Polarith AI
1.8
AvoidBounds Class Reference

Description

Active avoidance behaviour that utilizes percept bounding box information (back-end class).

Objective magnitudes are generated based on a plane perpendicular to percept bounds such that the agent prefers directions which guide it around the object (instead of simply going away from the obstacle, like in Flee). The only difference to Avoid is the method of calculating the plane used for the sensitivity mapping. Here, a capsule is constructed by using the extends of a percept's bounding box. Then, the closest point to the capsule is used to obtain the tangent plane for further calculations.

Inheritance diagram for AvoidBounds:
Avoid RadiusSteeringBehaviour SteeringBehaviour PerceptBehaviour< SteeringPercept >

Public Fields

float PlaneBend
 An angular offset for the plane which is used to write objective values to the context. More...
 
bool UseVelocity
 Can be used to optimize the resulting objective values. More...
 
Vector3 DefaultOrientation = Vector3.up
 Is used instead of the agent's velocity if UseVelocity is false. More...
 
float InnerRadius = 0.0f
 The minimum radius for considering percepts. More...
 
float OuterRadius = 20f
 The maximum radius for considering percepts. More...
 
MappingType RadiusMapping = MappingType.InverseLinear
 Determines how the startMagnitude is mapped according to the InnerRadius and OuterRadius. More...
 
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

Vector3 planeDirection1
 The first direction vector defining the plane of the current percept. More...
 
Vector3 planeDirection2
 The second direction vector defining the plane of the current percept. More...
 
Vector3 startDirection
 Direction from the self position to the percept position (including distance magnitude). More...
 
float startMagnitude
 Magnitude obtained from mapping the percept position relative to InnerRadius and OuterRadius. More...
 
float sqrInnerRadius
 Squared InnerRadius. More...
 
float sqrOuterRadius
 Squared OuterRadius. 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< Structuresensor
 Quick access to the currently processed sensor. More...
 
IReceptor< Structurereceptor
 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

Vector3 Intersection [get]
 The intersection point in world coordinates lying on a capsule based on percept bounds (read only). More...
 
float Smoothness [get, set]
 The plane for determining the resulting magnitude values moves smoothly around the corners of the perceived objects bounds. More...
 
BoundsType BoundsType [get, set]
 Determines which bounding box model is used for this behaviour. More...
 
Vector3 PlaneDirection1 [get]
 A normalized vector defining the first direction of the current plane (read only). More...
 
Vector3 PlaneDirection2 [get]
 A normalized vector defining the second direction of the current plane (read only). More...
 
override bool forEachPercept [get]
 Determines if SteeringBehaviour.PerceptSteering is called within SteeringBehaviour.Behave (read only). More...
 
override bool forEachReceptor [get]
 Determines if SteeringBehaviour.ReceptorSteering is called within SteeringBehaviour.Behave (read only). More...
 
override SteeringPercept Self [get, set]
 The data of the associated agent itself. More...
 

Public Methods

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 bool IsPerceptSignificant ()
 As the first called method in Avoid.StartSteering, it rejects percepts if they are too far away avoiding unnecessary calculations (similar to RadiusSteeringBehaviour.StartSteering). More...
 
override void CalculatePlane ()
 Overrides Avoid.CalculatePlane. More...
 
override bool StartSteering ()
 Determines a plane perpendicular towards the current percept and populates the context map using a plane-based sensitivity mapping. More...
 
virtual void PerceptSteering ()
 This method gets called once for each processed percept. More...
 
virtual void ReceptorSteering ()
 This method gets called for each active shape receptor for each processed percept. More...
 
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