(e.bird, flock, _velocityMatchDistance, -0.5f);
var anchorCohesion = new Cohesion(e.bird, anchorFlock, float.MaxValue, -1f); // move towards the anchor
var anchorSeparation = new Separation(e.bird, anchorFlock, 25f, -1f);
var anchorVelocityMatch = new VelocityMatch(e.bird, anchorFlock, float.MaxValue, -1f);
separation.aknnApproxVal = _separationAknnVal;
cohesion.aknnApproxVal = _cohesionAknnVal;
velMatch.aknnApproxVal = _velocityMatchAknnVal;
separation.maxNeighborhoodSize = separationK;
cohesion.maxNeighborhoodSize = cohesionK;
velMatch.maxNeighborhoodSize = velocityMatchK;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[2];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, _separationWeight), // 0
new BehaviorAndWeight(cohesion, _cohesionWeight), // 1
new BehaviorAndWeight(velMatch, _velocityMatchWeight), // 2
new BehaviorAndWeight(anchorCohesion, _cohesionToAnchorWeight), // 3
new BehaviorAndWeight(anchorSeparation, _separationFromAnchorWeight), // 4
new BehaviorAndWeight(anchorVelocityMatch, _velMatchToAnchorWeight) // 5
);
return new PrioritySteering(1f, blended);
}
Steering getDefaultSteering(Entry e, FormationManager generalManager, Flock flock)
{
var pattSteering = new PatternSteering(e.bird, generalManager);
var separation = new Separation(e.bird, flock, 5.0f, -1f);
separation.aknnApproxVal = 1.0;
var obstacleAvoidance = new ObstacleAvoidance(e.bird, 20f, new string[]{"Ground"});
var blended = new BlendedSteering[3];
blended[0] = new BlendedSteering(e.bird, new BehaviorAndWeight(obstacleAvoidance, 1f));
blended[1] = new BlendedSteering(e.bird, new BehaviorAndWeight(separation, 1f));
blended[2] = new BlendedSteering(e.bird, new BehaviorAndWeight(pattSteering, 1f));
return new PrioritySteering(1f, blended);
}
void Awake()
{
_groundDetection = GetComponent <GroundDetection>();
_obstacleAvoidance = GetComponent <ObstacleAvoidance>();
}
// Update is called once per frame
void Update()
{
//Debug.Log(target);
// Check distance to see if steering behavior should be applied to AI
// float targetDist = (transform.position - target.transform.position).magnitude;
// if (!DistanceActivation || targetDist >= activationRange) { }
transform.position += linearVelocity * Time.deltaTime;
// adding angular velocity to current transform rotation y component
if (float.IsNaN(angularVelocity))
{
angularVelocity = 0;
}
transform.eulerAngles += new Vector3(0, angularVelocity * Time.deltaTime, 0);
// control to switch to proper steering behavior
if (avoidObstacles)
{
ObstacleAvoidance avoid = new ObstacleAvoidance();
avoid.ai = this;
SteeringOutput avoidForce = avoid.GetSteering();
if (avoidForce != null)
{
linearVelocity += avoidForce.linear;
}
}
if (seperationObstacles.Length > 0)
{
Seperation seperation = new Seperation();
seperation.targets = seperationObstacles;
seperation.ai = this;
SteeringOutput seperateForce = seperation.GetSteering();
// check to see if steering is greater than zero and lock out control from other steering
if (seperateForce.linear.magnitude > 0)
{
seperating = true;
}
else
{
seperating = false;
}
linearVelocity += seperateForce.linear * Time.deltaTime;
}
if (collisionAvoidance.Length > 0)
{
CollisionAvoidance avoidKinematic = new CollisionAvoidance();
avoidKinematic.ai = this;
avoidKinematic.targets = collisionAvoidance;
SteeringOutput avoidKinematicForce = avoidKinematic.GetSteering();
if (avoidKinematicForce != null)
{
linearVelocity += avoidKinematicForce.linear;
}
}
switch (movementType)
{
case "seek":
Seek mySeek = new Seek();
mySeek.ai = this;
// if seek is false set seek property on class to false to activate flee
mySeek.seek = true;
mySeek.target = target;
SteeringOutput steeringSeek = mySeek.GetSteering();
if (!seperating)
{
linearVelocity += steeringSeek.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "flee":
Seek myFlee = new Seek();
myFlee.ai = this;
// if seek is false set seek property on class to false to activate flee
myFlee.seek = false;
myFlee.target = target;
SteeringOutput steeringFlee = myFlee.GetSteering();
if (!seperating)
{
linearVelocity += steeringFlee.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "arrive":
Arrive myArrive = new Arrive();
myArrive.ai = this;
myArrive.target = target;
SteeringOutput steeringArrive = myArrive.GetSteering();
