public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.sqrMagnitude;
float speed = Character.getVelocity().sqrMagnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
AgentMeta dummy = new AgentMeta(new Vector2(0.0f, 0.0f) + Target.getVelocity() * prediction);
Behaviour seek = new Seek(dummy, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering();
return(steering);
}
// Use this for initialization
private void Awake()
{
_rb = GetComponent <Rigidbody>();
_steeringBasics = GetComponent <SteeringBasics>();
_seek = GetComponent <Seek>();
SteeringBasics.RbConstraints(_rb);
}
public Steering Apply()
{
Steering st = new Steering();
if (finished)
{
callback(true);
return(st);
}
if (followPath.HasPath())
{
if (Time.fixedTime - timeStamp > reconsiderSeconds)
{
timeStamp = Time.fixedTime;
SetNewTarget(target, false);
}
}
else
{
st += Seek.GetSteering(target, agent, 500f); //If path has not been solved yet just do Seek.
}
st += followPath.Apply(); //If there is no path just avoid collisions
return(st);
}
public static Steering GetSteering(Agent npc, float threshold, float decayCoefficient, float maxAccel, bool visibleRays)
{
Steering steering = new Steering();
int neighbours = 0;
Vector3 centerOfMass = Vector3.zero;
int layerMask = 1 << 9;
Collider[] hits = Physics.OverlapSphere(npc.position, threshold, layerMask);
foreach (Collider coll in hits)
{ //Comprobar con un SphereCast, en vez de Tag quiza usar Layers
Agent agent = coll.GetComponent <Agent>();
float distance = Util.HorizontalDist(agent.position, npc.position);
if (agent != npc && distance < threshold)
{
centerOfMass += agent.position;
neighbours++;
}
}
if (neighbours > 0)
{
centerOfMass /= neighbours;
return(Seek.GetSteering(centerOfMass, npc, maxAccel, visibleRays));
}
return(steering);
}
public Steering GetSteering()
{
if (path == null || currentPoint >= path.Length)
{
if (path == null)
{
Debug.LogError("Path is invalid: Null");
}
if (currentPoint >= path.Length)
{
Debug.LogError("Path is invalid: Out of bounds");
}
return(new Steering());
}
UpdateExtraRadius();
float arrivalRadius2 = arrivalRadius + extraRadius;
float distance = Util.HorizontalDist(path[currentPoint], npc.position);
if (distance < arrivalRadius2)
{
if (currentPoint != Mathf.Min(currentPoint + 1, path.Length - 1))
{
extraRadius = 0;
near = false;
}
currentPoint = Mathf.Min(currentPoint + 1, path.Length - 1); //When it reaches the last stays on it
//if (currentPoint == path.Length - 2)
// return Arrive.GetSteering(path[currentPoint], npc, 1f, maxAccel /*50*/);
}
return(Seek.GetSteering(path[currentPoint], npc, maxAccel /*50*/, false));
}
// 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;
}
new protected void Start()
{
base.Start();
Seek seeking = GetComponent <Seek> ();
seeking.Target = target.position;
}
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;
Seek seek = leader.AddComponent <Seek> ();
seek.enabled = !seek.enabled;
Boid b = leader.GetComponent <Boid> ();
b.maxSpeed = 6.5f;
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> ());
}
}
// Use this for initialization
protected override void Start()
{
Sight = GetComponent <FieldOfView>();
Search = GetComponent <AStarSearch>();
Path = GetComponent <ASPathFollower>();
Wander = GetComponent <Wander>();
Seek = GetComponent <Seek>();
Flee = GetComponent <Flee>();
Arrive = GetComponent <Arrive>();
Terrain = GameObject.Find("Terrain");
Animator = GetComponent <Animator>();
SearchAgent = GetComponent <ASAgent>();
State = new FiniteStateMachine <Velociraptor>(this);
State.Change(V_Idle.Instance);
Path.enabled = true;
Path.path = new ASPath();
Path.enabled = false;
collision_ticks = 0.0f;
health_time = 0.0f;
hunger_time = 0.0f;
thirst_time = 0.0f;
base.Start();
}
public SeekToPosition(Agent agent, Vector3 destination)
: base(agent, GoalTypes.SeekToPosition)
{
_destination = destination;
_seek = new Seek(agent.Kinematic, destination);
_look = new FaceHeading(agent.Kinematic);
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
arriveBehaviour = new PathfindToPoint();
seekBehaviour = new Seek();
arriveBehaviour.Init(myLeg,myBrain.levelGrid);
seekBehaviour.Init(myLeg);
myLeg.addSteeringBehaviour(arriveBehaviour);
myLeg.addSteeringBehaviour(seekBehaviour);
//set speed back to normal
myBrain.legs.maxSpeed = 5f;
if(firstActivation)
{
//set cowardLevel for sheep. Random.value returns a random number between 0.0 [inclusive] and 1.0 [inclusive].
