#include common.bhv <inits>
#include common_mit.bhv <inits>
initialize HAS_FLAG = false
initialize TAGGED = false
initialize AGGRESSIVE = false
initialize SELF_IN_MY_ZONE = true
initialize MY_ROLE = $(RNAME)
initialize BURGLAR_IN_ZONE = false
#include common.bhv <modes>
#include common_mit.bhv <modes>
// The basics..
set MODE = TAGGED {
MODE = ACTIVE
TAGGED = true
}
set MODE = GRAB_RETURNING {
MODE = ACTIVE
HAS_FLAG = true
}
set MODE = INTERCEPT_FLAG_GRABBER {
MODE = ACTIVE:GRAB_RETURNING
BURGLAR_IN_ZONE = true
SELF_IN_MY_ZONE = true
}
// Attacking
set MODE = ATTACKING {
MODE = ACTIVE
OPTION = attack
HAS_FLAG = false // prevents agent already with flag from attacking again
TAGGED = false // prevents a tagged agent from trying any attack
}
set MODE = GRABBING {
MODE = ACTIVE:ATTACKING
// #ifdef VTEAM red
// BLUE_FLAG_GRABBED = false
// #elseifdef VTEAM blue
// RED_FLAG_GRABBED = false
// #endif
} //BLOCKING // If I had the flag, I would already
// be in GRAB_RETURNING MODE
// Defending
set MODE = DEFENDING {
MODE = ACTIVE
OPTION = defend
TAGGED = false // prevents a tagged agent from trying any defending
}
set MODE = LOITERING {
MODE = ACTIVE:DEFENDING
ENEMY_IN_ZONE = false
HAS_FLAG = false // prevents agent already with the flag from loitering
}
set MODE = PERSECUTING {
MODE = ACTIVE:DEFENDING
ENEMY_IN_ZONE = true
BURGLAR_IN_ZONE = false
#ifdef VTEAM red
//RED_FLAG_GRABBED = false
#elseifdef VTEAM blue
//BLUE_FLAG_GRABBED = false
#endif
HAS_FLAG = false // prevents agent already with the flag from loitering
} INTERCEPT_FLAG_GRABBER // agent with the flag can still intercept
// with MODE = ACTIVE:GRAB_RETURNING:DEFENDING:INTERCEPT_FLAG_GRABBER
// there will be two competing behaviors: capture the flag and tag
// Need to confirm this....
#include common.bhv <bhvs>
#include common_mit.bhv <bhvs>
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_score
pwt = 100
condition = MODE == GRAB_RETURNING
endflag = HAS_FLAG=false
speed = 3.5
radius = 3.0
slip_radius = 15.0
points = $(CFT)
lead = 8
//patience = 30
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_grab
pwt = 50
perpetual = true
condition = MODE == GRABBING
endflag = FLAG_GRAB_REQUEST=vname=$(RNAME)
endflag = GRABBING = false
speed = 3.5 // meters per second
capture_line = false
capture_radius = 5.0
slip_radius = 10.0
points = $(CFXT) // Format x,y
//patience = 30
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_untag
pwt = 50
perpetual = true
condition = MODE == TAGGED
speed = 3.5 // meters per second
capture_line = false
capture_radius = 5.0
slip_radius = 5.0
points = $(CFT)
}
//----------------------------------------------
//
Behavior = BHV_StationKeep
{
name = defend_fwd_station_keep
pwt = 30
condition = MODE==DEFENDING:LOITERING
updates = DEFEND_FWD_UPDATES
//station_pt = $(CMT)
station_pt = $(CHT)
hibernation_radius = 12
// center_activate = true
inner_radius = 8
outer_radius = 12
outer_speed = 1.6
transit_speed = 2
swing_time = 1
visual_hints = vertex_size = 1
visual_hints = edge_color = light_blue
visual_hints = edge_size = 1
visual_hints = label_color = white
visual_hints = vertex_color = red
//patience = 30
}
Behavior = BHV_Trail
{
// General Behavior Parameters
// ---------------------------
name = trail_intercept_enemy_
pwt = 90
condition = MODE==PERSECUTING
