private void updateClassificationFor(GameObject target, SoaActor targetActor)
{
// Loop through all possible classifier modes
foreach (PerceptionModality mode in modes)
{
// Compute slant range in km
float slantRange = Mathf.Sqrt(
((transform.position.x - target.transform.position.x) / SimControl.KmToUnity) * ((transform.position.x - target.transform.position.x) / SimControl.KmToUnity) +
(thisSoaActor.simAltitude_km - targetActor.simAltitude_km) * (thisSoaActor.simAltitude_km - targetActor.simAltitude_km) + // Recall that altitude is kept track of separately
((transform.position.z - target.transform.position.z) / SimControl.KmToUnity) * ((transform.position.z - target.transform.position.z) / SimControl.KmToUnity)
);
// If the game object matches its intended target
if (mode.tagString == target.tag)
{
// Determine whether it was classified
if (slantRange <= mode.RangeP1)
{
// Successful kill, 100% probabiltiy
thisSoaActor.setClassified(targetActor.unique_id);
}
else if (slantRange <= mode.RangeMax)
{
// Probability of being classified
if (UnityEngine.Random.value < (mode.RangeMax - slantRange) / (mode.RangeMax - mode.RangeP1))
{
// Target was unlucky and was classified
thisSoaActor.setClassified(targetActor.unique_id);
}
}
}
}
}
bool removeFakeTarget = false; // Not used, but interesting for future
// Awake is called before anything else
void Awake()
{
thisSoaActor = gameObject.GetComponent <SoaActor>();
simControlScript = GameObject.FindObjectOfType <SimControl>();
waypointScript = gameObject.GetComponent <SoldierWaypointMotion>();
thisNavAgent = gameObject.GetComponent <NavMeshAgent>();
}
// Awake is called before anything else
void Awake()
{
// Get references to scripts
simControlScript = GameObject.FindObjectOfType <SimControl>();
waypointScript = gameObject.GetComponent <SoldierWaypointMotion>();
thisNavAgent = gameObject.GetComponent <NavMeshAgent>();
thisSoaActor = gameObject.GetComponent <SoaActor>();
// To hold source/destination choices during random selection
choices = new List <GameObject>();
}
/*
* Remove an existing actor from data manager list of actors
*/
public void removeActor(SoaActor actor)
{
if (actors.Contains(actor))
{
actors.Remove(actor);
Debug.Log("Removing actor " + actor.unique_id + " from actor dictionary");
soaActorDictionary.Remove(actor.unique_id);
}
else
{
Debug.LogError("TRIED TO REMOVE ACTOR FROM DATA MANAGER THAT DOESN'T EXIST: " + actor.unique_id);
}
}
public void TrackObjectWithID(int unique_id)
{
for (int i = 0; i < Platforms.Count; ++i)
{
GameObject platform = Platforms[i];
SoaActor actor = platform.GetComponent <SoaActor>();
if (actor != null && actor.unique_id == unique_id)
{
trackedPlatformIndex = i;
trackingOn = true;
break;
}
}
}
public void logKill(SoaActor killedActor)
{
lock (soaActor.killDetections)
{
soaActor.killDetections.Add(new soa.Belief_Actor(
killedActor.unique_id, (int)killedActor.affiliation, killedActor.type, false,
killedActor.numStorageSlots, killedActor.numCasualtiesStored,
killedActor.numSuppliesStored, killedActor.numCiviliansStored,
killedActor.isWeaponized, killedActor.hasJammer, killedActor.fuelRemaining_s,
killedActor.transform.position.x / SimControl.KmToUnity,
killedActor.simAltitude_km,
killedActor.transform.position.z / SimControl.KmToUnity));
}
}
// Use this for initialization
protected void Start()
{
waypointIndex = 0;
currentSpeed = 0;
On = false;
displayWaypoints = false;
actor = gameObject.GetComponent <SoaActor>();
transform.position = new Vector3(transform.position.x, AltitudeOffset, transform.position.z);
if (GetComponent <Animation>() != null)