float coward = 0.5f;
myBrain.memory.SetValue("cowardLevel", coward);
myBrain.memory.SetValue("chasedBy", new List<Brain>());
myBrain.memory.SetValue("BeingEaten", false);
myBrain.memory.SetValue("HP", 100f);
firstActivation = false;
}
time = 0f;
seekingTime = 0f;
yield return null;
}
public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.getPosition() - Character.getPosition();
float distance = direction.magnitude;
float speed = Character.getVelocity().magnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
GameObject dummy = (GameObject)MonoBehaviour.Instantiate(Resources.Load("Prefab/Dummy"));
AgentMeta dummyAgent = dummy.GetComponent <AgentMeta> ();
dummyAgent.setPosition(Target.getPosition() + Target.getVelocity() * prediction);
Behaviour seek = new Seek(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering();
MonoBehaviour.Destroy(dummy);
return(steering);
}
public override void OnEnter(AIState previousState)
{
base.OnEnter(previousState);
waitUntil = float.MinValue;
seek = this.Behaviors.OfType <Seek>().First();
var obstacles = Level.Instance.GetObstaclesAround(CreatureTransform.position, CoverSearchDistance);
if (obstacles.Count > 0)
{
var obstacle = obstacles[UnityEngine.Random.Range(0, obstacles.Count)];
Vector3 toCrew = this.CrewPos - obstacle.transform.position;
var behindObstacle = toCrew.normalized * 1.5f;
seek.Goal = obstacle.transform.position - behindObstacle;
Instantiate(DebugExplosion, seek.Goal, Quaternion.identity);
}
else
{
this.StateManager.ActivateState <PunkerNewPos>();
}
}
//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> ());
}
}
// Start is called before the first frame update
void Start()
{
agent = GetComponent <NavMeshAgent>();
path = new NavMeshPath();
seek = new Seek();
seek.target.position = Input.mousePosition;
}
public override SteeringOutput.SteeringOutput getSteering()
{
Vector2 direction = Target.position - Character.position;
float distance = direction.magnitude;
float speed = Character.velocity.magnitude;
float prediction;
if (speed <= distance / maxPrediction)
{
prediction = maxPrediction;
}
else
{
prediction = distance / maxPrediction;
}
AgentMeta dummyAgent = new AgentMeta();
dummyAgent.position = Target.position + Target.velocity * prediction;
Behaviour seek = new Seek(dummyAgent, Character);
SteeringOutput.SteeringOutput steering = seek.getSteering();
/* Limpiar y devolver resultados */
MonoBehaviour.Destroy(dummyAgent);
return(steering);
}
// Use this for initialization
protected override void Start()
{
waterSource = GameObject.Find("Daylight Water");
thirst = 100;
health = 100;
energy = 100;
currentState = ankyState.IDLE;
ankyWander = GetComponent <Wander>();
ankyFlee = GetComponent <Flee>();
ankyView = GetComponent <FieldOfView>();
ankyFace = GetComponent <Face>();
ankyFaceEnemy = GetComponent <FaceEnemy>();
ankyPursue = GetComponent <Pursue>();
ankySeek = GetComponent <Seek>();
ankyAgent = GetComponent <Agent>();
anim = GetComponent <Animator>();
// Assert default animation booleans and floats
anim.SetBool("isIdle", true);
anim.SetBool("isEating", false);
anim.SetBool("isDrinking", false);
anim.SetBool("isAlerted", false);
anim.SetBool("isGrazing", false);
anim.SetBool("isAttacking", false);
anim.SetBool("isFleeing", false);
