{ 495, 480 } }; // loop return
/// <summary>
/// Create a NPC.
/// AGXNASK distribution has npAgent move following a Path.
/// </summary>
/// <param name="theStage"> the world</param>
/// <param name="label"> name of </param>
/// <param name="pos"> initial position </param>
/// <param name="orientAxis"> initial rotation axis</param>
/// <param name="radians"> initial rotation</param>
/// <param name="meshFile"> Direct X *.x Model in Contents directory </param>
public NPAgent(Stage theStage, string label, Vector3 pos, Vector3 orientAxis,
float radians, string meshFile)
: base(theStage, label, pos, orientAxis, radians, meshFile)
{ // change names for on-screen display of current camera
first.Name = "npFirst";
follow.Name = "npFollow";
above.Name = "npAbove";
// path is built to work on specific terrain, make from int[x,z] array pathNode
path = new Path(stage, pathNode, Path.PathType.LOOP); // continuous search path
stage.Components.Add(path);
nextGoal = path.NextNode; // get first path goal
agentObject.turnToFace(nextGoal.Translation); // orient towards the first path goal
// set snapDistance to be a little larger than step * stepSize
snapDistance = (int)(1.5 * (agentObject.Step * agentObject.StepSize));
}
public void treasureDetection()
{
Object3D tempTreasure = findClosestTreasure(this.stage.getTreasure);
float distance = Vector3.Distance(tempTreasure.Translation, this.agentObject.Translation);
if (distance < (tempTreasure.ObjectBoundingSphereRadius + detectionRadius))
{
NavNode closestNode = this.stage.graph.findClosestNavNodeInGraph(this.agentObject.Translation);
NavNode treasureNode = this.stage.graph.getNavNode((int)tempTreasure.Translation.X, (int)tempTreasure.Translation.Z);
Path aStarPath = new Path(this.stage, this.stage.graph.aStarPathFinding(closestNode, treasureNode), Path.PathType.SINGLE);
path = aStarPath;
}
}
// Get or Set a NavNode in the graph
public NavNode this[int x, int z]
{
get
{
NavNode node = null;
try
{
node = graph[stringKey(x, z)];
return(node);
}
catch (KeyNotFoundException)
{
return(node);
}
}
set { graph[stringKey(x, z)] = value; }
}
{ 495, 480 } }; // loop return
/// <summary>
/// Create a NPC.
/// AGXNASK distribution has npAgent move following a Path.
/// </summary>
/// <param name="theStage"> the world</param>
/// <param name="label"> name of </param>
/// <param name="pos"> initial position </param>
/// <param name="orientAxis"> initial rotation axis</param>
/// <param name="radians"> initial rotation</param>
/// <param name="meshFile"> Direct X *.x Model in Contents directory </param>
public NPAgent(Stage theStage, string label, Vector3 pos, Vector3 orientAxis,
float radians, string meshFile, Treasure treasure) // Edited by David Kopp
: base(theStage, label, pos, orientAxis, radians, meshFile)
{ // change names for on-screen display of current camera
first.Name = "npFirst";
follow.Name = "npFollow";
above.Name = "npAbove";
// path is built to work on specific terrain, make from int[x,z] array pathNode
path = new Path(stage, pathNode, Path.PathType.LOOP); // continuous search path
stage.Components.Add(path);
nextGoal = path.NextNode; // get first path goal
agentObject.turnToFace(nextGoal.Translation); // orient towards the first path goal
// set snapDistance to be a little larger than step * stepSize
snapDistance = (int)(1.5 * (agentObject.Step * agentObject.StepSize));
treasureMode = false; // Treasure mode initilized to false - added by David Kopp
score = 0; // Score of NPAgent initialized to 0 - added by David Kopp
isCollidable = true;
aStarDone = false;
}
/// <summary>
/// Handle player input that affects the player.
/// See Stage.Update(...) for handling user input that affects
/// how the stage is rendered.
/// First check if gamepad is connected, if true use gamepad
/// otherwise assume and use keyboard.
/// (Added by David Kopp) If the Player / Evader gets within
/// 300 pixels of a treasure that is not tagged then it will be
/// tagged and their score will increase by 1. If there is no
/// untagged treasure then treasureMode = false.
