public void StartPlan(int zoneId)
{
if (currentPlan != null)
{
Debug.Log("There is a current plan active");
return;
}
switch(zoneId)
{
case 0101:
currentPlan = plan0101;
break;
}
enemies = 0;
spawners = 0;
turrets = 0;
executingWaves = 0;
foreach (WaveAction action in currentPlan.initialActions)
{
action.Execute();
}
if (currentPlan.sequentialWaves.Count > 0)
{
StartCoroutine(CastWave(currentPlan.sequentialWaves.Dequeue()));
}
}
public ZoneNavigationEdgeSort(double distance, NavigableEdge edge, LinePath lp)
{
this.distance = distance;
this.edge = edge;
this.lp = lp;
this.zp = null;
}
void Awake()
{
if (!listsInit)
{
//Init behaviour actions lists
level01spiderDefault01.Add(new MoveAction("wp2", 5.0f));
level01spiderDefault01.Add(new SelectTargetAction("player"));
level01spiderDefault01.Add(new LookatAction("player"));
level01spiderDefault01.Add(new MoveAction("player", 5f, Action.FocusType.CONTINUOUS, Action.OffsetType.AROUND_1, 15, 1, Action.INERTIA_NO));
//level01spiderDefault01.Add(new MoveAction("wp3", 5.0f, Action.FocusType.FIXED, Action.OffsetType.POSITION_ZERO, 0, 0, Action.INERTIA_NO));
closeList.Add(new MoveAction("wp2", 10f, true, Action.LIST_FINISHED));
//Init zone plans
//plan0101
plan0101 = new ZonePlan();
List<WaveAction> wave01 = new List<WaveAction>();
wave01.Add(new SpawnSpiderWaveAction(GameObject.Find("wp1").transform, level01spiderDefault01, closeList, null));
wave01.Add(new SpawnSpiderWaveAction(GameObject.Find("wp1").transform, level01spiderDefault01, closeList, null, 0f));
wave01.Add(new SpawnSpiderWaveAction(GameObject.Find("wp1").transform, level01spiderDefault01, closeList, null, 0f));
plan0101.sequentialWaves.Enqueue(wave01);
//List<WaveAction> wave02 = new List<WaveAction>();
//wave02.Add(new SpawnSpiderWaveAction(GameObject.Find("wp1").transform, level01spiderDefault01, closeList, null, 2f));
//wave02.Add(new SpawnSpiderWaveAction(GameObject.Find("wp2").transform, level01spiderDefault01, closeList, null, 1f));
//wave02.Add(new SpawnSpiderWaveAction(GameObject.Find("wp3").transform, level01spiderDefault01, closeList, null, 1f));
//plan0101.sequentialWaves.Enqueue(wave02);
listsInit = true;
}
}
void Awake()
{
Debug.Log("Enemy Manager created");
currentPlan = null;
currentPlanId = -1;
CreateAIActionLists();
CreateZonePlans();
}
void Update()
{
if(currentPlan != null)
{
if(PlanEnded())
{
//Send event plan finished
currentPlan = null;
}
else
{
if(enemies < currentPlan.enemiesThreshold && executingWaves == 0 && currentPlan.sequentialWaves.Count > 0)
{
StartCoroutine(CastWave(currentPlan.sequentialWaves.Dequeue()));
}
}
}
}
void CreateZonePlans()
{
//Init zone plans
//plan0101
plan0101 = new ZonePlan();
plan0101.enemiesThreshold = 1;
List<WaveAction> z01wave01 = new List<WaveAction>();
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null));
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null, 0.5f));
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null, 0.5f));
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null, 0.5f));
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null, 0.5f));
z01wave01.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault01, null, null, 0.5f));
plan0101.sequentialWaves.Add(z01wave01);
List<WaveAction> z01wave02 = new List<WaveAction>();
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null));
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null, 0.5f));
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null, 0.5f));
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null, 0.5f));
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null, 0.5f));
z01wave02.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault02, null, null, 0.5f));
plan0101.sequentialWaves.Add(z01wave02);
List<WaveAction> z01wave03 = new List<WaveAction>();
