// ReSharper restore InconsistentNaming
protected SolverBase(ModelInfo modelInfo, float duration, int repeats, int samples, IModelBuilder modelBuilder = null)
{
if (modelBuilder == null)
{
modelBuilder = new ModelBuilder();
}
this.modelInfo = modelInfo;
this.duration = duration;
SamplingParams = new SamplingParameters {
RealizationCount = repeats, SampleCount = samples
};
rng = RNGFactory.GetRNG();
_currentTime = 0.0f;
model = modelBuilder.BuildModel(modelInfo);
_time = model.Parameters.First(p => p.Name == "time");
untriggeredEvents = null;
triggeredEvents = new Queue <TriggeredEvent>();
scheduledEvents = model.ScheduledEvents.Count > 0 ? new PriorityQueue <ScheduledEvent>(model.ScheduledEvents.Count) : null;
trajectories = AllocateRecordingArrays(model.Observables, SamplingParams);
InitializePerformanceMeasurements();
stopWatch = new Stopwatch();
}
public Vehicle()
{
this.trajectoryType = Trajectories.FOLLOWER;
this.Id = 0;
this.PositionX = 1;
this.PositionY = 1;
this.LastPositionX = 1;
this.LastPositionY = 1;
this.VelocityX = 1;
this.VelocityY = 1;
this.PendingPositionX = 1;
this.PendingPositionY = 1;
this.PendingVelocityX = 1;
this.PendingVelocityY = 1;
this.VehicleColor = Color.Blue;
this.Type = VehicleType.FOLLOWER;
this.Access = -1;
this.Course = RUMBO.ESTE;
this.IsMovementPending = true;
this.IsMacPending = true;
this.IsTxPending = true;
this.IsRxPending = true;
this.RegionsUsed = new List <AccessCoordinate>();
this.Retransmissions = 0;
}
//new
protected void Move()
{
if (m_direction.sqrMagnitude > m_stopDistance * m_stopDistance)
{
//Debug.Log("Move");
if (HasWalAnim)
{
m_animationcomponent.IsWalking = true;
}
//Move
float increment = Trajectories.UniformAccelerateMovement(m_groundSpeed, m_accel, Time.deltaTime);
//m_direction.y = 0f;
if (m_groundSpeed < m_MaxVelocity)
{
m_groundSpeed = Trajectories.UniformAccelerateVelocity(m_groundSpeed, m_accel, Time.deltaTime);
}
Vector3 fordward = transform.forward;
fordward.y = 0f;
this.GetComponent <Rigidbody>().MovePosition(GetComponent <Rigidbody>().position + fordward * increment);
//transform.position = new Vector3(transform.position.x, YPlane, transform.position.z);
//transform.position += transform.forward*increment;
//m_state = TState.MOVE;
}
}
public VehicleTdmaGt(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions)
{
this.Id = numId;
this.VehicleColor = color;
this.Type = type;
this.Mac = mac;
this.PositionX = initialPosition.X;
this.PositionY = initialPosition.Y;
this.TrajectoryType = tray;
this.Limit = limit;
this.timeSegments = timeDivisions;
this.frequencySegments = frequencyDivisions;
this.totalRegions = this.timeSegments * this.frequencySegments;
this.Alfa = 0.4;
this.Beta = 0.3;
this.Rho = 1.4;
this.Sigma = 1.3;
this.MaximumValue = 10;
this.MinimumValue = 0.2;
this.Summatory = this.MaximumValue + this.totalRegions * this.MinimumValue;
this.NonZeroRatio = 0.5;
this.lastAcess = -1;
this.EstimationMatrix = new double[this.timeSegments, this.frequencySegments];
this.initEstimationMatrix();
}
public Vehicle()
{
this.trajectoryType = Trajectories.FOLLOWER;
this.Id = 0;
this.PositionX = 1;
this.PositionY = 1;
this.LastPositionX = 1;
this.LastPositionY = 1;
this.VelocityX = 1;
this.VelocityY = 1;
this.PendingPositionX = 1;
this.PendingPositionY = 1;
this.PendingVelocityX = 1;
this.PendingVelocityY = 1;
this.VehicleColor = Color.Blue;