/// </summary>
/// <param name="gameTime"></param>
public override void Update(GameTime gameTime)
{
KeyboardState keyboardState = Keyboard.GetState();
if (keyboardState.IsKeyDown(Keys.R) && !oldKeyboardState.IsKeyDown(Keys.R))
{
agentObject.Orientation = initialOrientation;
}
// allow more than one keyboardState to be pressed
if (keyboardState.IsKeyDown(Keys.Up))
{
agentObject.Step++;
}
if (keyboardState.IsKeyDown(Keys.Down))
{
agentObject.Step--;
}
if (keyboardState.IsKeyDown(Keys.Left))
{
rotate++;
}
if (keyboardState.IsKeyDown(Keys.Right))
{
rotate--;
}
oldKeyboardState = keyboardState; // Update saved state.
agentObject.Yaw = rotate * angle;
// Player / Evader tags closest Treasure if it is untagged - added by David Kopp
NavNode temp = stage.Treasure.getTreasure(agentObject.Translation);
if (temp != null && Vector3.Distance((temp.Translation), agentObject.Translation) < 75 && treasureMode)
{
stage.Treasure.tagTreasure(temp.Translation); // Player tags the treasure - by David Kopp
// treasureMode = false; // Uncomment to have the player play the treasure game - by David Kopp
score++; // Increase Player / Evader's score by 1 - by David Kopp
}
else if (temp == null) // All treasures are tagged - by David Kopp
{
treasureMode = false;
}
base.Update(gameTime);
rotate = agentObject.Step = 0;
}
// finds the closest NavNode from the given location.
public NavNode findClosestNavNodeInGraph(Vector3 location)
{
NavNode closestNode = new NavNode(new Vector3(0));
float shortestDistance = 100000.0f;
float distance = 0.0f;
SortedDictionary <String, NavNode> sortedList = new SortedDictionary <string, NavNode>(graph);
foreach (KeyValuePair <String, NavNode> node in sortedList)
{
distance = Vector3.Distance(node.Value.Translation, location);
if (distance < shortestDistance)
{
shortestDistance = distance;
closestNode = node.Value;
}
}
return(closestNode);
}
// A *
public List <NavNode> aStarPathFinding(NavNode source, NavNode destination)
{
open = new List <NavNode>();
closed = new List <NavNode>();
path = new List <NavNode>();
NavNode current = source;
current.Cost = 0;
open.Add(current);
open.Sort(delegate(NavNode n1, NavNode n2)
{
return(n1.Cost.CompareTo(n2.Cost));
});
while (open.Count != 0)
{
current = open.First <NavNode>();
open.Remove(open.First <NavNode>());
if (current.Translation == destination.Translation)
{
break;
}
closed.Add(current);
current.Navigatable = NavNode.NavNodeEnum.CLOSED;
foreach (NavNode adjacent in current.Adjacent)
{
if (!open.Contains(adjacent) && !closed.Contains(adjacent))
{
adjacent.PredecessorNode = current;
adjacent.DistanceFromSource = current.DistanceFromSource +
Vector3.Distance(current.Translation, adjacent.Translation);
adjacent.DistanceToGoal =
Vector3.Distance(current.Translation, adjacent.Translation) +
Vector3.Distance(adjacent.Translation, destination.Translation);
adjacent.Cost = adjacent.DistanceFromSource + adjacent.DistanceToGoal;
open.Add(adjacent);
adjacent.Navigatable = NavNode.NavNodeEnum.OPEN;
}
}
open.Sort(delegate(NavNode n1, NavNode n2)
{
return(n1.Cost.CompareTo(n2.Cost));
});
}
while (Vector3.Distance(current.Translation, source.Translation) != 0.0)
{
current.Navigatable = NavNode.NavNodeEnum.PATH;
path.Add(current);
current = current.PredecessorNode;
}
aStarCompleted = true;
path.Reverse();
return(path);
}
/// <summary>
/// Simple path following. If within "snap distance" of a the nextGoal (a NavNode)
/// move to the NavNode, get a new nextGoal, turnToFace() that goal. Otherwise
/// continue making steps towards the nextGoal. (Added by David Kopp) If treasure mode is enabled the nextGoal will be
/// the closest treasure to the NPAgent. After the NPAgent tags the treasure nextGoal will be the last NavNode the
/// NPAgent was going to before entering treasure mode.