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP03", level01Z01spiderDefault03, null, null));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP03", level01Z01spiderDefault03, null, null, 0.5f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP03", level01Z01spiderDefault03, null, null, 0.5f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault03, null, null, 1f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault03, null, null, 0.5f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault03, null, null, 0.5f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP02", level01Z01spiderDefault03, null, null, 1f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP02", level01Z01spiderDefault03, null, null, 0.5f));
z01wave03.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP02", level01Z01spiderDefault03, null, null, 0.5f));
plan0101.sequentialWaves.Add(z01wave03);
List<WaveAction> z01wave04 = new List<WaveAction>();
z01wave04.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP03", level01Z01spiderDefault04, null, null));
z01wave04.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP03", level01Z01spiderDefault04, null, null, 0.5f));
z01wave04.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP03", level01Z01spiderDefault04, null, null, 0.5f));
z01wave04.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP03", level01Z01spiderDefault04, null, null, 0.5f));
z01wave04.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP03", level01Z01spiderDefault04, null, null, 0.5f));
plan0101.sequentialWaves.Add(z01wave04);
List<WaveAction> z01wave05 = new List<WaveAction>();
z01wave05.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault05, null, null));
z01wave05.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault05, null, null, 0.5f));
z01wave05.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault05, null, null, 0.5f));
z01wave05.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP01", level01Z01spiderDefault05, null, null, 0.5f));
z01wave05.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP01", level01Z01spiderDefault05, null, null, 0.5f));
plan0101.sequentialWaves.Add(z01wave05);
List<WaveAction> z01wave06 = new List<WaveAction>();
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP03", level01Z01spiderDefault06, null, null));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP03", level01Z01spiderDefault06, null, null));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP03", level01Z01spiderDefault06, null, null));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP03", level01Z01spiderDefault06, null, null));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP01", level01Z01spiderDefault06, null, null, 1f));
z01wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z01SP02", level01Z01spiderDefault06, null, null, 1f));
plan0101.sequentialWaves.Add(z01wave06);
List<WaveAction> z01wave07 = new List<WaveAction>();
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP01", level01Z01spiderDefault07, null, null));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
z01wave07.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z01SP01", level01Z01spiderDefault07, null, null, 0.3f));
plan0101.sequentialWaves.Add(z01wave07);
////plan0102---------------------------------------------------------------------------------------------------------------
plan0102 = new ZonePlan();
plan0102.enemiesThreshold = 3;
List<WaveAction> z02wave01 = new List<WaveAction>();
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP01", level01Z02spiderDefault01a, null, null));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z02SP01", level01Z02spiderDefault01a, null, null, 1.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP01", level01Z02spiderDefault01a, null, null, 1.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z02SP01", level01Z02spiderDefault01a, null, null, 1.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
z02wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z02SP01", level01Z02spiderDefault01a, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave01);
List<WaveAction> z02wave02 = new List<WaveAction>();