{
GetComponent <Animation>().wrapMode = WrapMode.Loop;
}
}
// Cone beam antenna pattern
public bool CheckSensorFootprint(GameObject target)
{
// Re-evaluate boresight if sensor is gimbaled (balloon)
if (soaActor.type == (int)SoaActor.ActorType.BALLOON)
{
// Get the belief dictionary and SPOI Belief
Belief_SPOI b = soaActor.Find <Belief_SPOI>(soa.Belief.BeliefType.SPOI, soaActor.unique_id);
if (b != null)
{
// Extract SPOI (x,y,z) in sim coordinates [km]
Vector3 spoi_km = new Vector3(
b.getPos_x(),
b.getPos_y(),
b.getPos_z());
// Update the sensor boresight vector
boresightUnitVector.x = spoi_km.x - transform.position.x / SimControl.KmToUnity; // [km]
boresightUnitVector.y = spoi_km.y - soaActor.simAltitude_km; // [km]
boresightUnitVector.z = spoi_km.z - transform.position.z / SimControl.KmToUnity; // [km]
boresightUnitVector.Normalize();
}
}
// Compute relative vector
SoaActor targetActor = target.GetComponent <SoaActor>();
Vector3 sensorToTargetUnitVector;
sensorToTargetUnitVector.x = (target.transform.position.x - transform.position.x) / SimControl.KmToUnity; // [km]
sensorToTargetUnitVector.y = targetActor.simAltitude_km - soaActor.simAltitude_km; // [km]
sensorToTargetUnitVector.z = (target.transform.position.z - transform.position.z) / SimControl.KmToUnity; // [km]
sensorToTargetUnitVector.Normalize();
// Compute target cone angle relative to boresight
double coneAngleDeg = (180.0f / Mathf.PI) * Mathf.Acos(
sensorToTargetUnitVector.x * boresightUnitVector.x +
sensorToTargetUnitVector.y * boresightUnitVector.y +
sensorToTargetUnitVector.z * boresightUnitVector.z);
// Check if target is within beamwidthDeg/2 of boresight
return(coneAngleDeg <= (beamwidthDeg / 2));
}
/*
* Add every new actor to the data manager list of actors
*/
public void addNewActor(SoaActor actor)
{
if (!actors.Contains(actor))
{
actors.Add(actor);
//Debug.Log("Adding actor " + actor.unique_id + " to actor dictionary");
soaActorDictionary[actor.unique_id] = actor;
cm.addNewActor(actor.unique_id, actor.getRepository());
addBeliefToDataManager(
new Belief_Actor(actor.unique_id, (int)actor.affiliation, actor.type, actor.isAlive,
actor.numStorageSlots, actor.numCasualtiesStored,
actor.numSuppliesStored, actor.numCiviliansStored,
actor.isWeaponized, actor.hasJammer, actor.fuelRemaining_s,
actor.transform.position.x / SimControl.KmToUnity,
actor.simAltitude_km,
actor.transform.position.z / SimControl.KmToUnity),
actor.unique_id);
}
else
{
Debug.LogError("TRIED TO ADD ACTOR TO DATA MANAGER THAT ALREADY EXISTS: " + actor.unique_id);
}
}
// Awake is called first before anything else
void Awake()
{
// Initialize databases
protectedSitePos = new Dictionary <string, Vector3>();
protectedSiteVirtualCasualties = new Dictionary <string, float>();
protectedSiteTotalCasualties = new Dictionary <string, float>();
// Get and store references
simControlScript = GameObject.FindObjectOfType <SimControl>();
thisNavAgent = gameObject.GetComponent <NavMeshAgent>();
thisSoaActor = gameObject.GetComponent <SoaActor>();
// Internal parameters
clearPatrolRange = 0.50f; // Unity units
transitionProbability = 1.0f;
// Initial task
currTask = Task.NONE;
patrolTarget = null;
pursueActorID = 0;
// Red unit database
redUnitDatabase = new Dictionary <int, RedUnitInfo>();
}
/**
* Update the position of the actor vectors. This function is called when in simulation mode
* If Sim is in charge of waypoints, get the current target from the motion script and add to
* belief map. Otherwise get the waypointBelief from the dictionary and set as navAgent destination.
