public virtual void InitializePathfindingSearch(Vector3 startPosition, Vector3 goalPosition)
{
this.StartPosition = startPosition;
this.GoalPosition = goalPosition;
this.StartNode = this.Quantize(this.StartPosition);
this.GoalNode = this.Quantize(this.GoalPosition);
//if it is not possible to quantize the positions and find the corresponding nodes, then we cannot proceed
if (this.StartNode == null || this.GoalNode == null) return;
//I need to do this because in Recast NavMesh graph, the edges of polygons are considered to be nodes and not the connections.
//Theoretically the Quantize method should then return the appropriate edge, but instead it returns a polygon
//Therefore, we need to create one explicit connection between the polygon and each edge of the corresponding polygon for the search algorithm to work
((NavMeshPoly)this.StartNode).AddConnectedPoly(this.StartPosition);
((NavMeshPoly)this.GoalNode).AddConnectedPoly(this.GoalPosition);
this.InProgress = true;
this.TotalExploredNodes = 0;
this.TotalProcessingTime = Time.time;
this.MaxOpenNodes = 0;
var initialNode = new NodeRecord
{
gValue = 0,
hValue = this.Heuristic.H(this.StartNode.Position, this.GoalNode.Position),
node = this.StartNode
};
initialNode.fValue = AStarPathfinding.F(initialNode);
this.Open.Initialize();
this.Open.AddToOpen(initialNode);
this.Closed.Initialize();
}
protected override void ProcessChildNode(NodeRecord bestNode, NavigationGraphEdge connectionEdge, int edgeIndex)
{
float g;
float h;
float f;
var childNode = connectionEdge.ToNode;
var childNodeRecord = this.NodeRecordArray.GetNodeRecord(childNode);
if (childNodeRecord == null)
{
//this piece of code is used just because of the special start nodes and goal nodes added to the RAIN Navigation graph when a new search is performed.
//Since these special goals were not in the original navigation graph, they will not be stored in the NodeRecordArray and we will have to add them
//to a special structure
//it's ok if you don't understand this, this is a hack and not part of the NodeArrayA* algorithm, just do NOT CHANGE THIS, or your algorithm will not work
childNodeRecord = new NodeRecord
{
node = childNode,
parent = bestNode,
status = NodeStatus.Unvisited
};
this.NodeRecordArray.AddSpecialCaseNode(childNodeRecord);
}
/* Here we calculate the cost so far, the heuristic value and the f value */
Vector3 childNodePosition = childNode.Position;
g = bestNode.gValue + (childNodePosition - bestNode.node.Position).magnitude;
h = base.Heuristic.H(childNodePosition, this.GoalNode.Position);
f = AStarPathfinding.F(g, h);
/* Set values of first node */
if (childNodeRecord.status == NodeStatus.Unvisited)
{
// Set values of child node
childNodeRecord.gValue = g;
childNodeRecord.hValue = h;
childNodeRecord.fValue = f;
childNodeRecord.parent = bestNode;
this.Open.AddToOpen(childNodeRecord);
}
else if (childNodeRecord.status == NodeStatus.Open && f < childNodeRecord.fValue)
{
childNodeRecord.gValue = g;
childNodeRecord.fValue = f;
childNodeRecord.parent = bestNode;
}
else if (childNodeRecord.status == NodeStatus.Closed && f < childNodeRecord.fValue)
{
childNodeRecord.gValue = g;
childNodeRecord.fValue = f;
childNodeRecord.parent = bestNode;
this.Open.AddToOpen(childNodeRecord);
}
this.MaxOpenNodes = Mathf.Max(this.MaxOpenNodes, this.Open.CountOpen());
}
public NodeAStarDecomposer(AStarPathfinding aStarPathFinding)
{
this.aStarPathFinding = aStarPathFinding;
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
public PathFindingDecomposer(SteeringPipeline pipeline, AStarPathfinding pathfindingAlgorithm)
: base(pipeline)
{
this.PathfindingAlgorithm = pathfindingAlgorithm;
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic(), this);
this.aStarPathFinding.NodesPerSearch = 500;
var steeringPipeline = new SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new PathFindingDecomposer(steeringPipeline, this.aStarPathFinding);
this.Targeter = new FixedTargeter(steeringPipeline);
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = new FollowPathActuator(steeringPipeline);
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh,new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.ResourceInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.CombinedInfluence = new Dictionary<LocationRecord, float>();
this.SecurityMap = new Dictionary<LocationRecord, float>();
//initialization of the GOB decision making
//let's start by creating 5 main goals
//the eat goal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
this.Actions.Add(new PlaceFlag(this));
this.ActiveResources = new Dictionary<NavigationGraphNode, IInfluenceUnit>();
int boars = 0;
int chests = 0;
int trees = 0;
int beds = 0;
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
chests++;
this.Actions.Add(new PickUpChest(this, chest));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(chest.transform.position, 1.0f)));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
trees++;
this.Actions.Add(new GetArrows(this, tree));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(tree.transform.position, 1.0f)));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
beds++;
this.Actions.Add(new Sleep(this, bed));
