private static void InitializeBeaconInfoList()
{
foreach (var beacon in db.Beacons)
{
BeaconInfo info = new BeaconInfo();
info.ProductId = beacon.ProductId;
info.InFilter = beacon.InFilter.GetValueOrDefault();
info.OutFilter = beacon.OutFilter.GetValueOrDefault();
BeaconInfoList.Add(beacon.BeaconId, info);
}
}
public override IEnumerator Run(Brain controller)
{
List<SensedObject> sensedWolf = new List<SensedObject>();
bool thereIsSheperd = false;
int totalSheep = 1;
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
sensedWolf.Add (obj);
}
if (obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsSheperd = true;
}
// Let the the crowd influence the mood of individual sheep. This will make single scared sheep less panicky, but allow mass confusion to ensue given enough panic.
if (obj.getAgentType() == AgentClassification.Sheep)
{
totalSheep++;
}
}
SensedObject scariestWolf = myBrain.memory.GetValue<SensedObject>("Scariest");
if(scariestWolf != null) {
sensedWolf.Add(scariestWolf);
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//StopCurBeacon++;
//beaconHelper = 0.2f;
//if (StopCurBeacon==1)
//{
//if(Time.time - curBeacon.GetTime() <= Time.deltaTime)
//{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - beaconHelper);
controller.memory.SetValue<float>("Panic", 0f);
//Debug.Log(controller.getGameObject() + ": " + (controller.memory.GetValue<float>("cowardLevel")));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.01f);
}
//}
//}
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
}
if (thereIsSheperd)
{
Vector2 playerPos = new Vector2(playerTrans.position.x, playerTrans.position.z);
Vector2 playerFacing = new Vector2(playerTrans.forward.x, playerTrans.forward.z);
Vector2 positionOffset = myBrain.legs.getPosition() - playerPos;
//decrease cowardLevel when there is sheperd looking at it
if (Vector2.Dot(playerFacing.normalized, positionOffset.normalized) > 0.71f)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.02f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.001f);
}
}
//normalise cowardLevel back to normal if Sheperd isn't looking
else
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") + (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") >= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
}
else
{
//decrease cowardLevel when there are more than 4 sheep around it.
if (totalSheep >= 4)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.01f);
}
}
//normalise cowardLevel to its default value
else
{
if (sensedWolf.Count == 0)
{
if (controller.memory.GetValue<float>("cowardLevel") > 0.5f)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
else
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") + (Time.deltaTime * 0.02f));
if (controller.memory.GetValue<float>("cowardLevel") >= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
}
else
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") + (Time.deltaTime * 0.01f * sensedWolf.Count));
if (controller.memory.GetValue<float>("cowardLevel") >= 1f)
{
controller.memory.SetValue("cowardLevel", 0.99f);
}
}
}
}
sensedWolf.Sort(Scariest);
if (sensedWolf.Count > 0)
{
scariestWolf = sensedWolf[0];
myBrain.memory.SetValue("Scariest", scariestWolf);
if (thereIsSheperd)
{
//the less cowardLevel is, the less Panic increases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - ((Time.deltaTime * (sensedWolf.Count * 0.5f) * decayPanicRate * controller.memory.GetValue<float>("cowardLevel")) / shepherdInfluence));
}
else
{
Vector2 sheepPos = myBrain.legs.getPosition();
Vector2 wolfPos = scariestWolf.getObject().GetComponent<Brain>().legs.getPosition();
float wolfDistance = Vector2.Distance(sheepPos, wolfPos);
//the less cowardLevel is, the less Panic increases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") + (Time.deltaTime * sensedWolf.Count * increasePanicRate * controller.memory.GetValue<float>("cowardLevel") * (2 / wolfDistance)));
}
fleeBehaviour.setTarget(scariestWolf.getObject());
fleeBehaviour.setWeight(controller.memory.GetValue<float>("Panic"));// * 1.25f);
}
else
{
if (thereIsSheperd)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * shepherdInfluence * (1 - controller.memory.GetValue<float>("cowardLevel"))));
time = 0f;
}
else
{
if (time > 3f)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * (1 - controller.memory.GetValue<float>("cowardLevel"))));
}
else
{
time += Time.deltaTime;
}
}
//set the minimum Panic level for sheep
if (controller.memory.GetValue<float>("Panic") < 0f)
{
controller.memory.SetValue<float>("Panic", 0f);
fleeBehaviour.setTarget(null);
}
//fleeBehaviour weight
fleeBehaviour.setWeight(controller.memory.GetValue<float>("Panic"));
}
//if the sheep get caught
if (controller.memory.GetValue<bool>("BeingEaten") == true)
{
mainMachine.RequestStateTransition(eaten.GetTarget());
}
// if panic level larger than 30, change to gonenuts state.