z02wave02.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP02", level01Z02spiderDefault02a, null, null));
z02wave02.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP02", level01Z02spiderDefault02a, null, null, 0.5f));
z02wave02.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z02SP02", level01Z02spiderDefault02a, null, null, 0.5f));
z02wave02.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z02SP02", level01Z02spiderDefault02b, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave02);
List<WaveAction> z02wave03 = new List<WaveAction>();
z02wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP03", level01Z02spiderDefault03a, null, null));
z02wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP03", level01Z02spiderDefault03a, null, null, 0.5f));
z02wave03.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z02SP03", level01Z02spiderDefault03a, null, null, 0.5f));
z02wave03.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z02SP03", level01Z02spiderDefault03b, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave03);
List<WaveAction> z02wave04 = new List<WaveAction>();
z02wave04.Add(new SpawnSpiderWaveAction(true, +2, "Z02SP04", level01Z02spiderDefault04a, null, null));
z02wave04.Add(new SpawnSpiderWaveAction(true, +2, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
z02wave04.Add(new SpawnSpiderWaveAction(true, +3, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
z02wave04.Add(new SpawnSpiderWaveAction(true, +3, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave04);
List<WaveAction> z02wave05 = new List<WaveAction>();
z02wave05.Add(new SpawnSpiderWaveAction(true, +2, "Z02SP02", level01Z02spiderDefault04b, null, null));
z02wave05.Add(new SpawnSpiderWaveAction(true, +2, "Z02SP02", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave05.Add(new SpawnSpiderWaveAction(true, +3, "Z02SP02", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave05.Add(new SpawnSpiderWaveAction(true, +3, "Z02SP02", level01Z02spiderDefault04b, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave05);
List<WaveAction> z02wave06 = new List<WaveAction>();
z02wave06.Add(new SpawnSpiderWaveAction(true, +4, "Z02SP04", level01Z02spiderDefault04a, null, null));
z02wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
z02wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
z02wave06.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP04", level01Z02spiderDefault04a, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave06);
List<WaveAction> z02wave07 = new List<WaveAction>();
z02wave07.Add(new SpawnSpiderWaveAction(true, +4, "Z02SP03", level01Z02spiderDefault04b, null, null));
z02wave07.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP03", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave07.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP03", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave07.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP03", level01Z02spiderDefault04b, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave07);
List<WaveAction> z02wave08 = new List<WaveAction>();
z02wave08.Add(new SpawnSpiderWaveAction(true, +4, "Z02SP01", level01Z02spiderDefault04b, null, null));
z02wave08.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP01", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave08.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP01", level01Z02spiderDefault04b, null, null, 0.5f));
z02wave08.Add(new SpawnSpiderWaveAction(true, +1, "Z02SP01", level01Z02spiderDefault04b, null, null, 0.5f));
plan0102.sequentialWaves.Add(z02wave08);
//plan0103---------------------------------------------------------------------------------------------------------------
plan0103 = new ZonePlan();
plan0103.enemiesThreshold = 2;
List<WaveAction> z03wave01 = new List<WaveAction>();
