Polarith AI
1.8
This class extends the SteeringBehaviour through adding general local information about an agent's position inside of a formation.
The specific shape is defined in derived behaviours.
Formation computes the position of a single agent as part of a formation, i.e., it's decentralized. The position of a single agent is primarily based on the Size of the whole formation, the PositionInFormation as its place inside the formation, and the Spacing as horizontal and vertical distance between the agents.
AIMFormation.TargetObject, AIMFormation.TargetPosition, or AIMFormation.TargetTag may be considered in ComputePosition() in derived classes to move the formation to a specific position or to follow an object that deals as target agent for the whole formation.
The agents' computed target position results in SteeringBehaviour.ResultDirection as a vector from its current position towards its target position. The SteeringBehaviour.ResultMagnitude is based on the DistanceMapping. Note that the mapping can't be inverse.
The agent may slow down near its target position within the ArriveRadius, or accelerate between the InnerCatchUpRadius and the OuterCatchUpRadius to move a faster than its neighboring agents. Thus, it's able to keep up to its target position even if the formation rotates. The acceleration is scalable with CatchUpMultiplier.
Every derived Formation needs to implement ComputePosition() to set the exact position based on the specific formation shape.
Base back-end behaviour of every derived AIMFormation
Public Fields | |
| Vector3 | ResultDirection |
| The direction vector used for obtaining objective values. More... | |
| float | ResultMagnitude |
| The magnitude value used for obtaining objective values. More... | |
| int | TargetObjective |
| Defines the objective for writing values. More... | |
| float | MagnitudeMultiplier = 1f |
| Is multiplied to the ResultMagnitude in order to weight between different behaviours. More... | |
| float | SensitivityOffset |
| Is added to the Structure.Sensitivity as threshold for writing objective values. More... | |
| ValueWritingType | ValueWriting = ValueWritingType.AssignGreater |
| Sets the type for writing objective values. More... | |
| LayerBlendingType | LayerBlending = LayerBlendingType.None |
| Sets the operation for blending the behaviour results into the context. More... | |
| LayerNormalizationType | LayerNormalization = LayerNormalizationType.None |
| Sets the method for normalizing intermediate objective values while they are blended into the context. More... | |
| MappingType | ValueMapping = MappingType.InverseLinear |
| Sets the mapping type for obtaining objective values. More... | |
| bool | UseSignificance = true |
| Determines if the SteeringPercept.Significance (if there is a AIMSteeringTag) is multiplied to the ResultMagnitude in order to weight between different percepts. More... | |
| bool | UseSensorProjection = true |
If true, Sensor.ProjectionMode is used as VectorProjection. More... | |
| VectorProjectionType | VectorProjection = VectorProjectionType.None |
| Sets the type for projecting the perceived vector data into a plane. More... | |
| PresetVelocityType | PresetVelocity = PresetVelocityType.None |
| If the value is anything other than PresetVelocityType.None, a game object's rotation and default forward direction is used to approximate its actual velocity. More... | |
| PredictionType | Prediction = PredictionType.None |
| If set to anything other than PredictionType.None, the position of the Self percept is updated according to the given velocity. More... | |
| float | PredictionMagnitude = 0.0f |
| Scales the velocity vector used for predicting the possible future position of an agent if Prediction is set to PredictionType.PredictionMagnitude. More... | |
| readonly IList< T > | Percepts |
| All percepts which are relevant for an agent. More... | |
Protected Fields | |
| int | size = 1 |
| Maximum number of agents in the formation. More... | |
| int | positionInFormation = 0 |
| Logical position of the agent in the formation, e.g. More... | |
| float | spacing = 5f |
| Distance between each agent in the formation. More... | |
| float | arriveRadius = 0f |
| Radius within the agent slows down to arrive the target position. More... | |
| float | innerCatchUpRadius = 0f |
| Inner radius within the agent keeps its to keep next to the target position. More... | |
| float | outerCatchUpRadius = 0 |
| Outer radius within the agent accelerates to keep next to the target position. More... | |
| float | catchUpMultiplier = 1f |
| An additional multiplier to obtain values bigger than the standard magnitude. More... | |
| NonInverseMappingType | distanceMapping = NonInverseMappingType.Linear |
| Specifies the mapping type of the distance from the agent to its target position. More... | |
| int | layers = 1 |
| The number of layers to cover agents dynamically (grows in-depth). More... | |
| readonly SteeringPercept | self = new SteeringPercept() |
| The data of the associated agent itself (read only). More... | |
| readonly SteeringPercept | percept = new SteeringPercept() |
| The data of the currently processed percept (read only). More... | |
| IList< float > | objective |
| Quick access to the currently processed objective. More... | |
| ISensor< Structure > | sensor |
| Quick access to the currently processed sensor. More... | |
| IReceptor< Structure > | receptor |
| Quick access to the currently processed receptor. More... | |
| Structure | structure |
| Quick access to the currently processed structure. More... | |
| Vector3 | velocity = Vector3.forward |
| The forward direction the agent moves towards and/or looks at by default. More... | |
Properties | |
| int | Size [get, set] |
| Maximum number of agents in the formation. More... | |
| int | PositionInFormation [get, set] |
| Logical position of the agent in the formation, e.g. More... | |
| float | Spacing [get, set] |
| Distance between each agent in the formation. More... | |
| float | ArriveRadius [get, set] |
| Radius within the agent slows down to arrive the target position. More... | |
| float | InnerCatchUpRadius [get, set] |
| Inner radius within the agent keeps its to keep next to the target position. More... | |
| float | OuterCatchUpRadius [get, set] |
| Outer radius within the agent accelerates to keep next to the target position. More... | |
| float | CatchUpMultiplier [get, set] |
| An additional multiplier to obtain values bigger than the standard magnitude. More... | |
| NonInverseMappingType | DistanceMapping [get, set] |
| Specifies the mapping type of the distance from the agent to its target position. More... | |
| int | Layers [get] |
| The number of layers to cover agents dynamically (grows in-depth). More... | |
| override bool | forEachPercept [get] |
| Returns true since only percept steering is supported. More... | |
| override bool | forEachReceptor [get] |
| Returns false since only percept steering is supported. More... | |
| override SteeringPercept | Self [get, set] |
| The data of the associated agent itself. More... | |
Public Methods | |
| abstract Vector3 | ComputePosition () |
| Abstract method for building up the formation (compute position for individual agent). More... | |
| void | UpdateResultPosition () |
| Recomputes and sets the resulting position for the agent in the formation. More... | |
| override void | Behave () |
| This method executes the main context steering algorithm and is called within Context.Evaluate in order to set/modify objective values for the associated Context.Problem. More... | |
Protected Methods | |
| override void | PerceptSteering () |
| Processes the steering algorithm for each percept using the same data for each processed receptor. More... | |
| void | ChangeOrientation (Vector3 up, ref Vector3 vec) |
| Flips a vector from XY-plane according to an up vector. More... | |
| virtual bool | StartSteering () |
| Gets called at the beginning of the context steering algorithm for each processed percept and should be used to pre-compute things like distances or to check whether a percept is relevant at all. More... | |
| virtual void | ReceptorSteering () |
| This method gets called for each active shape receptor for each processed percept. More... | |