if (controller.memory.GetValue<float>("Panic") >= 20f)
{
Debug.Log("I'm so scared!");
mainMachine.RequestStateTransition(nuts.GetTarget());
}
// if can't see wolf and panic level has decreased, change to roaming state
else if (controller.memory.GetValue<float>("Panic") < fleeThreshold)
{
Debug.Log("Wolf's gone!");
mainMachine.RequestStateTransition(calmed.GetTarget());
}
yield return null;
}
public override IEnumerator Run(Brain controller)
{
List<GameObject> seenSheep = new List<GameObject>();
bool thereIsShepherd = false;
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if(obj.getAgentType().Equals(AgentClassification.Sheep))
{
seenSheep.Add(obj.getObject());
}
if(obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsShepherd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
controller.memory.SetValue("shouldHide", 3f);
}
//increase its decayHungryLevel when hunting
if (controller.memory.GetValue<float>("hungryLevel") > 0f)
{
controller.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - (decayHungryLevel * 2 * (myBrain.memory.GetValue<float>("ferocity") / 5)));
}
else
{
controller.memory.SetValue("hungryLevel", 0f);
Debug.Log("I died because I used up my energy");
createARFF(myBrain.memory.GetValue<string>("targeting"), "FAIL");
//delete itself in sheepTarget memory
List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");
if (wolvesChasing.Count > 0)
{
wolvesChasing.Remove(this.myBrain);
sheepMemory.SetValue("chasedBy", wolvesChasing);
}
myBrain.getGameObject().SetActiveRecursively(false);
}
myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
if(thereIsShepherd) {
UpdateCaution(playerTrans);
} else {
myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
}
myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
if (seenSheep.Count > 0)
{
if(seenSheep.Contains(myBrain.memory.GetValue<SensedObject>("hasCommand").getObject()))
{
stillSeeTarget = true;
}
else
{
stillSeeTarget = false;
}
}
else
{
stillSeeTarget = false;
}
if (stillSeeTarget)
{
//increase weight based on ferocityRate.
arriveBehaviour.setWeight(arriveBehaviour.getWeight() + (Time.deltaTime * ferocityRate));
seekBehaviour.setWeight(0f);
if (arriveBehaviour.getWeight() > 10f)
{
arriveBehaviour.setWeight(10f);
}
oldTargetPosition = arriveBehaviour.getTarget();
time = 0f;
}
else
{
time += Time.deltaTime;
if (time > 1.5f)
{
//keep chasing
seekBehaviour.setTarget(oldTargetPosition);
seekBehaviour.setWeight(seekBehaviour.getWeight() + (Time.deltaTime * ferocityRate));
//arrive's weight decreases
arriveBehaviour.setWeight(arriveBehaviour.getWeight() - (Time.deltaTime / ferocityRate));
if (seekBehaviour.getWeight() > 5f)
{
seekBehaviour.setWeight(5f);
}
if (arriveBehaviour.getWeight() < 0f)
{
arriveBehaviour.setWeight(0f);
}
}
if (arriveBehaviour.getWeight() == 0f)
{
//change to roaming state
UnityEngine.Debug.Log("Give up finding");
//delete itself in sheepTarget memory
List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");
if (wolvesChasing.Count > 0)
{
wolvesChasing.Remove(this.myBrain);
sheepMemory.SetValue("chasedBy", wolvesChasing);
}
result = "FAIL";
mainMachine.RequestStateTransition(roam.GetTarget());
}
}
//if the wolf catches the sheep
float distance = Vector2.Distance(myBrain.legs.getPosition(), sheepBrain.legs.getPosition());
if (distance < 0f)
{
distance = distance * (-1); //distance can't be negative
}
if (distance <= 1f)
{
if (sheepBrain.memory.GetValue<float>("HP") >= 60f)
{
UnityEngine.Debug.Log("Distance of " + myBrain.getGameObject() + " and " + sheepBrain.getGameObject() + " is: " + distance);
sheepMemory.SetValue("BeingEaten", true);
result = "EATING";
mainMachine.RequestStateTransition(eating.GetTarget());
}
else
{
result = "FAIL";
mainMachine.RequestStateTransition(roam.GetTarget());
}
}
else
{
if (sheepBrain.memory.GetValue<float>("HP") < 60f)
{
result = "FAIL";
mainMachine.RequestStateTransition(roam.GetTarget());
}
}
yield return null;