this.AddResource(new Resource(this.navMesh.QuantizeToNode(bed.transform.position, 1.0f)));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
boars++;
this.AddResource(new Resource(this.navMesh.QuantizeToNode(boar.transform.position, 1.0f)));
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
this.ResourceInfluenceMap.Initialize(this.ActiveResources.Values.ToList());
//flags used for the influence map
this.RedFlags = new List<IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List<IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModelFEAR(this.GameManager, this.Actions, this.Goals);
worldModel.InitArrays( boars, trees, beds, chests);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
public void Start()
{
this.draw = true;
this.influenceMapDebugMode = 0;
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.Character = new DynamicCharacter(this.gameObject);
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = this.Character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
this.Character.Movement = steeringPipeline;
//initialization of the Influence Maps
this.RedInfluenceMap = new InfluenceMap(this.navMesh,new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
this.GreenInfluenceMap = new InfluenceMap(this.navMesh, new SimpleUnorderedList(), new ClosedLocationRecordDictionary(), new LinearInfluenceFunction(), 0.1f);
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.ConquerGoal = new Goal(CONQUER_GOAL, 1.5f)
{
InsistenceValue = 5.0f
};
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
this.Goals.Add(this.ConquerGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
//flags used for the influence map
this.RedFlags = new List<IInfluenceUnit>();
foreach (var redFlag in GameObject.FindGameObjectsWithTag("RedFlag"))
{
this.RedFlags.Add(new Flag(this.navMesh.QuantizeToNode(redFlag.transform.position, 1.0f), FlagColor.Red));
}
this.GreenFlags = new List<IInfluenceUnit>();
foreach (var greenFlag in GameObject.FindGameObjectsWithTag("GreenFlag"))
{
this.GreenFlags.Add(new Flag(this.navMesh.QuantizeToNode(greenFlag.transform.position, 1.0f), FlagColor.Green));
}
this.RedInfluenceMap.Initialize(this.RedFlags);
this.GreenInfluenceMap.Initialize(this.GreenFlags);
var worldModel = new CurrentStateWorldModel(this.GameManager, this.Actions, this.Goals);
this.GOAPDecisionMaking = new DepthLimitedGOAPDecisionMaking(worldModel,this.Actions,this.Goals);
}
public void Start()
{
this.draw = true;
this.navMesh = NavigationManager.Instance.NavMeshGraphs [0];
this.Character = new DynamicCharacter(this.gameObject) { Drag = 0.3f};
//initialization of the movement algorithms
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanDistanceHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
var steeringPipeline = new Assets.Scripts.IAJ.Unity.SteeringPipeline.SteeringPipeline
{
MaxAcceleration = 40.0f,
MaxConstraintSteps = 2,
Character = this.Character.KinematicData,
};
this.decomposer = new Assets.Scripts.IAJ.Unity.SteeringPipeline.NodeAStarDecomposer(this.aStarPathFinding);
this.Targeter = new Assets.Scripts.IAJ.Unity.SteeringPipeline.TargetPosition();
steeringPipeline.Targeters.Add(this.Targeter);
steeringPipeline.Decomposers.Add(this.decomposer);
var obstacles = GameObject.FindGameObjectsWithTag("Obstacle");
steeringPipeline.Constraints.Add(
new Assets.Scripts.IAJ.Unity.SteeringPipeline.ConstraitColisionWithWalls(obstacles, 500.0f)
{
AvoidMargin = 7f,
MaxLookAhead = 5f,
MaxWhiskersLookAhead = 7f
});
steeringPipeline.Actuator = actuator = new Assets.Scripts.IAJ.Unity.SteeringPipeline.PathFollowingActuator()
{
movement = new DynamicFollowPath()
{
MaxAcceleration = 40.0f,
PathOffset = 0.05f,
Movement = new DynamicCarSeek()
{
MaxSpeed = this.Character.MaxSpeed,
MinSpeed = 4f
}
},
SecondsToSmooth = 2f
};
this.Character.Movement = steeringPipeline;
//initialization of the GOB decision making
//let's start by creating 4 main goals
//the eatgoal is the only goal that increases at a fixed rate per second, it increases at a rate of 0.1 per second
this.SurviveGoal = new Goal(SURVIVE_GOAL, 2.0f);
this.EatGoal = new Goal(EAT_GOAL, 1.0f)
{
ChangeRate = 0.1f
};
this.GetRichGoal = new Goal(GET_RICH_GOAL, 1.0f)
{
InsistenceValue = 5.0f,
ChangeRate = 0.2f
};
this.RestGoal = new Goal(REST_GOAL, 1.0f);
this.Goals = new List<Goal>();
this.Goals.Add(this.SurviveGoal);
this.Goals.Add(this.EatGoal);
this.Goals.Add(this.GetRichGoal);
this.Goals.Add(this.RestGoal);
//initialize the available actions
var restAction = new Rest(this);
this.Actions = new List<Action>();
this.Actions.Add(restAction);
foreach (var chest in GameObject.FindGameObjectsWithTag("Chest"))
{
this.Actions.Add(new PickUpChest(this, chest));
}
foreach (var tree in GameObject.FindGameObjectsWithTag("Tree"))
{
this.Actions.Add(new GetArrows(this, tree));
}
foreach (var bed in GameObject.FindGameObjectsWithTag("Bed"))
{
this.Actions.Add(new Sleep(this, bed));
}
foreach (var boar in GameObject.FindGameObjectsWithTag("Boar"))
{
this.Actions.Add(new MeleeAttack(this, boar));
this.Actions.Add(new Shoot(this, boar));
}
}
public NodeAStarDecomposer()
{
this.navMesh = NavigationManager.Instance.NavMeshGraphs[0];
this.aStarPathFinding = new NodeArrayAStarPathFinding(this.navMesh, new EuclideanHeuristic());
this.aStarPathFinding.NodesPerSearch = 100;
}