anim.SetBool("isDead", false);
anim.SetFloat("speedMod", 1.0f);
// This with GetBool and GetFloat allows
// you to see how to change the flag parameters in the animation controller
base.Start();
}
void Awake()
{
anim = GetComponent <Animator>();
sprite = GetComponent <SpriteRenderer>();
body = GetComponent <Rigidbody2D>();
seekTargetScript = GetComponent <Seek>();
}
// Update is called once per frame
void FixedUpdate()
{
var targetPosition = _headsetTransform.localToWorldMatrix.MultiplyPoint(Offset);
targetPosition.y = Mathf.Clamp(
targetPosition.y,
_headsetTransform.position.y - .2f,
_headsetTransform.position.y + .2f
);
var steeringForce = Seek.Calculate(transform.position, targetPosition, MaxSpeed);
// Calculate velocity
_velocity = Vector3.ClampMagnitude(steeringForce / Mass * Time.fixedDeltaTime, MaxSpeed);
// Add velocity to position
transform.position += _velocity;
// Add continuous rotation
transform.eulerAngles = new Vector3(
transform.eulerAngles.x,
transform.eulerAngles.y + RotationSpeed,
transform.eulerAngles.z
);
}
public void ChangeState(UnitStates newState)
{
currentState = newState;
switch (currentState)
{
case UnitStates.Idle:
DestroyImmediate(fleeScript);
DestroyImmediate(seekScript);
break;
case UnitStates.Flee:
fleeScript = gameObject.AddComponent <Flee>();
fleeScript.target = target;
fleeScript.enabled = true;
DestroyImmediate(seekScript);
break;
case UnitStates.Seek:
cohesionScript.weight = 0.7f;
seperationScript.weight = 50.0f;
seekScript = gameObject.AddComponent <Seek>();
seekScript.target = target;
seekScript.enabled = true;
DestroyImmediate(fleeScript);
break;
}
}
private void btnVal_Click(object sender, System.EventArgs e)
{
double Seek;
Seek = ourAudio.CurrentPosition;
txtVal.Text = Seek.ToString();
}
// Start is called before the first frame update
void Start()
{
mySeek = new Seek();
mySeek.character = this;
mySeek.target = target;
myFlee = new Flee();
myFlee.character = this;
myFlee.target = target;
myArrv = new Arrive();
myArrv.character = this;
myArrv.target = target;
myAlgn = new Align();
myAlgn.character = this;
myAlgn.target = target;
myFace = new Face();
myFace.character = this;
myFace.target = target;
myLWYG = new LookWhereGoing();
myLWYG.character = this;
myLWYG.target = target;
myFPth = new FollowPathDemo();
myFPth.character = this;
myFPth.path = waypointList;
//myFPth.target = target;
}
public RunFromTargets(SteeringOutput SteeringAgent, Kinetics KineticsAgent,
Kinetics[] KineticsTargets, float MaxAccel)
{
steeringAgent = SteeringAgent;
kineticsAgent = KineticsAgent;
kineticsTargets = KineticsTargets;
seek = new Seek(kineticsAgent, kineticsTargets[0], MaxAccel);
}
public void Awake()
{
TraversalMargin = 3;
movingEntity = GetComponent <MovingEntity>();
aiController = GetComponent <AiController>();
seek = GetComponent <Seek>();
arrive = GetComponent <Arrive>();
}
private void Start()
{
blackboard = GetComponent <ChargingEnemyBlackboard>();
wanderPlusAvoid = GetComponent <WanderPlusAvoid>();
seek = GetComponent <Seek>();
enemyPassiveFsm = GetComponent <ChargingEnemyPassiveFSM>();
enemyCol = GetComponent <CapsuleCollider>();
}
public void SeekOn(Transform targetTrans)
{
if (!behaviours.Contains(Seek.GetInstance()))
{
behaviours.Add(Seek.GetInstance());
}