}
public override IEnumerator Run(Brain controller)
{
bool thereIsSheperd = false;
List<SensedObject> sensedWolf = new List<SensedObject>();
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
Legs wolfLeg = (Legs)obj.getObject().GetComponent<Legs>();
Vector2 wolfFacing = new Vector2(wolfLeg.transform.forward.x, wolfLeg.transform.forward.z);
Vector2 sheepPos = myBrain.legs.getPosition();
Vector2 wolfPos = wolfLeg.getPosition();
float dot = Vector2.Dot(wolfFacing, sheepPos - wolfPos);
if (dot > 0)
{
sensedWolf.Add(obj);
}
if (controller.memory.GetValue<List<Brain>>("chasedBy") != null)
{
List<Brain> chaseByList = (List<Brain>)controller.memory.GetValue<List<Brain>>("chasedBy");
Brain objBrain = (Brain)obj.getObject().GetComponent<Brain>();
if (chaseByList.Contains(objBrain))
{
sensedWolf.Add(obj);
}
}
}
if (obj.getAgentType().Equals(AgentClassification.Shepherd))
{
thereIsSheperd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//StopCurBeacon++;
//beaconHelper = 0.2f;
//if (StopCurBeacon==1)
//{
//if(Time.time - curBeacon.GetTime() <= Time.deltaTime)
//{
controller.memory.SetValue<float>("Panic", 0f);
//Debug.Log(controller.getGameObject() + ": " + (controller.memory.GetValue<float>("cowardLevel")));
//}
//}
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
}
if (sensedWolf.Count > 0)
{
//if there is wolf around and it can see the Sheperd, the recover rate from Panic is similar to w.o wolf.
if (thereIsSheperd)
{
//the less cowardLevel is, the less Panic increases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * (1 - controller.memory.GetValue<float>("cowardLevel"))));
}
else
{
//the less cowardLevel is, the less Panic increases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") + (Time.deltaTime * sensedWolf.Count * increasePanicRate * controller.memory.GetValue<float>("cowardLevel")));
}
if (controller.memory.GetValue<float>("Panic") >= 30f)
{
controller.memory.SetValue<float>("Panic", 30f);
}
}
else
{
//if there is no wolf around and it can see the Sheperd, the recover rate from Panic is tripled.
if (thereIsSheperd)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * shepherdInfluence * (1 - controller.memory.GetValue<float>("cowardLevel"))));
time = 0f;
}
else
{
if (time > 7f)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * (1 - controller.memory.GetValue<float>("cowardLevel"))));
}
else
{
time += Time.deltaTime;
}
}
//set the minimum Panic level for sheep
if (controller.memory.GetValue<float>("Panic") < 0f)
{
controller.memory.SetValue<float>("Panic", 0f);
}
}
// if can't see wolf and panic level has decreased, change to roaming state
if (controller.memory.GetValue<float>("Panic") < 3f)
{
Debug.Log("Wolf's gone and I'm calm now!");
mainMachine.RequestStateTransition(roaming.GetTarget());
}
//if the sheep get caught
if (controller.memory.GetValue<bool>("BeingEaten") == true)
{
mainMachine.RequestStateTransition(eaten.GetTarget());
}
yield return null;
}
private void ListView_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
selectedInfo = (BeaconInfo)(sender as ListView).SelectedItem;
}
public override IEnumerator Run(Brain controller)
{
bool thereIsShepherd = false;
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsShepherd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
controller.memory.SetValue("shouldHide", 3f);
}
myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
if(thereIsShepherd) {
UpdateCaution(playerTrans);
} else {
myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
}
myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
arriveBehaviour.setWeight(arriveBehaviour.getWeight() + Time.deltaTime * myBrain.memory.GetValue<float>("ferocity"));
if (arriveBehaviour.getWeight() > 10f)
{
arriveBehaviour.setWeight(10f);
}
myBrain.legs.maxSpeed = 0f;
sheepMemory.SetValue("HP", sheepMemory.GetValue<float>("HP") - (Time.deltaTime * myBrain.memory.GetValue<float>("damage")));
