public NPAvatar(Scene scene, string label, Vector3 pos, Vector3 orientAxis,float radians, string meshFile)
: base(scene, label, pos, orientAxis, radians, meshFile) {
first.Name = "npFirst";
follow.Name = "npFollow";
above.Name = "npAbove";
stepSize = 40;
random = new Random();
move = true;
cellsVisited = new Boolean[512,512];
for (int row = 0; row < scene.Range; row++) {
for(int col = 0; col < scene.Range; col++) {
cellsVisited[row, col] = false;
}
}
Vector3 oldTranslation = Orientation.Translation;
Orientation *= Matrix.CreateTranslation(-1 * Orientation.Translation);
Orientation *= Matrix.CreateRotationY(90 * MathHelper.Pi / 180);
Orientation *= Matrix.CreateTranslation(oldTranslation);
targetTreasures = null;
bearing = null;
targetTreasures = new Queue<Model3D>();
inverse_tressure_path = new Stack<Queue<OrderedPair>>();
scene.PAUSE = false;
currentTreasure = null;
previousTreasure = null;
destinationExploring = null;
currentWayPoint = 1;
direction = true;
wayPointsToExplore = new OrderedPair [] {
new OrderedPair(504,0,504),
new OrderedPair(352,0,496),
new OrderedPair(16,0,496),
new OrderedPair(16,0,16),
new OrderedPair(32,0,16),
new OrderedPair(32,0,488),
new OrderedPair(48,0,488),
new OrderedPair(48,0,16),
new OrderedPair(64,0,16),
new OrderedPair(64,0,488),
new OrderedPair(80,0,488),
new OrderedPair(80,0,16),
new OrderedPair(96,0,16),
new OrderedPair(96,0,488),
new OrderedPair(112,0,488),
new OrderedPair(112,0,16),
new OrderedPair(128,0,16),
new OrderedPair(128,0,488),
new OrderedPair(144,0,488),
new OrderedPair(144,0,16),
new OrderedPair(160,0,16),
new OrderedPair(160,0,488),
new OrderedPair(176,0,488),
new OrderedPair(176,0,16),
new OrderedPair(192,0,16),
new OrderedPair(192,0,488),
new OrderedPair(208,0,488),
new OrderedPair(208,0,16),
new OrderedPair(224,0,16),
new OrderedPair(225,0,488),
};
/* STATE VARIABLES */
previousMovementMethod = MovementMethod.NONE;
currentMovementMethod = MovementMethod.NONE;
path_builder = PathBuildMethod.NONE;
wayPointReached = false;
treasuresChanged = false;
returnedToOrigin = true;
}
public void STATE_MACHINE_FUNCTION_TO_DETERMINE_MOVEMENT_METHOD_THIS_IS_KEY() {
if(currentWayPoint == wayPointsToExplore.Length && wayPointReached) {
direction = false;
currentWayPoint=wayPointsToExplore.Length-2;
}
if(currentWayPoint == -1 && WayPointReached) {
direction = true;
currentWayPoint = 1;
}
//if (treasureCount() == 0){
// treasuresChanged = false;
//}
/*
* WHEN THE GAME STARTS FIRST STATE IS TO BUILD EXPLORER PATH
* THIS IS ALSO THE STATE WHERE YOU RETURN WHEN YOU HIT A WAY
* POINT IN THE EXPLORER PATH
*/
if (
treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.NONE &&
currentMovementMethod == MovementMethod.NONE &&
!(WayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "FIRST STATE";
path_builder = PathBuildMethod.EXPLORER_PATH;
previousMovementMethod = MovementMethod.BUILD_PATH;
currentMovementMethod = MovementMethod.BUILD_PATH;
//printStateVariables(1);
}
/*
* STATES THAT DEAL IF YOU GO INTO EXPLORER PATH FIRST
*/
else if (
treasureCount() == 0 &&
path_builder == PathBuildMethod.EXPLORER_PATH &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.BUILD_PATH &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "SWITCHING TO EXPLORER";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.EXPLORER;
//printStateVariables(2);
} else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.EXPLORER &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "FIRST STEP EVER -- GOING TO EXPLORE";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.EXPLORER;
//printStateVariables(3);
} else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.EXPLORER &&
currentMovementMethod == MovementMethod.EXPLORER &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "EXPLORING";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.EXPLORER;
//printStateVariables(3);
} else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.EXPLORER &&
currentMovementMethod == MovementMethod.EXPLORER &&
wayPointReached &&
!treasuresChanged &&
returnedToOrigin
) {
status = "RENEW EXPLORER PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = MovementMethod.NONE;
currentMovementMethod = MovementMethod.NONE;
wayPointReached = false;
//printStateVariables(4);