/// </summary>
public override void Update(GameTime gameTime)
{
// Check for if in treasureMode and nextGoal is not a treasure, and the game is not over - by David Kopp
if (treasureMode & !stage.Treasure.isTreasure(nextGoal.Translation) & !stage.Treasure.GameOver)
{
NavNode temp = stage.Treasure.getTreasure(agentObject.Translation); // Location of closest treasure - by David Kopp
if (temp != null && !stage.Treasure.isTagged(temp.Translation)) // If there is a treasure and the treasure is untagged - by David Kopp
{
nextGoalTemp = nextGoal; // Hold the NavNode the Agent was going to before Treasure mode is enabled - by David Kopp
nextGoal = temp;
}
}
else if (treasureMode && stage.Treasure.isTreasure(nextGoal.Translation)) // Check if treasure mode is enabled and NPAgent is going to a treasure - by David Kopp
{
if (stage.Treasure.GameOver) // If the game is over in route to a treasure, that was just tagged, then the NPAgent goes back to following the static path - by David Kopp
{
nextGoal = nextGoalTemp;
}
else if (!stage.Treasure.GameOver && stage.Treasure.isTagged(nextGoal.Translation)) // If the game is not over and in route the treasure gets tagged - by David Kopp
{
NavNode switchTemp = stage.Treasure.getTreasure(agentObject.Translation); // Switch nextGoal with an untagged treasure - by David Kopp
if (switchTemp != null) // If the game is not over and in route to a treasure that just got tagged, then NPAgent will goto the next closest untagged treasure - by David Kopp
{
nextGoal = switchTemp;
}
else // If the game is not over in route to a treasure and the treasure, which was the last untagged, gets tagged. NPAgent goes back to the static path and disable treasure mode - by David Kopp
{
nextGoal = nextGoalTemp;
treasureMode = !treasureMode;
}
}
}
else if (!treasureMode && stage.Treasure.isTreasure(nextGoal.Translation)) // If treasure mode is disabled and the NPAgent was heading for a Treasure (Not implemented) - by David Kopp
{
nextGoal = nextGoalTemp;
}
agentObject.turnToFace(nextGoal.Translation); // adjust to face nextGoal every move
// See if at or close to nextGoal, distance measured in 2D xz plane
float distance = Vector3.Distance(
new Vector3(nextGoal.Translation.X, 0, nextGoal.Translation.Z),
new Vector3(agentObject.Translation.X, 0, agentObject.Translation.Z));
stage.setInfo(15, stage.agentLocation(this));
stage.setInfo(16,
string.Format(" nextGoal ({0:f0}, {1:f0}, {2:f0}) distance to next goal = {3,5:f2})",
nextGoal.Translation.X / stage.Spacing, nextGoal.Translation.Y, nextGoal.Translation.Z / stage.Spacing, distance));
if (distance <= snapDistance && !stage.Treasure.isTreasure(nextGoal.Translation)) // Added if the nextGoal is not a treasure - by David Kopp
// snap to nextGoal and orient toward the new nextGoal
{
nextGoal = path.NextNode;
// agentObject.turnToFace(nextGoal.Translation);
}
else if (distance <= snapDistance && stage.Treasure.isTreasure(nextGoal.Translation)) // If the NPAgent approaches a treasure and tags it - Added by David Kopp
{
stage.Treasure.tagTreasure(nextGoal.Translation); // Tag the treasure - by David Kopp
nextGoal = nextGoalTemp; // NPAgent head back to last NavNode before treasure mode was enabled -by David Kopp
treasureMode = false; // Disable treasure mode - by David Kopp
score++; // Increase NPAgent's treasure score by 1 - by David Kopp
}
base.Update(gameTime); // Agent's Update();
}
/// <summary>
/// Simple path following. If within "snap distance" of a the nextGoal (a NavNode)
/// move to the NavNode, get a new nextGoal, turnToFace() that goal. Otherwise
/// continue making steps towards the nextGoal. (Added by David Kopp) If treasure mode is enabled the nextGoal will be
/// the closest treasure to the NPAgent. After the NPAgent tags the treasure nextGoal will be the last NavNode the
/// NPAgent was going to before entering treasure mode.
/// </summary>
public override void Update(GameTime gameTime)
{
// Treasure scan - By David Kopp
NavNode scan = stage.Treasure.getTreasure(agentObject.Translation);
if (!treasureMode && stage.Treasure.distanceToTreasure(agentObject.Translation, scan.Translation) <= 4000.0f &&
!stage.Treasure.GameOver)
{
nextGoalTemp = nextGoal;
scanTemp = scan;
treasureMode = true;
treasurePathing = true;
}
// Start aStar and fix astar algorithm
if (!aStarDone && treasureMode && treasurePathing && !stage.Treasure.GameOver)
{
NavNode closestGraphNode = graph.nearestGraphPoint(agentObject.Translation);
List <NavNode> aStarPath = graph.aStarAlgorithm(closestGraphNode, scan);
Path treasureHuntingPath = new Path(stage, aStarPath, Path.PathType.LOOP);
nextGoal = treasureHuntingPath.NextNode;
aStarDone = true;
}
// This needs to check that the treasure is still not tagged and keep folowing astar path.