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z03SP01", level01Z03spiderDefault01a, null, null));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z03SP01", level01Z03spiderDefault01a, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z03SP01", level01Z03spiderDefault01a, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z03SP01", level01Z03spiderDefault01a, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP01", level01Z03spiderDefault01a, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z03SP01", level01Z03spiderDefault01a, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP02", level01Z03spiderDefault01b, null, null, 2f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP02", level01Z03spiderDefault01b, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP02", level01Z03spiderDefault01b, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(true, +0, "Z03SP02", level01Z03spiderDefault01b, null, null, 0.3f));
z03wave01.Add(new SpawnSpiderWaveAction(true, +0, "Z03SP02", level01Z03spiderDefault01b, null, null, 0.3f));
plan0103.sequentialWaves.Add(z03wave01);
List<WaveAction> z03wave02 = new List<WaveAction>();
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z03SP03", level01Z03spiderDefault02a, null, null));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.RED, "Z03SP03", level01Z03spiderDefault02a, null, null, 0.2f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z03SP03", level01Z03spiderDefault02b, null, null, 1f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z03SP03", level01Z03spiderDefault02b, null, null, 0.2f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP03", level01Z03spiderDefault02c, null, null, 1f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP03", level01Z03spiderDefault02c, null, null, 0.2f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z03SP03", level01Z03spiderDefault02a, null, null, 1f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.YELLOW, "Z03SP03", level01Z03spiderDefault02a, null, null, 0.2f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z03SP03", level01Z03spiderDefault02b, null, null, 1f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.GREEN, "Z03SP03", level01Z03spiderDefault02b, null, null, 0.2f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP03", level01Z03spiderDefault02c, null, null, 1f));
z03wave02.Add(new SpawnSpiderWaveAction(ChromaColor.BLUE, "Z03SP03", level01Z03spiderDefault02c, null, null, 0.2f));
plan0103.sequentialWaves.Add(z03wave02);
List<WaveAction> z03wave03 = new List<WaveAction>();
z03wave03.Add(new SpawnSpiderWaveAction(true, +1, "Z03SP03", level01Z03spiderDefault03a, null, null));
z03wave03.Add(new SpawnSpiderWaveAction(true, +1, "Z03SP03", level01Z03spiderDefault03a, null, null, 0.3f));
z03wave03.Add(new SpawnSpiderWaveAction(true, +1, "Z03SP03", level01Z03spiderDefault03a, null, null, 0.3f));
plan0103.sequentialWaves.Add(z03wave03);
List<WaveAction> z03wave04 = new List<WaveAction>();
z03wave04.Add(new SpawnSpiderWaveAction(true, +2, "Z03SP01", level01Z03spiderDefault03b, null, null, 1f));
z03wave04.Add(new SpawnSpiderWaveAction(true, +2, "Z03SP01", level01Z03spiderDefault03b, null, null, 0.3f));
z03wave04.Add(new SpawnSpiderWaveAction(true, +2, "Z03SP01", level01Z03spiderDefault03b, null, null, 0.3f));
plan0103.sequentialWaves.Add(z03wave04);
List<WaveAction> z03wave05 = new List<WaveAction>();
z03wave05.Add(new SpawnSpiderWaveAction(true, +3, "Z03SP03", level01Z03spiderDefault03a, null, null, 1f));
z03wave05.Add(new SpawnSpiderWaveAction(true, +3, "Z03SP03", level01Z03spiderDefault03a, null, null, 0.3f));
z03wave05.Add(new SpawnSpiderWaveAction(true, +3, "Z03SP03", level01Z03spiderDefault03a, null, null, 0.3f));
plan0103.sequentialWaves.Add(z03wave05);
List<WaveAction> z03wave06 = new List<WaveAction>();
z03wave06.Add(new SpawnSpiderWaveAction(true, +4, "Z03SP01", level01Z03spiderDefault03b, null, null, 1f));
z03wave06.Add(new SpawnSpiderWaveAction(true, +4, "Z03SP01", level01Z03spiderDefault03b, null, null, 0.3f));
z03wave06.Add(new SpawnSpiderWaveAction(true, +4, "Z03SP01", level01Z03spiderDefault03b, null, null, 0.3f));