}
/*
* STATES THAT DEAL WITH IF YOU HAVE TREASURES SITED
*/
else if( treasureCount() != 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.EXPLORER &&
currentMovementMethod == MovementMethod.EXPLORER &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "FOUND TREASURE BUILDING PATH";
path_builder = PathBuildMethod.A_STAR_PATH;
previousMovementMethod = MovementMethod.BUILD_PATH;
currentMovementMethod = MovementMethod.BUILD_PATH;
//printStateVariables(5);
} else if( treasureCount() != 0 &&
path_builder == PathBuildMethod.A_STAR_PATH &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.BUILD_PATH &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "SWITCHING TO TREASURE PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.TRESSURE;
//printStateVariables(6);
} else if( treasureCount() != 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.TRESSURE &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "FIRST STEP TOWARDS -- TREASURE";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.TRESSURE;
//printStateVariables(7);
} else if( treasureCount() != 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.TRESSURE &&
currentMovementMethod == MovementMethod.TRESSURE &&
!(wayPointReached || treasuresChanged) &&
returnedToOrigin
) {
status = "GETTING TREASURE";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.TRESSURE;
//printStateVariables(8);
} else if( treasureCount() != 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.TRESSURE &&
currentMovementMethod == MovementMethod.TRESSURE &&
!(wayPointReached || !treasuresChanged) &&
returnedToOrigin
) {
status = "ANOTHER TREASURE FOUND -- SETTING PATH";
path_builder = PathBuildMethod.A_STAR_PATH;
previousMovementMethod = MovementMethod.BUILD_PATH;
currentMovementMethod = MovementMethod.BUILD_PATH;
//printStateVariables(9);
}
/*
* STATES THAT DEAL WITH IF YOU HAVE TREASURES OBTAINED
* ALL SITED TREASURE AND NEED TO RETURN TO EXPLORER PATH
*/
else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.TRESSURE &&
currentMovementMethod == MovementMethod.TRESSURE &&
!(wayPointReached || !treasuresChanged) &&
returnedToOrigin//RETURNED TO ORIGING SET AFTER THIS
) {
status = "SETTING UP RETURN PATH";
path_builder = PathBuildMethod.SET_RETURN_TO_EXPLORER_PATH;
previousMovementMethod = MovementMethod.BUILD_PATH;
currentMovementMethod = MovementMethod.BUILD_PATH;
//printStateVariables(10);
} else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.SET_RETURN_TO_EXPLORER_PATH &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.BUILD_PATH &&
!wayPointReached &&
treasuresChanged &&
!returnedToOrigin
) {
status = "FIRST STEP BACK TO RETURN PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.RETURN_TO_EXPLORER_PATH;
//printStateVariables(11);
}else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.BUILD_PATH &&
currentMovementMethod == MovementMethod.RETURN_TO_EXPLORER_PATH &&
!wayPointReached &&
treasuresChanged &&
!returnedToOrigin
) {
status = "ON RETURN PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.RETURN_TO_EXPLORER_PATH;
//printStateVariables(12);
}else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.RETURN_TO_EXPLORER_PATH &&
currentMovementMethod == MovementMethod.RETURN_TO_EXPLORER_PATH &&
!wayPointReached &&
treasuresChanged &&
!returnedToOrigin
) {
status = "ON RETURN PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = currentMovementMethod;
currentMovementMethod = MovementMethod.RETURN_TO_EXPLORER_PATH;
//printStateVariables(13);
}else if( treasureCount() == 0 &&
path_builder == PathBuildMethod.NONE &&
previousMovementMethod == MovementMethod.RETURN_TO_EXPLORER_PATH &&
currentMovementMethod == MovementMethod.RETURN_TO_EXPLORER_PATH &&
!wayPointReached &&
treasuresChanged &&
returnedToOrigin
) {
status = "BACK AT WHERE I LEFT OFF IN EXPLORER PATH";
path_builder = PathBuildMethod.NONE;
previousMovementMethod = MovementMethod.EXPLORER;
currentMovementMethod = MovementMethod.EXPLORER;
treasuresChanged = false;
foreach(OrderedPair O in queue) {
scene.WayPoints[(int)O.Z, (int)O.X].changeCubeColor(Color.Green);
}
//printStateVariables(14);
}
/*
* THIS IS JUST IN THE "CASE" THAT I MISSED A TRANSITION
* IN MY STATE MACHINE
*/
else {
scene.PAUSE = true;
printStateVariables(-1);
}
}