this.Type = VehicleType.FOLLOWER;
this.Access = -1;
this.Course = RUMBO.ESTE;
this.IsMovementPending = true;
this.IsMacPending = true;
this.IsTxPending = true;
this.IsRxPending = true;
this.RegionsUsed = new List<AccessCoordinate>();
this.Retransmissions = 0;
}
public VehicleRrAloha(Coordinate initialPosition, int numId, Color color, VehicleType type,
MacTypes mac, Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions)
: base(initialPosition, numId, color, type, mac, tray, limit)
{
this.timeSegments = timeDivisions;
this.frequencySegments = frequencyDivisions;
this.FrameInformation = new int[this.timeSegments, this.frequencySegments];
this.AlreadyTx = false;
}
public VehicleRrAloha(Coordinate initialPosition, int numId, Color color, VehicleType type,
MacTypes mac, Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions)
: base(initialPosition, numId, color, type, mac, tray, limit)
{
this.timeSegments = timeDivisions;
this.frequencySegments = frequencyDivisions;
this.FrameInformation = new int[this.timeSegments, this.frequencySegments];
this.AlreadyTx = false;
}
public Vehicle(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit)
: this(initialPosition.X, initialPosition.Y)
{
this.Id = numId;
this.VehicleColor = color;
this.Type = type;
this.Mac = mac;
this.TrajectoryType = tray;
this.Limit = limit;
}
/// <summary>
/// Gets the best matching node for each instance in the dataset
/// </summary>
/// <returns>List of trajectories</returns>
public List <Trajectory> GetTrajectories()
{
foreach (var instance in _dataset.Instances)
{
var node = _som.FindBestMatchingUnit(instance);
Trajectories.Add(new Trajectory()
{
Instance = instance,
Node = node
});
}
return(Trajectories);
}
public VehicleNccma(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions) :
base(initialPosition, numId, color, type, mac, tray, limit, timeDivisions, frequencyDivisions)
{
this.Cost = new double[this.totalRegions - 1]; //the auxiliary exploration is not performed on the transmission region
this.ExplorationHistoryLength = 20;
this.NonAccessMaximumValue = 4;
this.Weight = 0.7;
this.ExplorationCost = 0.2;
this.Slope = 10.0;
this.Attenuation = 0.9;
this.Displacement = 10;
this.NonZeroRatio = 1;
}
public VehicleNccma(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions) :
base(initialPosition, numId,color,type,mac,tray,limit,timeDivisions,frequencyDivisions)
{
this.Cost = new double[this.totalRegions-1]; //the auxiliary exploration is not performed on the transmission region
this.ExplorationHistoryLength = 20;
this.NonAccessMaximumValue = 4;
this.Weight = 0.7;
this.ExplorationCost = 0.2;
this.Slope = 10.0;
this.Attenuation = 0.9;
this.Displacement = 10;
this.NonZeroRatio = 1;
}
protected static Trajectories AllocateRecordingArrays(IEnumerable <Observable> observables, SamplingParameters samplingParams)
{
int numRealizations = samplingParams.RealizationCount;
int numSamples = samplingParams.SampleCount;
var trajectories = new Trajectories(numSamples);
foreach (Observable o in observables)
{
var runs = new float[numRealizations][];
for (int i = 0; i < numRealizations; i++)
{
runs[i] = new float[numSamples];
}
trajectories.Add(o, runs);
}
return(trajectories);
}
public VehicleTdmaGt(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit, int timeDivisions, int frequencyDivisions)
{
this.Id = numId;
this.VehicleColor = color;
this.Type = type;