updates = ENEMY_IN_ZONE_INTERCEPT_ONES_UPDATES
contact = red_one
nm_radius = 4
no_alert_request = false
post_trail_dist_on_idle = true
pwt_outer_dist = 0
radius = 1
trail_angle = 0
trail_angle_type = relative
trail_range = 9
}
Behavior = BHV_Trail
{
// General Behavior Parameters
// ---------------------------
name = trail_intercept_grabber_
pwt = 90
condition = MODE==INTERCEPT_FLAG_GRABBER
updates = INTERCEPT_FLAG_GRABBER_UPDATES
contact = red_one
nm_radius = 7
no_alert_request = false
post_trail_dist_on_idle = true
pwt_outer_dist = 0
radius = 1
trail_angle = 0
trail_angle_type = relative
trail_range = 9
}
Behavior = BHV_ConstantSpeed
{
// General Behavior Parameters
// ---------------------------
name = const_spd_intercept
pwt = 400
condition = (MODE==INTERCEPT_FLAG_GRABBER) or (MODE==PERSECUTING)
updates = CONST_SPD_UPDATES // example
basewidth = 0.2
duration = no-time-limit
speed = 3.5
speed_mismatch_var = SPEED_DIFF
peakwidth = 0 // default
summitdelta = 0 // default
}
//----------------------------------------------
Behavior = BHV_AvdColregsV22
{
name = avd_defender_lite_
pwt = 100
updates = CONTACT_INFO_ONE
condition = MODE == ACTIVE
condition = MODE != ACTIVE:RECOVERING
// condition = ACTION = attack
condition = SELF_IN_MY_ZONE = false
condition = HAS_FLAG = false
templating = spawn
endflag = CONTACT_RESOLVED = $[CONTACT]
contact = name_provided_upon_spawn
decay = 15,30
on_no_contact_ok = true
extrapolate = true
#ifdef VTEAM red
ignore_name = RED_ONE
ignore_name = RED_TWO
ignore_name = RED_THREE
#elseifdef VTEAM blue
ignore_name = BLUE_ONE
ignore_name = BLUE_TWO
ignore_name = BLUE_THREE
#endif
completed_dist = 31
headon_only = true
max_util_cpa_dist = 25
min_util_cpa_dist = 12
pwt_inner_dist = 8
pwt_outer_dist = 40
bearing_lines = true
bearing_lines = white:0, green:0.25, yellow:0.5, red:1.0
}
//----------------------------------------------
Behavior = BHV_AvdColregsV22
{
name = avd_defender_agressive_
pwt = 150
updates = CONTACT_INFO_ONE
condition = MODE == ACTIVE
condition = MODE != ACTIVE:RECOVERING
// condition = ACTION = attack
condition = SELF_IN_MY_ZONE = false
condition = HAS_FLAG = true
templating = spawn
endflag = CONTACT_RESOLVED = $[CONTACT]
contact = name_provided_upon_spawn
decay = 15,30
on_no_contact_ok = true
extrapolate = true
#ifdef VTEAM red
ignore_name = RED_ONE
ignore_name = RED_TWO
ignore_name = RED_THREE
#elseifdef VTEAM blue
ignore_name = BLUE_ONE
ignore_name = BLUE_TWO
ignore_name = BLUE_THREE
#endif
completed_dist = 21
headon_only = true
max_util_cpa_dist = 15
min_util_cpa_dist = 12
pwt_inner_dist = 10
pwt_outer_dist = 20
bearing_lines = true
bearing_lines = white:0, green:0.25, yellow:0.5, red:1.0
}
//----------------------------------------------
Behavior = BHV_StayInRegion
{
name = stay_in_region
pwt = 1000
updates = STAY_IN_REGION_UPDATES
condition = MODE == ACTIVE
condition = MODE != ACTIVE:RETURNING
perpetual = true
speed = 3.5
stale_nav_thresh = 5
region = $(REGION)
hard_over_path = pts={0.0,0.0:0.0,8.0:0.5,10.0:2.0,12.0:3.0,13.0:4.0,13.0}
hard_over_path_speed = 1.0 // speed coresponding to the hard over path
half_length_path_speed = 0.5 // speed at which the hard over path is half as long
patience = 80
visual_hints = setpt_size = 5
visual_hints = setpt_color = dodger_blue
visual_hints = setpt_label_color = off
}