//Debug.Log("Sheep's HP is: " + sheepMemory.GetValue<float>("HP"));
if (sheepMemory.GetValue<float>("HP") <= 0f)
{
sheepTarget.getObject().SetActiveRecursively(false);
Debug.Log("I ate the sheep");
controller.memory.SetValue("hungryLevel", myBrain.memory.GetValue<float>("hungryLevel") + 10f);
result = "SUCCESS";
controller.memory.GetValue<Genome>("Genome").incrementFitness(1);
mainMachine.RequestStateTransition(roam.GetTarget());
}
yield return null;
}
public override IEnumerator Run(Brain controller)
{
bool thereIsShepherd = false;
float highestLeaderLevel = 0f;
List<SensedObject> seenSheep = new List<SensedObject>();
List<SensedObject> seenWolf = new List<SensedObject>();
Transform playerTrans = null;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Sheep))
{
seenSheep.Add(obj);
}
else if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
Memory wolfMemory = obj.getMemory();
if (highestLeaderLevel <= wolfMemory.GetValue<float>("leaderLevel"))
{
highestLeaderLevel = wolfMemory.GetValue<float>("leaderLevel");
}
seenWolf.Add(obj);
}
else if(obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsShepherd = true;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
controller.memory.SetValue("shouldHide", 3f);
}
myBrain.memory.SetValue("caution", myBrain.memory.GetValue<float>("caution") - cautionLevelDecay * Time.deltaTime);
if(thereIsShepherd) {
UpdateCaution(playerTrans);
} else {
myBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
}
myBrain.memory.SetValue("watched", Mathf.Clamp(myBrain.memory.GetValue<float>("watched"), 0, Mathf.Infinity));
if(myBrain.memory.GetValue<float>("watched") > 0)
{
//Debug.Log (myBrain.memory.GetValue<float>("watched"));
}
//check if this wolf has been given command to attack or not
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
//decrease leaderLevel because it has been given command by others
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decreaseLeaderLevel * Time.deltaTime));
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//Change to hunting phase
Debug.Log("I've received command. I'm hunting! Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
else
{
if (seenSheep.Count > 0)
{
//choose the target
//if the wolf hasn't have his target, pick it
target = chooseTarget(seenSheep);
if (target != null)
{
//target is alive
if (target.getObject().GetComponent<Brain>().memory.GetValue<float>("HP") > 0)
{
//set the target for this wolf
controller.memory.SetValue("hasCommand", target);
//calling sheep that it is being targeted
Memory sheepMemory = target.getMemory();
//get a list of wolves that are chasing this sheep
List<Brain> wolvesChasing = sheepMemory.GetValue<List<Brain>>("chasedBy");
//add itself in
if (wolvesChasing != null)
{
wolvesChasing.Add(this.myBrain);
sheepMemory.SetValue("chasedBy", wolvesChasing);
}
//send signal to other wolf in its sensing radius, tell them to change to hunting phase
if (controller.memory.GetValue<float>("leaderLevel") >= highestLeaderLevel)
{
//increase its leaderLevel whenever it issue a decision to hunt
if (controller.memory.GetValue<float>("leaderLevel") < 100f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") + increaseLeaderLevel);
}
//set the maximum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") > 100f)
{
controller.memory.SetValue("leaderLevel", 100f);
}
//call other to change to hunting phase
foreach (SensedObject objWolf in seenWolf)
{
//give out command to attack the same target
Memory wolfMemory = objWolf.getMemory();
wolfMemory.SetValue("hasCommand", target);
Debug.Log("I'm the leader! I sent command!");
}
}
//Change to hunting phasemyBrain.memory.SetValue ("watched", myBrain.memory.GetValue<float>("watched") - watchedLevelDecay * Time.deltaTime);
Debug.Log("I'm hunting. Target: " + controller.memory.GetValue<SensedObject>("hasCommand").getObject());
}
}
}
}
if (controller.memory.GetValue<SensedObject>("hasCommand") != null)