plan0103.sequentialWaves.Add(z03wave06);
}
void Update()
{
if(currentPlan != null)
{
if(PlanEnded())
{
ZonePlanEndedInfo.eventInfo.planId = currentPlanId;
rsc.eventMng.TriggerEvent(EventManager.EventType.ZONE_PLAN_FINISHED, ZonePlanEndedInfo.eventInfo);
currentPlan = null;
currentPlanId = -1;
}
else
{
if(enemies < currentPlan.enemiesThreshold && executingWaves == 0 && sequentialWavesIndex < currentPlan.sequentialWaves.Count)
{
++sequentialWavesIndex;
if(sequentialWavesIndex < currentPlan.sequentialWaves.Count)
{
StartCoroutine(CastWave(currentPlan.sequentialWaves[sequentialWavesIndex]));
}
}
}
}
}
public void StopCurrentPlan()
{
if(currentPlan != null)
{
StopAllCoroutines();
currentPlan = null;
currentPlanId = -1;
}
}
public void StartPlan(int planId)
{
if(currentPlan != null)
{
Debug.Log("There is a current plan active");
return;
}
switch(planId)
{
//TODO: Cano, asociate every possible plan with its Id (xxyy xx= level number, yy= zone number)
case 0101:
currentPlan = plan0101;
break;
case 0102:
currentPlan = plan0102;
break;
case 0103:
currentPlan = plan0103;
break;
}
currentPlanId = planId;
enemies = 0;
spawners = 0;
turrets = 0;
executingWaves = 0;
sequentialWavesIndex = 0;
//Execute plan initial actions
foreach(WaveAction action in currentPlan.initialActions)
{
action.Execute();
}
if (sequentialWavesIndex < currentPlan.sequentialWaves.Count)
{
StartCoroutine(CastWave(currentPlan.sequentialWaves[sequentialWavesIndex]));
}
}
/// <summary>
/// Plans over the zone
/// </summary>
/// <param name="planningState"></param>
/// <param name="navigationalPlan"></param>
/// <param name="vehicleState"></param>
/// <param name="vehicles"></param>
/// <param name="obstacles"></param>
/// <param name="blockages"></param>
/// <returns></returns>
public Maneuver Plan(IState planningState, INavigationalPlan navigationalPlan,
VehicleState vehicleState, SceneEstimatorTrackedClusterCollection vehicles,
SceneEstimatorUntrackedClusterCollection obstacles, List <ITacticalBlockage> blockages)
{
#region Zone Travelling State
if (planningState is ZoneTravelingState)
{
// check blockages
/*if (blockages != null && blockages.Count > 0 && blockages[0] is ZoneBlockage)
* {
* // create the blockage state
* EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
*
* // go to a blockage handling tactical
* return new Maneuver(new NullBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp);
* }*/
// cast state
ZoneState zs = (ZoneState)planningState;
// plan over state and zone
ZonePlan zp = (ZonePlan)navigationalPlan;
// check zone path does not exist
if (zp.RecommendedPath.Count < 2)
{
// zone startup again
ZoneStartupState zss = new ZoneStartupState(zs.Zone, true);
return(new Maneuver(new HoldBrakeBehavior(), zss, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
// final path seg
LinePath.PointOnPath endBack = zp.RecommendedPath.AdvancePoint(zp.RecommendedPath.EndPoint, -TahoeParams.VL);
LinePath lp = zp.RecommendedPath.SubPath(endBack, zp.RecommendedPath.EndPoint);
LinePath lB = lp.ShiftLateral(TahoeParams.T);
LinePath rB = lp.ShiftLateral(-TahoeParams.T);
// add to info
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound));
// get speed command
ScalarSpeedCommand sc = new ScalarSpeedCommand(2.24);
// Behavior
Behavior b = new ZoneTravelingBehavior(zp.Zone.ZoneId, zp.Zone.Perimeter.PerimeterPolygon, zp.Zone.StayOutAreas.ToArray(),
sc, zp.RecommendedPath, lB, rB);
// maneuver
return(new Maneuver(b, CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
#region Parking State
else if (planningState is ParkingState)
{
// get state
ParkingState ps = (ParkingState)planningState;
// determine stay out areas to use
List <Polygon> stayOuts = new List <Polygon>();
foreach (Polygon p in ps.Zone.StayOutAreas)
{
if (!p.IsInside(ps.ParkingSpot.NormalWaypoint.Position) && !p.IsInside(ps.ParkingSpot.Checkpoint.Position))
{
stayOuts.Add(p);
}
}
LinePath rB = ps.ParkingSpot.GetRightBound();
LinePath lB = ps.ParkingSpot.GetLeftBound();