Behavior = BHV_Trail
{
// General Behavior Parameters
// ---------------------------
name = trail_block_ // example
pwt = 600 // default
updates = TRAIL_INFO // example
// templating = spawn // example
condition = MODE==BLOCKING
// General Contact Behavior Parameters
// -----------------------------------
contact = blue_one // example
decay = 15,30 // default (seconds)
extrapolate = true // default
on_no_contact_ok = true // default
time_on_leg = 60 // default (seconds)
// Parameters specific to this behavior
// ------------------------------------
nm_radius = 30 // default (meters)
no_alert_request = false // default
post_trail_dist_on_idle = true // default
pwt_outer_dist = 0 // default (meters)
radius = 5 // default (meters)
trail_angle = 225 // this will get updated
trail_angle_type = absolute // default (or absolute)
trail_range = 10 // this will get updated
}
//----------------------------------------------
Behavior = BHV_StayInRegion
{
name = stay_in_has_flag
pwt = 1000
updates = STAY_IN_REGION_HAS_FLAG_UPDATES
condition = MODE == ACTIVE
condition = MODE == GRAB_RETURNING
condition = SELF_IN_MY_ZONE == true
perpetual = true
speed = 3.5
stale_nav_thresh = 5
#ifdef VTEAM red
region = $(RED_ZONE)
#elseifdef VTEAM blue
region = $(BLUE_ZONE)
#endif
hard_over_path = pts={0.0,0.0:0.0,8.0:0.5,10.0:2.0,12.0:3.0,13.0:4.0,13.0}
hard_over_path_speed = 1.0 // speed coresponding to the hard over path
half_length_path_speed = 0.5 // speed at which the hard over path is half as long
patience = 80
visual_hints = setpt_size = 5
visual_hints = setpt_color = dodger_blue
visual_hints = setpt_label_color = off
}
// Collision avoidance with own team in own zone
//----------------------------------------------
Behavior = BHV_AvdColregsV22
{
name = avd_teammate_in_own_region_
pwt = 30
updates = CONTACT_INFO_ONE
condition = MODE == ACTIVE
condition = SELF_IN_MY_ZONE = true
templating = spawn
endflag = CONTACT_RESOLVED = $[CONTACT]
contact = name_provided_upon_spawn
decay = 15,30
on_no_contact_ok = true
extrapolate = true
#ifdef VTEAM blue
ignore_name = RED_ONE
ignore_name = RED_TWO
ignore_name = RED_THREE
#elseifdef VTEAM red
ignore_name = BLUE_ONE
ignore_name = BLUE_TWO
ignore_name = BLUE_THREE
#endif
completed_dist = 16
headon_only = true
max_util_cpa_dist = 15
min_util_cpa_dist = 10
pwt_inner_dist = 9
pwt_outer_dist = 10
bearing_lines = true
bearing_lines = white:0, green:0.25, yellow:0.5, red:1.0
}
// This one is for when there are no enemies in
// our zone, so be more liberal with the ranges
//----------------------------------------------
Behavior = BHV_AvdColregsV22
{
name = avd_teammate_liberal
pwt = 30
updates = CONTACT_INFO_ONE
condition = MODE == ACTIVE
condition = SELF_IN_MY_ZONE = true
condition = ENEMY_IN_ZONE = false
templating = spawn
endflag = CONTACT_RESOLVED = $[CONTACT]
contact = name_provided_upon_spawn
decay = 15,30
on_no_contact_ok = true
extrapolate = true
#ifdef VTEAM blue
ignore_name = RED_ONE
ignore_name = RED_TWO
ignore_name = RED_THREE
#elseifdef VTEAM red
ignore_name = BLUE_ONE
ignore_name = BLUE_TWO
ignore_name = BLUE_THREE
#endif
completed_dist = 25
headon_only = true
max_util_cpa_dist = 30
min_util_cpa_dist = 15
pwt_inner_dist = 15
pwt_outer_dist = 30
bearing_lines = true
bearing_lines = white:0, green:0.25, yellow:0.5, red:1.0
}