if (aStarDone && !stage.Treasure.isTagged(scanTemp.Translation))
{
}
// // Check for if in treasureMode and nextGoal is not a treasure, and the game is not over - by David Kopp
// if (treasureMode & !stage.Treasure.isTreasure (nextGoal.Translation) & !stage.Treasure.GameOver) {
// NavNode temp = stage.Treasure.getTreasure (agentObject.Translation); // Location of closest treasure - by David Kopp
// if (temp != null && !stage.Treasure.isTagged (temp.Translation)) { // If there is a treasure and the treasure is untagged - by David Kopp
// nextGoalTemp = nextGoal; // Hold the NavNode the Agent was going to before Treasure mode is enabled - by David Kopp
// nextGoal = temp;
// }
// } else if (treasureMode && stage.Treasure.isTreasure (nextGoal.Translation)) { // Check if treasure mode is enabled and NPAgent is going to a treasure - by David Kopp
// if (stage.Treasure.GameOver) { // If the game is over in route to a treasure, that was just tagged, then the NPAgent goes back to following the static path - by David Kopp
// nextGoal = nextGoalTemp;
// } else if (!stage.Treasure.GameOver && stage.Treasure.isTagged (nextGoal.Translation)) { // If the game is not over and in route the treasure gets tagged - by David Kopp
// NavNode switchTemp = stage.Treasure.getTreasure (agentObject.Translation); // Switch nextGoal with an untagged treasure - by David Kopp
// if (switchTemp != null) { // If the game is not over and in route to a treasure that just got tagged, then NPAgent will goto the next closest untagged treasure - by David Kopp
// nextGoal = switchTemp;
// } else { // If the game is not over in route to a treasure and the treasure, which was the last untagged, gets tagged. NPAgent goes back to the static path and disable treasure mode - by David Kopp
// nextGoal = nextGoalTemp;
// treasureMode = !treasureMode;
// }
// }
// } else if (!treasureMode && stage.Treasure.isTreasure (nextGoal.Translation)) { // If treasure mode is disabled and the NPAgent was heading for a Treasure (Not implemented) - by David Kopp
// nextGoal = nextGoalTemp;
// } else if (!treasureMode && !stage.Treasure.GameOver) { // new addition
// treasureMode = true;
// NavNode scan = stage.Treasure.getTreasure;
// if (!aStarDone && stage.Treasure.distanceToTreasure(agentObject.Translation, scan.Translation) <= 4000.0f) {
// nextGoalTemp = nextGoal;
// NavNode findClosestNodeToTreasurePath = 0;
//
// }
// }
//agentObject.turnToFace(nextGoal.Translation); // adjust to face nextGoal every move
// See if at or close to nextGoal, distance measured in 2D xz plane
float distance = Vector3.Distance(
new Vector3(nextGoal.Translation.X, 0, nextGoal.Translation.Z),
new Vector3(agentObject.Translation.X, 0, agentObject.Translation.Z));
stage.setInfo(15, stage.agentLocation(this));
stage.setInfo(16,
string.Format(" nextGoal ({0:f0}, {1:f0}, {2:f0}) distance to next goal = {3,5:f2})",
nextGoal.Translation.X / stage.Spacing, nextGoal.Translation.Y, nextGoal.Translation.Z / stage.Spacing, distance));
// This section controls how the npagent goes back to the path after he snaps to the treasure. This section is not
// complete and needs to have clearer conditions. many of these are still from project 1.
if (distance <= snapDistance && !stage.Treasure.isTreasure(nextGoal.Translation)) // Added if the nextGoal is not a treasure - by David Kopp
// snap to nextGoal and orient toward the new nextGoal
{
nextGoal = path.NextNode;
// agentObject.turnToFace(nextGoal.Translation);
}
else if (distance <= snapDistance && stage.Treasure.isTreasure(nextGoal.Translation)) // If the NPAgent approaches a treasure and tags it - Added by David Kopp
{
stage.Treasure.tagTreasure(nextGoal.Translation); // Tag the treasure - by David Kopp
//nextGoal = nextGoalTemp; // NPAgent head back to last NavNode before treasure mode was enabled -by David Kopp
//treasureMode = false; // Disable treasure mode - by David Kopp
score++; // Increase NPAgent's treasure score by 1 - by David Kopp
}
base.Update(gameTime); // Agent's Update();
}
/// <summary>
/// Added a treasure to NPA's goal
/// </summary>
/// <param name="newTreasureNode">treasure</param>
public void newTreasureGoal(NavNode newTreasureNode)
{
nextGoal = newTreasureNode;
treasureTarget = newTreasureNode;
}
