void Awake()
{
current = this;
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacle.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle[i].transform.position,
potential = 60,
gradation = 10,
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
}
void Awake()
{
current = this;
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacle.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle[i].transform.position,
potential = 60,
gradation = 10,
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
}
void Start()
{
//Debug.Log(" width :" + width + " height:" + height + " diaonal:" + diaonal);
//add attractive field
followTargetPotential = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.transform.position,
potential = MapConfig.diaonal,
gradation = 1
};
//add obstacle field
obstaclePotential = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle.transform.position,
potential = 100,
gradation = 10
};
obstaclePotential_1 = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle_1.transform.position,
potential = 100,
gradation = 10
};
obstaclePotential_2 = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacle_2.transform.position,
potential = 100,
gradation = 10
};
curMap = new PFDynamicPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
curMap.addPotentialField(followTargetPotential);
curMap.addPotentialField(obstaclePotential);
curMap.addPotentialField(obstaclePotential_1);
curMap.addPotentialField(obstaclePotential_2);
//set agent and register maps
agent = new PFAgent(){
position = bot.transform.position
};
agent.addDynamicPotentialsMap(curMap);
}
// Use this for initialization
void Start()
{
//create static map
obstaclesPotentialsMap = new PFStaticPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
obstacleFields = new PFPotentialField[obstacles.Length];
for (int i = 0; i < obstacleFields.Length; i++)
{
obstacleFields[i] = new PFRadialPotentialField()
{
type = PF_TYPE.Repell,
position = obstacles[i].position,
potential = 100,
gradation = 10
};
obstaclesPotentialsMap.addPotentialField(obstacleFields[i]);
}
goalField = new PFRadialPotentialField()
{
type = PF_TYPE.Attract,
position = goal.position,
potential = MapConfig.width + MapConfig.height,
gradation = 1
};
agent1 = new PFAgent() {
type = PF_TYPE.Repell,
position = agent1_tran.position,
potential = 4,
gradation = 1
};
agent2 = new PFAgent()
{
type = PF_TYPE.Repell,
position = agent2_tran.position,
potential = 4,
gradation = 1
};
agent1_tran.gameObject.GetComponent<BaseControl_2>().agent = agent1;
agent1_tran.gameObject.GetComponent<BaseControl_2>().neighbour_agent = agent2;
agent2_tran.gameObject.GetComponent<BaseControl_2>().agent = agent2;
agent2_tran.gameObject.GetComponent<BaseControl_2>().neighbour_agent = agent1;
agent1Mp = new PFDynamicPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
agent1Mp.addPotentialField(goalField);
agent1Mp.addPotentialField(agent2);
agent2Mp = new PFDynamicPotentialsMap(MapConfig.origin, MapConfig.width, MapConfig.height);
agent2Mp.addPotentialField(goalField);
agent2Mp.addPotentialField(agent1);
agent1.addStaticPotentialsMap(obstaclesPotentialsMap);
agent1.addDynamicPotentialsMap(agent1Mp);
agent2.addStaticPotentialsMap(obstaclesPotentialsMap);
agent2.addDynamicPotentialsMap(agent2Mp);
}