{
time = 0f;
//decrease its hungryLevel when it change to hunting state
//controller.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - 4f);
mainMachine.RequestStateTransition(hunting.GetTarget());
}
else
{
if (time >= 20f) //wait for 20 sec
{
//decrease its leaderLevel if it can't find any sheep or cant issue and command
if (controller.memory.GetValue<float>("leaderLevel") > 10f)
{
controller.memory.SetValue("leaderLevel", controller.memory.GetValue<float>("leaderLevel") - (decayLeaderLevel / myBrain.memory.GetValue<float>("ferocity")));
}
if (controller.memory.GetValue<float>("hungryLevel") > 0f)
{
myBrain.memory.SetValue("hungryLevel", controller.memory.GetValue<float>("hungryLevel") - (decayHungryLevel * (myBrain.memory.GetValue<float>("ferocity") / 5)));
}
//set the minimum leaderLevel for wolf
if (controller.memory.GetValue<float>("leaderLevel") < 10f)
{
controller.memory.SetValue("leaderLevel", 10f);
}
//set the minimum hungryLevel for wolf
if (controller.memory.GetValue<float>("hungryLevel") < 0f)
{
controller.memory.SetValue("hungryLevel", 0f);
Debug.Log("I died because I'm too hungry");
myBrain.getGameObject().SetActiveRecursively(false);
controller.memory.GetValue<Genome>("Genome").manager.SpawnWolf(controller.memory.GetValue<Vector2>("StartPoint"));
}
}
else
{
time += Time.deltaTime;
}
}
yield return null;
}
public override IEnumerator Run(Brain controller)
{
bool thereIsSheperd = false;
List<SensedObject> seenWolf = new List<SensedObject>();
Transform playerTrans = null;
float averagePanicLevel = controller.memory.GetValue<float>("Panic");
int totalSheep = 1;
foreach (SensedObject obj in controller.senses.GetSensedObjects())
{
if (obj.getAgentType().Equals(AgentClassification.Wolf))
{
seenWolf.Add(obj);
}
if (obj.getAgentType().Equals(AgentClassification.Shepherd))
{
playerTrans = obj.getObject().transform;
thereIsSheperd = true;
}
// Let the the crowd influence the mood of individual sheep. This will make single scared sheep less panicky, but allow mass confusion to ensue given enough panic.
if (obj.getAgentType() == AgentClassification.Sheep) {
averagePanicLevel += obj.getObject().GetComponent<Brain>().memory.GetValue<float>("Panic");
totalSheep++;
}
}
//get current BeaconInfo
if (controller.memory.GetValue<BeaconInfo>("LastBeacon") != null)
{
if (curBeacon != null)
{
if (curBeacon.GetTime() < controller.memory.GetValue<BeaconInfo>("LastBeacon").GetTime())
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
else
{
curBeacon = controller.memory.GetValue<BeaconInfo>("LastBeacon");
}
}
if (curBeacon != null)
{
//StopCurBeacon++;
//beaconHelper = 0.2f;
//if (StopCurBeacon==1)
//{
//if(Time.time - curBeacon.GetTime() <= Time.deltaTime)
//{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - beaconHelper);
controller.memory.SetValue<float>("Panic", 0f);
//Debug.Log(controller.getGameObject() + ": " + (controller.memory.GetValue<float>("cowardLevel")));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.01f);
}
//}
//}
//delete curBeacon
curBeacon = null;
controller.memory.SetValue("LastBeacon", null);
}
if (thereIsSheperd)
{
Vector2 playerPos = new Vector2(playerTrans.position.x, playerTrans.position.z);
Vector2 playerFacing = new Vector2(playerTrans.forward.x, playerTrans.forward.z);
Vector2 positionOffset = myBrain.legs.getPosition() - playerPos;
//decrease cowardLevel when there is sheperd looking at it
if (Vector2.Dot(playerFacing.normalized, positionOffset.normalized) > 0.71f)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.02f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.01f);
}
}
//normalise cowardLevel back to normal if Sheperd isn't looking
else
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") + (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") >= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
}
else
{
//decrease cowardLevel when there are more than 4 sheep around it.