if (!seperating)
{
linearVelocity += steeringArrive.linear * Time.deltaTime;
}
break;
case "pursue":
Pursue myPursue = new Pursue();
myPursue.ai = this;
myPursue.target = target;
SteeringOutput steeringPursue = myPursue.GetSteering();
if (!seperating)
{
linearVelocity += steeringPursue.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
case "evade":
Pursue myEvade = new Pursue();
myEvade.ai = this;
myEvade.target = target;
// This changes the seek flag in the parent Seek class of Pursue, sending it the flee vector instead
myEvade.seek = false;
SteeringOutput steeringEvade = myEvade.GetSteering();
if (!seperating)
{
linearVelocity += steeringEvade.linear * Time.deltaTime;
}
if (linearVelocity.magnitude > maxSpeed)
{
linearVelocity.Normalize();
linearVelocity *= maxSpeed;
}
break;
default:
// provide no input
break;
// If obstacles have been provided, return steering to seperate from them
}
switch (rotationType)
{
case "face":
Face myFace = new Face();
myFace.ai = this;
myFace.target = target;
SteeringOutput steeringFace = myFace.GetSteering();
if (steeringFace != null)
{
// linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringFace.angular * Time.deltaTime;
}
break;
case "align":
Align myAlign = new Align();
myAlign.ai = this;
myAlign.target = target;
SteeringOutput steeringAlign = myAlign.GetSteering();
if (steeringAlign != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringAlign.angular * Time.deltaTime;
}
break;
case "look":
LookWhereGoing myLook = new LookWhereGoing();
myLook.ai = this;
myLook.target = target;
SteeringOutput steeringLook = myLook.GetSteering();
if (steeringLook != null)
{
//linearVelocity += steering.linear * Time.deltaTime;
angularVelocity += steeringLook.angular * Time.deltaTime;
}
break;
default:
//provide no input
break;
}
}
void MainSteeringBehaviors()
{
ResetOrientation();
switch (choiceOfBehavior)
{
case SteeringBehaviors.Seek:
Seek seek = new Seek();
seek.character = this;
seek.target = newTarget;
SteeringOutput seeking = seek.getSteering();
if (seeking != null)
{
linear += seeking.linear * Time.deltaTime;
angular += seeking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flee:
Flee flee = new Flee();
flee.character = this;
flee.target = newTarget;
SteeringOutput fleeing = flee.getSteering();
if (fleeing != null)
{
linear += fleeing.linear * Time.deltaTime;
angular += fleeing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Align:
Align align = new Align();
align.character = this;
align.target = newTarget;
SteeringOutput aligning = align.getSteering();
if (aligning != null)
{
linear += aligning.linear * Time.deltaTime;
angular += aligning.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Face:
Face face = new Face();
face.character = this;
face.target = newTarget;
SteeringOutput facing = face.getSteering();
if (facing != null)
{
linear += facing.linear * Time.deltaTime;
angular += facing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.LookWhereGoing:
LookWhereGoing look = new LookWhereGoing();
look.character = this;
look.target = newTarget;
SteeringOutput looking = look.getSteering();
if (looking != null)
{
linear += looking.linear * Time.deltaTime;
angular += looking.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Arrive:
Arrive arrive = new Arrive();
arrive.character = this;
arrive.target = newTarget;
SteeringOutput arriving = arrive.getSteering();
if (arriving != null)
{
linear += arriving.linear * Time.deltaTime;
angular += arriving.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.PathFollow:
follow.character = this;
lookwg.character = this;
follow.path = myPath;
lookwg.target = newTarget;
SteeringOutput following = follow.getSteering();
SteeringOutput lookingwg = lookwg.getSteering();
if (following != null)
{
linear += following.linear * Time.deltaTime;
// angular += lookingwg.angular* Time.deltaTime;
}
break;
case SteeringBehaviors.Pursue:
Pursue pursue = new Pursue();
LookWhereGoing PursuelookWhereGoing = new LookWhereGoing();
pursue.character = this;
PursuelookWhereGoing.character = this;
pursue.target = newTarget;
PursuelookWhereGoing.target = newTarget;
SteeringOutput pursuing = pursue.getSteering();
SteeringOutput pursuelookingWhereGoing = PursuelookWhereGoing.getSteering();
if (pursuing != null)