// add to info
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound));
// create behavior
ZoneParkingBehavior zpb = new ZoneParkingBehavior(ps.Zone.ZoneId, ps.Zone.Perimeter.PerimeterPolygon, stayOuts.ToArray(), new ScalarSpeedCommand(2.24),
ps.ParkingSpot.GetSpotPath(), lB, rB, ps.ParkingSpot.SpotId, 1.0);
// maneuver
return(new Maneuver(zpb, ps, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
#region Pulling Out State
else if (planningState is PullingOutState)
{
// get state
PullingOutState pos = (PullingOutState)planningState;
// plan over state and zone
ZonePlan zp = (ZonePlan)navigationalPlan;
// final path seg
Coordinates endVec = zp.RecommendedPath[0] - zp.RecommendedPath[1];
Coordinates endBack = zp.RecommendedPath[0] + endVec.Normalize(TahoeParams.VL * 2.0);
LinePath rp = new LinePath(new Coordinates[] { pos.ParkingSpot.Checkpoint.Position, pos.ParkingSpot.NormalWaypoint.Position,
zp.RecommendedPath[0], endBack });
LinePath lp = new LinePath(new Coordinates[] { zp.RecommendedPath[0], endBack });
LinePath lB = lp.ShiftLateral(TahoeParams.T * 2.0);
LinePath rB = lp.ShiftLateral(-TahoeParams.T * 2.0);
// add to info
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(lB, ArbiterInformationDisplayObjectType.leftBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rB, ArbiterInformationDisplayObjectType.rightBound));
CoreCommon.CurrentInformation.DisplayObjects.Add(new ArbiterInformationDisplayObject(rp, ArbiterInformationDisplayObjectType.leftBound));
// determine stay out areas to use
List <Polygon> stayOuts = new List <Polygon>();
foreach (Polygon p in pos.Zone.StayOutAreas)
{
if (!p.IsInside(pos.ParkingSpot.NormalWaypoint.Position) && !p.IsInside(pos.ParkingSpot.Checkpoint.Position))
{
stayOuts.Add(p);
}
}
// get speed command
ScalarSpeedCommand sc = new ScalarSpeedCommand(2.24);
// Behavior
Behavior b = new ZoneParkingPullOutBehavior(zp.Zone.ZoneId, zp.Zone.Perimeter.PerimeterPolygon, stayOuts.ToArray(),
sc, pos.ParkingSpot.GetSpotPath(), pos.ParkingSpot.GetLeftBound(), pos.ParkingSpot.GetRightBound(), pos.ParkingSpot.SpotId,
rp, lB, rB);
// maneuver
return(new Maneuver(b, pos, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
#endregion
#region Zone Startup State
else if (planningState is ZoneStartupState)
{
// state
ZoneStartupState zss = (ZoneStartupState)planningState;
// get the zone
ArbiterZone az = zss.Zone;
// navigational edge
INavigableNode inn = CoreCommon.RoadNetwork.ArbiterWaypoints[CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId];
// check over all the parking spaces
foreach (ArbiterParkingSpot aps in az.ParkingSpots)
{
// inside both parts of spot
if ((vehicleState.VehiclePolygon.IsInside(aps.NormalWaypoint.Position) && vehicleState.VehiclePolygon.IsInside(aps.Checkpoint.Position)) ||
(vehicleState.VehiclePolygon.IsInside(aps.NormalWaypoint.Position)))
{
// want to just park in it again
return(new Maneuver(new HoldBrakeBehavior(), new ParkingState(az, aps), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
Polygon forwardPolygon = vehicleState.ForwardPolygon;
Polygon rearPolygon = vehicleState.RearPolygon;
Navigator nav = CoreCommon.Navigation;
List <ZoneNavigationEdgeSort> forwardForward = new List <ZoneNavigationEdgeSort>();
List <ZoneNavigationEdgeSort> reverseReverse = new List <ZoneNavigationEdgeSort>();
List <ZoneNavigationEdgeSort> perpendicularPerpendicular = new List <ZoneNavigationEdgeSort>();
List <ZoneNavigationEdgeSort> allEdges = new List <ZoneNavigationEdgeSort>();
List <ZoneNavigationEdgeSort> allEdgesNoLimits = new List <ZoneNavigationEdgeSort>();
foreach (NavigableEdge ne in az.NavigableEdges)
{
if (!(ne.End is ArbiterParkingSpotWaypoint) && !(ne.Start is ArbiterParkingSpotWaypoint))
{
// get distance to edge
LinePath lp = new LinePath(new Coordinates[] { ne.Start.Position, ne.End.Position });
double distTmp = lp.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
// get direction along segment