TargetTrans = targetTrans;
}
public AIState(Agent _agent, Wander _wander, Flee _flee, Seek _seek, Face _face)
{
agent = _agent;
wander = _wander;
flee = _flee;
seek = _seek;
face = _face;
}
void Start()
{
base.Start();
seeker = gameObject.AddComponent <Seek>();
seeker.active = true;
seeker.target = target;
influencers.Add(seeker);
}
public static Seek GetInstance()
{
if (instance == null)
{
instance = new Seek();
}
return(instance);
}
public FollowTarget(SteeringOutput SteeringAgent, Kinetics KineticsAgent,
Kinetics KineticsTarget, float MaxAccel)
{
steeringAgent = SteeringAgent;
kineticsAgent = KineticsAgent;
kineticsTarget = KineticsTarget;
seek = new Seek(kineticsAgent, kineticsTarget, MaxAccel);
}
public TraverseEdge(Agent agent, Edge edgeToTraverse)
: base(agent, GoalTypes.SeekToPosition)
{
//this.edgeToTraverse = edgeToTraverse;
_destination = edgeToTraverse.ToNode.Position;
_seek = new Seek(agent.Kinematic, _destination);
_look = new FaceHeading(agent.Kinematic);
}
private Seek getSeekBehaviour()
{
if (seek == null)
{
seek = new Seek();
seek.Init (this.getLegs ());
}
return seek;
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
runTo = new Seek();
runTo.Init(myLeg);
player = GameObject.FindGameObjectWithTag("Player").transform;
hiddenTime = 0;
myBrain.memory.SetValue ("shouldHide", 0f);
myBrain.legs.maxSpeed = 11f;
myLeg.addSteeringBehaviour(runTo);
yield return null;
}
/// <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();
}
public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLeg = myBrain.legs;
arriveBehaviour = new PathfindToPoint();
seekBehaviour = new Seek();
arriveBehaviour.Init(myLeg, myBrain.levelGrid);
seekBehaviour.Init(myLeg);
myLeg.addSteeringBehaviour(arriveBehaviour);
myLeg.addSteeringBehaviour(seekBehaviour);
myLeg.maxSpeed = 11f;
time = 0f;
ferocityRate = controller.memory.GetValue<float>("ferocity");
sheepTarget = myBrain.memory.GetValue<SensedObject>("hasCommand");
sheepMemory = sheepTarget.getMemory();
sheepBrain = (Brain)sheepTarget.getObject().GetComponent("Brain");
arriveBehaviour.setTarget(sheepTarget.getObject());
//for machine learning
float panic = sheepBrain.memory.GetValue<float>("Panic");
float courage = sheepBrain.memory.GetValue<float>("cowardLevel");
float chasedBy = sheepBrain.memory.GetValue<List<Brain>>("chasedBy").Count;
float distanceWithMe = Vector2.Distance(sheepBrain.legs.getPosition(), myBrain.legs.getPosition());
float distanceWithSheperd = Vector2.Distance(sheepBrain.legs.getPosition(), ((Legs)GameObject.FindGameObjectWithTag("Player").GetComponent<Legs>()).getPosition());
float hungry = myBrain.memory.GetValue<float>("hungryLevel");
float sheepHP = sheepBrain.memory.GetValue<float>("HP");
string sheep = panic + "," + courage + "," + chasedBy + "," + distanceWithMe + "," + distanceWithSheperd + "," + hungry + "," + sheepHP;
myBrain.memory.SetValue("targeting", sheep);
yield return null;
}
void Awake()
{
steeringAgent = GetComponent<SteeringAgent>();
steeringSeek = GetComponent<Seek>();
steeringArrive = GetComponent<Arrive>();
//steeringFlee = GetComponent<SteeringFlee>();
//steeringWander = GetComponent<SteeringWander>();
steeringAgent.enabled = true;
//Wander();
InitBT();
bt.Start();
}
/// <summary>
/// Seek a new postion.