if (totalSheep >= 4)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0f)
{
controller.memory.SetValue("cowardLevel", 0.01f);
}
}
//normalise cowardLevel to its default value
else
{
if (controller.memory.GetValue<float>("cowardLevel") > 0.5f)
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") - (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") <= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
else
{
controller.memory.SetValue("cowardLevel", controller.memory.GetValue<float>("cowardLevel") + (Time.deltaTime * 0.01f));
if (controller.memory.GetValue<float>("cowardLevel") >= 0.5f)
{
controller.memory.SetValue("cowardLevel", 0.5f);
}
}
}
}
averagePanicLevel /= totalSheep;
controller.memory.SetValue<float>("Panic", Mathf.Lerp(controller.memory.GetValue<float>("Panic"), averagePanicLevel, Time.deltaTime * 0.3f));
foreach(SensedObject obj in seenWolf) {
Legs wolfLeg = (Legs)obj.getObject().GetComponent<Legs>();
Vector2 wolfFacing = wolfLeg.getVelocity();
Vector2 sheepPos = myBrain.legs.getPosition();
Vector2 wolfPos = wolfLeg.getPosition();
float dot = Vector2.Dot(wolfFacing, sheepPos - wolfPos);
float distance = Vector2.Distance(sheepPos, wolfPos);
float scariness = (4 / distance) * (dot + 1);
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") + (Time.deltaTime * scariness * increasePanicRate * controller.memory.GetValue<float>("cowardLevel")));
}
if (thereIsSheperd)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * shepherdInfluence * (1 - controller.memory.GetValue<float>("cowardLevel"))));
time = 0f;
}
else
{
if (time > 5f)
{
//the less cowardLevel is, the more Panic decreases
controller.memory.SetValue<float>("Panic", controller.memory.GetValue<float>("Panic") - (Time.deltaTime * decayPanicRate * (1 - controller.memory.GetValue<float>("cowardLevel"))));
}
else
{
time += Time.deltaTime;
}
}
//set the minimum Panic level for sheep
if (controller.memory.GetValue<float>("Panic") < 0f)
{
controller.memory.SetValue<float>("Panic", 0f);
}
if (thereIsSheperd)
{
//set the target
arriveBehaviour.setTarget(GameObject.FindGameObjectWithTag("Player"));
//set the weight, this is top priority
arriveBehaviour.setWeight(arriveBehaviour.getWeight() + Time.deltaTime * increaseFollowRate);
//set maximum weight- the sheep stop following if they are afraid (the player must catch them)
float maxWeight = (fleeThreshold - controller.memory.GetValue<float>("Panic")) + 5; //plus 5 to make the sheep more responsible to follow the Sheperd
if (arriveBehaviour.getWeight() > maxWeight)
{
arriveBehaviour.setWeight(maxWeight);
}
oldPlayerPosition = arriveBehaviour.getTarget();
//if the sheep sees the shephered, it stops seeking
seekBehaviour.setWeight(seekBehaviour.getWeight() - (Time.deltaTime * decayFollowRate));
//minimum 0 weight
if (seekBehaviour.getWeight() < 0f)
{
seekBehaviour.setWeight(0f);
}
seekingTime = 0f;
}
else
{
arriveBehaviour.setWeight(arriveBehaviour.getWeight() - (Time.deltaTime * decayFollowRate));
//get last player's location so the sheep will seek around that
seekBehaviour.setTarget(oldPlayerPosition);
seekBehaviour.setWeight(seekBehaviour.getWeight() + (Time.deltaTime * decayFollowRate));
float maxWeight = fleeThreshold - controller.memory.GetValue<float>("Panic");
if (arriveBehaviour.getWeight() > maxWeight)
{
arriveBehaviour.setWeight(maxWeight);
}
if (seekingTime > 7f)
{
seekBehaviour.setWeight(0f);
}
else
{
seekingTime += Time.deltaTime;
}
//set minimum weight
if (arriveBehaviour.getWeight() < 0f)
{
arriveBehaviour.setWeight(0f);
seekBehaviour.setWeight(seekBehaviour.getWeight() - Time.deltaTime);
if (seekBehaviour.getWeight() < 0f)
{
seekBehaviour.setWeight(0f);
}
}
}
// if panic level larger than a given threshold, change to running state.