this.Mac = mac;
this.PositionX = initialPosition.X;
this.PositionY = initialPosition.Y;
this.TrajectoryType = tray;
this.Limit = limit;
this.timeSegments = timeDivisions;
this.frequencySegments = frequencyDivisions;
this.totalRegions = this.timeSegments * this.frequencySegments;
this.Alfa = 0.4;
this.Beta = 0.3;
this.Rho = 1.4;
this.Sigma = 1.3;
this.MaximumValue = 10;
this.MinimumValue = 0.2;
this.Summatory = this.MaximumValue + this.totalRegions * this.MinimumValue;
this.NonZeroRatio = 0.5;
this.lastAcess = -1;
this.EstimationMatrix = new double[this.timeSegments, this.frequencySegments];
this.initEstimationMatrix();
}
public void AddTrajectory(Trajectory trajectory)
{
Trajectories.Add(trajectory);
Sources.Add(trajectory.SourceFilePath);
}
void Ui_OnTrajectoryChange(int newTrajectory) => trajectory = (Trajectories)newTrajectory;
public Vehicle(Coordinate initialPosition, int numId, Color color, VehicleType type, MacTypes mac,
Trajectories tray, Coordinate limit)
: this(initialPosition.X, initialPosition.Y)
{
this.Id = numId;
this.VehicleColor = color;
this.Type = type;
this.Mac = mac;
this.TrajectoryType = tray;
this.Limit = limit;
}
void FixedUpdate()
{
bool lightActive = GameMgr.GetInstance().GetStorageMgr().Get <bool>("settings", "light_active");
m_lantern.gameObject.SetActive(lightActive);
if (m_state != TState.ATTACK_BLOCK)
{
if (m_state == TState.MOVE)
{
m_attackComponent.ToAttack(false);
}
m_isGrouned = IsGrounded();
m_targetPoint.y = transform.position.y;
Debug.DrawLine(transform.position, transform.position + transform.forward * 2f, Color.red);
Vector3 direction = m_targetPoint - transform.position;
float sqrDistance = direction.sqrMagnitude;
Rotation(Time.fixedDeltaTime);
m_move = Vector3.zero;
if (sqrDistance > m_distanceToStop * m_distanceToStop)
{
direction = direction.normalized;
float distanceInc = Trajectories.UniformAccelerateMovement(m_speed, m_accel, Time.fixedDeltaTime);
if (m_speed < m_maxGroundSpeed)
{
m_speed = Trajectories.UniformAccelerateVelocity(m_speed, m_accel, Time.fixedDeltaTime);
}
direction *= distanceInc;
m_animationComponent.IsRunning = true;
m_animationComponent.IsWalking = true;
m_move.x = direction.x;
m_move.z = direction.z;
m_state = m_state == TState.GO_TO_ATTACK ? m_state: TState.MOVE;
}
else
{
if (m_state != TState.ATTACK_NO_BLOCK)
{
m_animationComponent.IsRunning = false;
m_animationComponent.IsWalking = false;
m_speed = m_initialSpeed;
}
}
if (!m_isGrouned)
{
float distanceGravityInc = Trajectories.UniformAccelerateMovement(m_gravityVelocity, m_gravity, Time.fixedDeltaTime);
if (m_gravityVelocity < m_maxAirSpeed)
{
m_gravityVelocity = Trajectories.UniformAccelerateVelocity(m_gravityVelocity, m_gravity, Time.fixedDeltaTime);
}
m_move.y = -distanceGravityInc;
m_state = TState.MOVE;
}
else
{
m_gravityVelocity = 0f;
}
if (m_state == TState.MOVE || m_state == TState.GO_TO_ATTACK)
{
m_characterController.Move(m_move);
}
if (m_state == TState.GO_TO_ATTACK)
{
if (m_attackComponent.CheckCanAttack())
{
m_state = TState.ATTACK_BLOCK;
m_preparingToAttack = true;
ThrowAttack();
}
else
{
m_attackComponent.ToAttack(false);
}
}
}
else
{
if (m_preparingToAttack)
{
//orientamos el personaje para atacar...
if (Rotation(Time.fixedDeltaTime))
{
ThrowAttack();
}
}
}
}
private void SetTrajectories(Trajectories msg)
{
StartCoroutine(arm.ExecuteTrajectories(msg.trajectories));
}