{
if (pursuing.linear.magnitude <= maxSpeed)
{
linear += pursuing.linear * Time.deltaTime;
}
angular += pursuing.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Separate:
Separation separate = new Separation();
LookWhereGoing lookWhereGoing = new LookWhereGoing();
separate.character = this;
lookWhereGoing.character = this;
separate.targets = targets;
lookWhereGoing.target = newTarget;
SteeringOutput lookingWhereGoing = lookWhereGoing.getSteering();
SteeringOutput separating = separate.getSteering();
if (separating != null)
{
linear += separating.linear * Time.deltaTime;
angular += separating.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.CollisionAvoidance:
CollisionAvoidance avoid = new CollisionAvoidance();
LookWhereGoing AvoidlookWhereGoing = new LookWhereGoing();
avoid.character = this;
AvoidlookWhereGoing.character = this;
avoid.targets = targets;
AvoidlookWhereGoing.target = newTarget;
SteeringOutput AvoidlookingWhereGoing = AvoidlookWhereGoing.getSteering();
SteeringOutput avoiding = avoid.getSteering();
if (avoiding != null)
{
linear += avoiding.linear * Time.deltaTime;
angular += avoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.ObstacleAvoidance:
ObstacleAvoidance obAvoid = new ObstacleAvoidance();
LookWhereGoing obAvoidlookWhereGoing = new LookWhereGoing();
obAvoid.character = this;
obAvoidlookWhereGoing.character = this;
obAvoid.target = newTarget;
obAvoidlookWhereGoing.target = newTarget;
SteeringOutput obAvoiding = obAvoid.getSteering();
SteeringOutput obAvoidlookingWhereGoing = obAvoidlookWhereGoing.getSteering();
if (obAvoiding != null)
{
if (obAvoiding.linear.magnitude <= maxSpeed)
{
linear += obAvoiding.linear * Time.deltaTime;
}
angular += obAvoiding.angular * Time.deltaTime;
}
break;
case SteeringBehaviors.Flocking:
Separation sepFlock = new Separation();
Arrive arriveFlock = new Arrive();
LookWhereGoing lwgFlock = new LookWhereGoing();
BlendedSteering mySteering = new BlendedSteering();
Kinematic[] kBirds;
sepFlock.character = this;
GameObject[] goBirds = GameObject.FindGameObjectsWithTag("Pengu");
kBirds = new Kinematic[goBirds.Length - 1];
int j = 0;
for (int i = 0; i < goBirds.Length - 1; i++)
{
if (goBirds[i] == this)
{
continue;
}
goBirds[i].GetComponent <Animator>().SetInteger("Walk", 1);
kBirds[j++] = goBirds[i].GetComponent <Kinematic>();
}
sepFlock.targets = kBirds;
arriveFlock.character = this;
//Debug.Log(arriveFlock.character);
arriveFlock.target = newTarget;
//Debug.Log(arriveFlock.target);
lwgFlock.character = this;
lwgFlock.target = newTarget;
mySteering.behaviors = new BehaviorAndWeight[3];
mySteering.behaviors[0] = new BehaviorAndWeight();
mySteering.behaviors[0].behavior = sepFlock;
mySteering.behaviors[0].weight = 1f;
mySteering.behaviors[1] = new BehaviorAndWeight();
mySteering.behaviors[1].behavior = arriveFlock;
mySteering.behaviors[1].weight = 1f;
mySteering.behaviors[2] = new BehaviorAndWeight();
mySteering.behaviors[2].behavior = lwgFlock;
mySteering.behaviors[2].weight = 1f;
ObstacleAvoidance myAvoid = new ObstacleAvoidance();
myAvoid.character = this;
myAvoid.target = newTarget;
myAvoid.flee = true;
BlendedSteering myHighPrioritySteering = new BlendedSteering();
myHighPrioritySteering.behaviors = new BehaviorAndWeight[1];
myHighPrioritySteering.behaviors[0] = new BehaviorAndWeight();
myHighPrioritySteering.behaviors[0].behavior = myAvoid;
myHighPrioritySteering.behaviors[0].weight = 0.1f;
myAdvancedSteering.groups = new BlendedSteering[2];
myAdvancedSteering.groups[0] = new BlendedSteering();
myAdvancedSteering.groups[0] = myHighPrioritySteering;
myAdvancedSteering.groups[1] = new BlendedSteering();
myAdvancedSteering.groups[1] = mySteering;
//steeringUpdate = mySteering.getSteering();
avoidObstacles = true;
if (!avoidObstacles)
{
steeringUpdate = mySteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
else
{
steeringUpdate = myAdvancedSteering.getSteering();
if (steeringUpdate != null)
{
linear += steeringUpdate.linear * Time.deltaTime;
angular += steeringUpdate.angular * Time.deltaTime;
}
}
break;
case SteeringBehaviors.PathFinder:
SteeringOutput lwyger = myRotateType.getSteering();
linear += myMoveType.getSteering().linear *Time.deltaTime;
angular += myMoveType.getSteering().angular *Time.deltaTime;
break;
}
}