*
* TODO create functions for when in client mode and only reading position data
*/
public virtual void updateActor()
{
if (!isAlive)
{
return;
}
Belief myActor = null;
displayTruePosition = true;
if (myActor != null && myActor.getId() != unique_id)
{
Debug.LogError("Update Actor " + unique_id + " has invalid id " + myActor.getId());
return;
}
if (simulateMotion)
{
displayActor = true;
// Setup waypoint belief
if (useExternalWaypoint)
{
Belief_Waypoint newWaypoint = beliefRepo.Find <Belief_Waypoint>(Belief.BeliefType.WAYPOINT, unique_id);
Belief_WaypointPath newPath = beliefRepo.Find <Belief_WaypointPath>(Belief.BeliefType.WAYPOINT_PATH, unique_id);
motionScript.On = false;
if (wpMotionScript != null)
{
if (newPath != null && newWaypoint != null)
{
//If we have a path and a waypoint choose the newest one
if (newPath.getBeliefTime() < newWaypoint.getBeliefTime())
{
newPath = null;
}
else
{
newWaypoint = null;
}
}
if (newPath != null)
{
wpMotionScript.SetWaypointBelief(newPath);
wpMotionScript.On = true;
}
else if (newWaypoint != null)
{
wpMotionScript.SetWaypointBelief(newWaypoint);
wpMotionScript.On = true;
}
//SetDesiredAltitude(wpMotionScript.desiredAltitude_km);
}
else if (newWaypoint != null)
{
// Received a waypoint in km, transform to Unity coordinates and then use it to set the nav agent's destination
if (navAgent != null)
{
navAgent.SetDestination(SimControl.ConstrainUnityDestinationToBoard(
new Vector3(
newWaypoint.getPos_x() * SimControl.KmToUnity,
transform.position.y, // Nav agent ignores the y coordinate (altitude)
newWaypoint.getPos_z() * SimControl.KmToUnity
)
));
}
// Set the desired altitude separately [km]
SetDesiredAltitude(newWaypoint.getPos_y());
}
else if (navAgent != null)
{
// Stay put
navAgent.SetDestination(SimControl.ConstrainUnityDestinationToBoard(
new Vector3(transform.position.x, transform.position.y, transform.position.z)));
}
}
else if (motionScript != null)
{
// Convert position coordinates from unity to km before making new belief waypoint
Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
motionScript.targetPosition.x / SimControl.KmToUnity,
desiredAltitude_km,
motionScript.targetPosition.z / SimControl.KmToUnity);
addMyBeliefData(newWaypoint);
}
else if (wpMotionScript != null)
{
// Special case for blue balloon
// Convert position coordinates from unity to km before making new belief waypoint
/*
* Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
* wpMotionScript.targetPosition.x / SimControl.KmToUnity,
* desiredAltitude_km,
* wpMotionScript.targetPosition.z / SimControl.KmToUnity);
* addMyBeliefData(newWaypoint);
*/
Belief_WaypointPath waypointPath = beliefRepo.Find <Belief_WaypointPath>(Belief.BeliefType.WAYPOINT_PATH, unique_id);
if (waypointPath != null)
{
wpMotionScript.SetWaypointBelief(waypointPath);
}
}
else
{
// Special case for blue balloon
// Convert position coordinates from unity to km before making new belief waypoint
Belief_Waypoint newWaypoint = new Belief_Waypoint((ulong)(System.DateTime.UtcNow - epoch).Milliseconds, unique_id,
pcMotionScript.targetPosition.x / SimControl.KmToUnity,
desiredAltitude_km,
pcMotionScript.targetPosition.z / SimControl.KmToUnity);
addMyBeliefData(newWaypoint);
}
// Clear and update classifications
foreach (SoaClassifier c in Classifiers)
{
c.UpdateClassifications(Detections);
}
// Update each weapon
foreach (SoaWeapon w in Weapons)
{
w.UpdateWeapon(Detections);
}
// Go through each detected object's Soa Actor, get unique ID, affiliation, and pos. Broadcast belief out to everyone
