| | | 1 | | using System.Collections.Generic; |
| | | 2 | | using UnityEngine; |
| | | 3 | | |
| | | 4 | | // Base implementation of a hierarchical object. |
| | | 5 | | // |
| | | 6 | | // The position and velocity of a hierarchical object is defined as the mean of the positions and |
| | | 7 | | // velocities of the sub-hierarchical objects. |
| | | 8 | | public class HierarchicalBase : IHierarchical { |
| | | 9 | | // List of hierarchical objects in the hierarchy level below. |
| | 23 | 10 | | private List<IHierarchical> _subHierarchicals = new List<IHierarchical>(); |
| | | 11 | | |
| | | 12 | | // Target of the hierarchical object. |
| | | 13 | | private IHierarchical _target; |
| | | 14 | | |
| | | 15 | | // Target model of the hierarchical object. The target model is updated by the sensor and should |
| | | 16 | | // be used by the controller to model imperfect knowledge of the engagement. |
| | | 17 | | private IHierarchical _targetModel; |
| | | 18 | | |
| | 7 | 19 | | public IReadOnlyList<IHierarchical> SubHierarchicals => _subHierarchicals.AsReadOnly(); |
| | | 20 | | public IHierarchical Target { |
| | 1 | 21 | | get => _target; |
| | 1 | 22 | | set => _target = value; |
| | | 23 | | } |
| | | 24 | | public IHierarchical TargetModel { |
| | 1 | 25 | | get => _targetModel; |
| | 1 | 26 | | set => _targetModel = value; |
| | | 27 | | } |
| | 4 | 28 | | public Vector3 Position => GetPosition(); |
| | 6 | 29 | | public Vector3 Velocity => GetVelocity(); |
| | 1 | 30 | | public float Speed => Velocity.magnitude; |
| | | 31 | | |
| | 10 | 32 | | public void AddSubHierarchical(IHierarchical subHierarchical) { |
| | 19 | 33 | | if (!_subHierarchicals.Contains(subHierarchical)) { |
| | 9 | 34 | | _subHierarchicals.Add(subHierarchical); |
| | 9 | 35 | | } |
| | 10 | 36 | | } |
| | | 37 | | |
| | 2 | 38 | | public void RemoveSubHierarchical(IHierarchical subHierarchical) { |
| | 2 | 39 | | _subHierarchicals.Remove(subHierarchical); |
| | 2 | 40 | | } |
| | | 41 | | |
| | 2 | 42 | | protected virtual Vector3 GetPosition() { |
| | 4 | 43 | | return GetMean(s => s.Position); |
| | 2 | 44 | | } |
| | | 45 | | |
| | 3 | 46 | | protected virtual Vector3 GetVelocity() { |
| | 6 | 47 | | return GetMean(s => s.Velocity); |
| | 3 | 48 | | } |
| | | 49 | | |
| | 5 | 50 | | private Vector3 GetMean(System.Func<IHierarchical, Vector3> selector) { |
| | 7 | 51 | | if (_subHierarchicals.Count == 0) { |
| | 2 | 52 | | return Vector3.zero; |
| | | 53 | | } |
| | | 54 | | |
| | 3 | 55 | | Vector3 sum = Vector3.zero; |
| | 24 | 56 | | foreach (var subHierarchical in _subHierarchicals) { |
| | 5 | 57 | | sum += selector(subHierarchical); |
| | 5 | 58 | | } |
| | 3 | 59 | | return sum / _subHierarchicals.Count; |
| | 5 | 60 | | } |
| | | 61 | | } |