DirectionAlong da = vehicleState.DirectionAlongSegment(lp);
// check dist reasonable
if (distTmp > TahoeParams.VL)
{
// zone navigation edge sort item
ZoneNavigationEdgeSort znes = new ZoneNavigationEdgeSort(distTmp, ne, lp);
// add to lists
if (da == DirectionAlong.Forwards &&
(forwardPolygon.IsInside(ne.Start.Position) || forwardPolygon.IsInside(ne.End.Position)))
{
forwardForward.Add(znes);
}
/*else if (da == DirectionAlong.Perpendicular &&
* !(forwardPolygon.IsInside(ne.Start.Position) || forwardPolygon.IsInside(ne.End.Position)) &&
* !(rearPolygon.IsInside(ne.Start.Position) || rearPolygon.IsInside(ne.End.Position)))
* perpendicularPerpendicular.Add(znes);
* else if (rearPolygon.IsInside(ne.Start.Position) || rearPolygon.IsInside(ne.End.Position))
* reverseReverse.Add(znes);*/
// add to all edges
allEdges.Add(znes);
}
}
}
// sort by distance
forwardForward.Sort();
reverseReverse.Sort();
perpendicularPerpendicular.Sort();
allEdges.Sort();
ZoneNavigationEdgeSort bestZnes = null;
for (int i = 0; i < allEdges.Count; i++)
{
// get line to initial
Line toInitial = new Line(vehicleState.Front, allEdges[i].edge.Start.Position);
Line toFinal = new Line(vehicleState.Front, allEdges[i].edge.End.Position);
bool intersects = false;
Coordinates[] interPts;
foreach (Polygon sop in az.StayOutAreas)
{
if (!intersects &&
(sop.Intersect(toInitial, out interPts) && sop.Intersect(toFinal, out interPts)))
{
intersects = true;
}
}
if (!intersects)
{
allEdges[i].zp = nav.PlanZone(az, allEdges[i].edge.End, inn);
allEdges[i].zp.Time += vehicleState.Front.DistanceTo(allEdges[i].lp.GetClosestPoint(vehicleState.Front).Location) / 2.24;
ZoneNavigationEdgeSort tmpZnes = allEdges[i];
if ((bestZnes == null && tmpZnes.zp.RecommendedPath.Count > 1) ||
(bestZnes != null && tmpZnes.zp.RecommendedPath.Count > 1 && tmpZnes.zp.Time < bestZnes.zp.Time))
{
bestZnes = tmpZnes;
}
}
if (i > allEdges.Count / 2 && bestZnes != null)
{
break;
}
}
if (bestZnes != null)
{
ArbiterOutput.Output("Found good edge to start in zone");
return(new Maneuver(new HoldBrakeBehavior(), new ZoneOrientationState(az, bestZnes.edge), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
ArbiterOutput.Output("Could not find good edge to start, choosing random not blocked");
List <ZoneNavigationEdgeSort> okZnes = new List <ZoneNavigationEdgeSort>();
foreach (NavigableEdge tmpOk in az.NavigableEdges)
{
// get line to initial
LinePath edgePath = new LinePath(new Coordinates[] { tmpOk.Start.Position, tmpOk.End.Position });
double dist = edgePath.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
ZoneNavigationEdgeSort tmpZnes = new ZoneNavigationEdgeSort(dist, tmpOk, edgePath);
tmpZnes.zp = nav.PlanZone(az, tmpZnes.edge.End, inn);
tmpZnes.zp.Time += vehicleState.Front.DistanceTo(tmpZnes.lp.GetClosestPoint(vehicleState.Front).Location) / 2.24;
if (tmpZnes.zp.RecommendedPath.Count >= 2)
{
okZnes.Add(tmpZnes);
}
}
if (okZnes.Count == 0)
{
okZnes = allEdges;
}
else
{
okZnes.Sort();
}
// get random close edge
Random rand = new Random();
int chosen = rand.Next(Math.Min(5, okZnes.Count));
// get closest edge not part of a parking spot, get on it
NavigableEdge closest = okZnes[chosen].edge; //null;
//double distance = Double.MaxValue;
/*foreach (NavigableEdge ne in az.NavigableEdges)
* {
* if (!(ne.End is ArbiterParkingSpotWaypoint) && !(ne.Start is ArbiterParkingSpotWaypoint))
* {
* // get distance to edge
* LinePath lp = new LinePath(new Coordinates[] { ne.Start.Position, ne.End.Position });
* double distTmp = lp.GetClosestPoint(vehicleState.Front).Location.DistanceTo(vehicleState.Front);
* if (closest == null || distTmp < distance)
* {
* closest = ne;
* distance = distTmp;
* }
* }
* }*/
return(new Maneuver(new HoldBrakeBehavior(), new ZoneOrientationState(az, closest), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
#endregion
#region Unknown
else
{
// non-handled state
throw new ArgumentException("Unknown state", "CoreCommon.CorePlanningState");
}
#endregion
}