// Send detections to Sim Controller to be logged
foreach (GameObject gameObject in Detections)
{
SoaActor soaActor = gameObject.GetComponent <SoaActor>();
// Actor's position must be converted from Unity to km when generating belief
Belief_Actor detectedActor;
if (classificationDictionary.ContainsKey(soaActor.unique_id) && classificationDictionary[soaActor.unique_id])
{
// Me or one of my peers has classified this actor before, provide actual affiliation, isWeaponized info, and storage
detectedActor = new Belief_Actor(
soaActor.unique_id, (int)soaActor.affiliation, soaActor.type, soaActor.isAlive,
soaActor.numStorageSlots, soaActor.numCasualtiesStored,
soaActor.numSuppliesStored, soaActor.numCiviliansStored,
soaActor.isWeaponized, soaActor.hasJammer, soaActor.fuelRemaining_s,
gameObject.transform.position.x / SimControl.KmToUnity,
soaActor.simAltitude_km,
gameObject.transform.position.z / SimControl.KmToUnity);
}
else
{
// No one that I'm aware of has classified this actor before, hide affiliation, weapon/jamming, and storage
detectedActor = new Belief_Actor(
soaActor.unique_id, (int)Affiliation.UNCLASSIFIED, soaActor.type, soaActor.isAlive,
0, 0,
0, 0,
false, false, soaActor.fuelRemaining_s,
gameObject.transform.position.x / SimControl.KmToUnity,
soaActor.simAltitude_km,
gameObject.transform.position.z / SimControl.KmToUnity);
}
addMyBeliefData(detectedActor);
simControlScript.logDetectedActor(unique_id, detectedActor);
}
Detections.Clear();
//Evaluate if grid cell changed and log
if (prevHexGridCell != null)
{
currentCell = hexGrid.Map[transform.position];
if (prevHexGridCell != currentCell)
{
prevHexGridCell = currentCell;
simControlScript.logGridCellMove(unique_id, currentCell.X, currentCell.Y);
//Debug.LogWarning("Actor " + unique_id + " Moved to cell " + prevHexGridCell.X + " " + prevHexGridCell.Y);
}
}
else
{
currentCell = hexGrid.Map[transform.position];
prevHexGridCell = currentCell;
}
List <Belief_Actor> localKillDetections = new List <Belief_Actor>();
lock (killDetections)
{
localKillDetections.AddRange(killDetections);
killDetections.Clear();
}
foreach (Belief_Actor belief_actor in localKillDetections)
{
addMyBeliefData(new Belief_Actor(
belief_actor.getId(), (int)belief_actor.getAffiliation(), belief_actor.getType(), false,
belief_actor.getNumStorageSlots(), belief_actor.getNumCasualtiesStored(),
belief_actor.getNumSuppliesStored(), belief_actor.getNumCiviliansStored(),
belief_actor.getIsWeaponized(), belief_actor.getHasJammer(), belief_actor.getFuelRemaining(),
belief_actor.getPos_x(),
belief_actor.getPos_y(),
belief_actor.getPos_z()));
}
// ???
useGhostModel = false;
}
}
// Use this for initialization
void Start()
{
// Save reference to my SoaActor
thisSoaActor = gameObject.GetComponentInParent <SoaActor>();
}
// Use this for initialization
void Start()
{
thisSoaActor = gameObject.GetComponentInParent <SoaActor>();
}
void Start()
{
boresightUnitVector = new Vector3(0, -1, 0); // Pointed straight down by default
soaActor = gameObject.GetComponentInParent <SoaActor>();
}
// Awake is called first before anything else
void Awake()
{
// Get pointer to SoaActor
thisSoaActor = gameObject.GetComponent <SoaActor>();
}
// Use this for initialization
void Start()
{
thisSoaActor = GetComponent <SoaActor>();
}
// Awake is called first before anything else
void Awake()
{
thisSoaActor = gameObject.GetComponent <SoaActor>();
simControlScript = GameObject.FindObjectOfType <SimControl>();
}
// Awake is called first before anything else
void Awake()
{
thisSoaActor = gameObject.GetComponent <SoaActor>();
}