if (controller.memory.GetValue<float>("Panic") >= fleeThreshold)
{
Debug.Log("I saw wolf. RUN!: " + myBrain.getGameObject());
mainMachine.RequestStateTransition(running.GetTarget());
}
//if the sheep get caught
if (controller.memory.GetValue<bool>("BeingEaten") == true)
{
mainMachine.RequestStateTransition(eaten.GetTarget());
}
// Debug.Log("Hey" +controller.memory.GetValue<BeaconInfo>("LastBeacon").ToString());
yield return null;
}
private void DidLoseBeacon(BeaconInfo lostBeaconInfo)
{
}
private async Task DidFindBeacon(BeaconInfo beaconInfo)
{
await BeaconsService.Instance.ActivateEddystoneUid(beaconInfo.BeaconID.ToString());
}
private void DidUpdateBeacon(BeaconInfo beaconInfo)
{
}
public override void DiscoveredPeripheral(CBCentralManager central, CBPeripheral peripheral, NSDictionary advertisementData, NSNumber RSSI)
{
if (advertisementData.ContainsKey(CBAdvertisement.DataServiceDataKey))
{
var tmp = advertisementData.ObjectForKey(CBAdvertisement.DataManufacturerDataKey);
var serviceData = advertisementData.ValueForKey(CBAdvertisement.DataServiceDataKey) as NSDictionary;
var eft = BeaconInfo.FrameTypeForFrame(serviceData);
if (eft == EddystoneFrameType.TelemetryFrameType)
{
if (!_deviceIDCache.ContainsKey(peripheral.Identifier))
{
_deviceIDCache.Add(peripheral.Identifier, BeaconInfo.TelemetryDataForFrame(serviceData));
}
}
else if (eft == EddystoneFrameType.UIDFrameType || eft == EddystoneFrameType.EIDFrameType)
{
if (peripheral.Identifier != null && _deviceIDCache.ContainsKey(peripheral.Identifier))
{
var telemetry = _deviceIDCache[peripheral.Identifier];
var rssi = RSSI.Int32Value;
var beaconInfo = (eft == EddystoneFrameType.UIDFrameType
? BeaconInfo.BeaconInfoForUIDFrameData(serviceData, telemetry, rssi)
: BeaconInfo.BeaconInfoForEIDFrameData(serviceData, telemetry, rssi));
if (beaconInfo != null)
{
_deviceIDCache.Remove(peripheral.Identifier);
if (_seenEddystoneCache.ContainsKey(new NSString(beaconInfo.BeaconID.Description)))
{
var timer = _seenEddystoneCache.ObjectForKey(new NSString(beaconInfo.BeaconID.Description + "_onLostTimer")) as NSTimer;
timer.Invalidate();
timer = NSTimer.CreateScheduledTimer(_onLostTimeout, t =>
{
var cacheKey = beaconInfo.BeaconID.Description;
if (_seenEddystoneCache.ContainsKey(new NSString(cacheKey)))
{
var lostBeaconInfo = _seenEddystoneCache.ObjectForKey(new NSString(cacheKey)) as BeaconInfo;
if (lostBeaconInfo != null)
{
_seenEddystoneCache.Remove(new NSString(beaconInfo.BeaconID.Description));
_seenEddystoneCache.Remove(new NSString(beaconInfo.BeaconID.Description + "_onLostTimer"));
DidLoseBeacon(lostBeaconInfo);
}
}
});
DidUpdateBeacon(beaconInfo);
}
else
{
DidFindBeacon(beaconInfo);
var timer = NSTimer.CreateScheduledTimer(_onLostTimeout, t =>
{
var cacheKey = beaconInfo.BeaconID.Description;
if (_seenEddystoneCache.ContainsKey(new NSString(cacheKey)))
{
var lostBeaconInfo = _seenEddystoneCache.ObjectForKey(new NSString(cacheKey)) as BeaconInfo;
if (lostBeaconInfo != null)
{
_seenEddystoneCache.Remove(new NSString(beaconInfo.BeaconID.Description));
_seenEddystoneCache.Remove(new NSString(beaconInfo.BeaconID.Description + "_onLostTimer"));
DidLoseBeacon(lostBeaconInfo);
}
}
});
_seenEddystoneCache.SetValueForKey(beaconInfo, new NSString(beaconInfo.BeaconID.Description));
_seenEddystoneCache.SetValueForKey(timer, new NSString(beaconInfo.BeaconID.Description + "_onLostTimer"));
}
}
}
}
else if (eft == EddystoneFrameType.URLFrameType)
{
var rssi = RSSI.Int32Value;
var url = BeaconInfo.ParseUrlFromFrame(serviceData);
var name = peripheral.Name;
var services = peripheral.Services;
DidObserveURLBeacon(url, rssi);
}
else
{
MvxTrace.TaggedTrace(MvxTraceLevel.Diagnostic, "Beacons", "Unable to find service data; can't process Eddystone");
}
}
else
{
}
}