/// Seek to some place in the movie.
/// Seek.Relative is a relative seek of +/- value seconds (default).
/// Seek.Percentage is a seek to value % in the movie.
/// Seek.Absolute is a seek to an absolute position of value seconds.
/// </summary>
/// <param name="value"></param>
/// <param name="type"></param>
public void Seek(int value, Seek type)
{
MediaPlayer.StandardInput.WriteLine(string.Format("seek {0} {1}", value, type));
MediaPlayer.StandardInput.Flush();
}
/// <summary>
/// Seek a new postion.
/// Seek to some place in the movie.
/// Seek.Relative is a relative seek of +/- value seconds (default).
/// Seek.Percentage is a seek to value % in the movie.
/// Seek.Absolute is a seek to an absolute position of value seconds.
/// </summary>
/// <param name="value"></param>
/// <param name="type"></param>
public void Seek(int value, Seek type)
{
Debug.WriteLine(DateTime.Now.ToLongTimeString() + " MPLAYER Seek. {1} type, {0} seconds", value, type.ToString());
MediaPlayer.StandardInput.WriteLine(string.Format("pausing_keep_force seek {0} {1}", value, (int)type));
MediaPlayer.StandardInput.Flush();
}
public bool Get(Seek seek, out object key, out object value) {
Data dkey = Data.New();
Data dvalue = Data.New();
try {
int ret = funcs.get(cursorp, ref dkey, ref dvalue, (uint)seek);
if (ret == DB_NOTFOUND || ret == DB_KEYEMPTY) {
key = null;
value = null;
return false;
}
CheckError(ret);
key = dkey.GetObject(parent.binfmt, parent.KeyType);
value = dvalue.GetObject(parent.binfmt, parent.ValueType);
return true;
} finally {
dkey.Free();
dvalue.Free();
}
}
public void Awake()
{
TraversalMargin = 3;
movingEntity = GetComponent<MovingEntity>();
aiController = GetComponent<AiController>();
seek = GetComponent<Seek>();
arrive = GetComponent<Arrive>();
}
protected void characterStart(){
//script of same GameObject initiation
seekScript = GetComponent<Seek> ();
arriveScript = GetComponent<Arrive> ();
steeringScript = GetComponent<SteeringAgent> ();
alignScript = GetComponent<Align> ();
ai = GetComponent<SorcererAI>();
playerNetworkScript = GetComponent<CharacterNetworkScript>();
basicAttackScript = GetComponent<BasicAttack> ();
sphere = GameObject.CreatePrimitive (PrimitiveType.Sphere);
sphere.renderer.castShadows = false;
sphere.renderer.receiveShadows = false;
sphere.transform.parent = transform;
sphere.transform.localScale = new Vector3 (1.0f, 1.0f, 1.0f);
sphere.gameObject.layer = LayerMask.NameToLayer ("Minimap");
accuracy = 0.8f;
attacking = false;
stopMoving ();
}
// Use this for initialization
protected virtual void Start()
{
graph = GetComponent<Graph> ();
agent = GetComponent<SteeringAgent> ();
seekScript = GetComponent<Seek> ();
arriveScript = GetComponent<Arrive> ();
characterNode = GetComponent<Node> ();
openList = new List<Node>();
closedList = new List<Node>();
path = new List<Node> ();
pathIndex = 0;
DontDestroyOnLoad (gameObject);
}
