public void ProjectObjectLocations()
{
DateTime currenTime = DateTime.Now;
TimeSpan ts = currenTime - m_lastLocationUpdateTime;
m_lastLocationUpdateTime = currenTime;
foreach (SimObject ob in AllObjects.Values)
{
if (ob.ShouldProject)
{
ob.Location.X = ob.Location.X + (ob.Velocity.VX * (Double)ts.Milliseconds / 1000);
ob.Location.Y = ob.Location.Y + (ob.Velocity.VY * (Double)ts.Milliseconds / 1000);
ob.Location.Z = ob.Location.Z + (ob.Velocity.VZ * (Double)ts.Milliseconds / 1000);
//if (System.Double.IsNaN(ob.Location.X))
//{
// ob.ID = ob.ID;
//}
if (BehaviorHelper.LocationIsEqual(ob.Location, ob.DestinationLocation))
{
ob.ShouldProject = false;
}
}
}
}
void ComputeIntersections(WaypointRoute route1, WaypointRoute route2)
{
List <LineSegment> segments1 = route1.ToLineSegments();
List <LineSegment> segments2 = route2.ToLineSegments();
Double THRESHOLD = 1.0;
foreach (LineSegment ls1 in segments1)
{
foreach (LineSegment ls2 in segments2)
{
LocationValue intersect = BehaviorHelper.LineIntersect(ls1.First.Location, ls1.Second.Location, ls2.First.Location, ls2.Second.Location);
if (intersect != null)
{
// if the intersect is really close to one of the route verticies, than don't do anything.
// otherwise, insert the intersect into the routes
if (BehaviorHelper.Distance(intersect, ls1.First.Location) > THRESHOLD && BehaviorHelper.Distance(intersect, ls1.Second.Location) > THRESHOLD)
{
int pos = route1.IndexOf(ls1.Second);
route1.Insert(pos, new Waypoint(String.Format("between-{0}-{1}", ls1.First.Name, ls1.Second.Name), intersect));
}
if (BehaviorHelper.Distance(intersect, ls2.First.Location) > THRESHOLD && BehaviorHelper.Distance(intersect, ls2.Second.Location) > THRESHOLD)
{
int pos = route2.IndexOf(ls2.Second);
route2.Insert(pos, new Waypoint(String.Format("between-{0}-{1}", ls2.First.Name, ls2.Second.Name), intersect));
}
return; // we only allow for one intersection between the two routes.
}
}
}
}
public void Start(DDDServerConnection serverConnection, DMView dmView)
{
m_dmView = dmView;
//Console.Out.WriteLine(String.Format("MoveWithAvoidanceBehavior.Start(){0}",m_thisID));
LogWriter.Write(m_dmView.DecisionMakerID + "_" + m_thisID, dmView.SimTime, String.Format("MoveWithAvoidanceBehavior.Start,{0},{1}", m_destLocation.ToXML(), m_throttle));
m_wasBlocked = false;
SimObject me = dmView.AllObjects[m_thisID];
//SimObject dest = dmView.AllObjects[m_destID];
LocationValue myLocation = me.Location;
//LocationValue destLocation = dest.Location;
if (BehaviorHelper.LocationIsEqual(myLocation, m_destLocation))
{
m_done = true;
return;
}
if (!IsBlocked2())
{
m_wasBlocked = false;
serverConnection.SendMoveObjectRequest(m_thisID, me.Owner, m_destLocation, m_throttle);
}
else
{
m_wasBlocked = true;
}
}
void ContinueLoiter(DDDServerConnection serverConnection, DMView dmView)
{
SimObject me = dmView.AllObjects[m_thisID];
LocationValue myLocation = me.Location;
SimObject track = dmView.AllObjects[m_targetID];
LocationValue trackLocation = track.Location;
if (BehaviorHelper.LocationIsEqual(myLocation, m_destWaypoint.Location))
{
m_destWaypoint = m_absoluteLoiterPattern.GetNextWaypoint();
m_relativeLoiterPattern.NextWaypointIndex = m_absoluteLoiterPattern.NextWaypointIndex;
m_relativeLoiterPattern.CurrentWaypointIndex = m_absoluteLoiterPattern.CurrentWaypointIndex;
serverConnection.SendMoveObjectRequest(m_thisID, m_destWaypoint.Location, 1);
}
}
public void Update(DDDServerConnection serverConnection, DMView dmView)
{
if (m_done)
{
return;
}
SimObject me = dmView.AllObjects[m_thisID];
LocationValue myLocation = me.Location;
if (BehaviorHelper.LocationIsEqual(myLocation, m_destWaypoint.Location))
{
m_destWaypoint = m_absoluteLoiterPattern.GetNextWaypoint();
serverConnection.SendMoveObjectRequest(m_thisID, m_destWaypoint.Location, 1);
}
}
public int Compare(ActiveRegionWaypoint obj1, ActiveRegionWaypoint obj2)
{
double dis1 = BehaviorHelper.Distance(obj1.Location, m_refPoint.Location);
double dis2 = BehaviorHelper.Distance(obj2.Location, m_refPoint.Location);
if (dis1 < dis2)
{
return(-1);
}
else if (dis1 > dis2)
{
return(1);
}
else
{
return(0);
}
}
internal void ViewProMotionUpdate(SimulationEvent ev)
{
String id = ((StringValue)ev["ObjectID"]).value;
if (AllObjects.ContainsKey(id))
{
SimObject ob = AllObjects[id];
ob.ShouldProject = true;
ob.Location = ((LocationValue)ev["Location"]);
ob.DestinationLocation = ((LocationValue)ev["DestinationLocation"]);
ob.Throttle = ((DoubleValue)ev["Throttle"]).value;
ob.Velocity = BehaviorHelper.ComputeVelocityVector(ob.Location, ob.DestinationLocation, ob.MaximumSpeed, ob.Throttle);
}
if (PlayerAgent != null)
{
PlayerAgent.ViewProMotionUpdate(ev);
}
}
bool ShouldTrack(DDDServerConnection serverConnection, DMView dmView)
{
SimObject me = dmView.AllObjects[m_thisID];
LocationValue myLocation = me.Location;
SimObject track = dmView.AllObjects[m_targetID];
LocationValue trackLocation = track.Location;
WaypointSequence absoluteLoiterPattern = m_relativeLoiterPattern.ToAbsolute(trackLocation);
Waypoint destWaypoint = absoluteLoiterPattern.GetWaypointClosestTo(myLocation);
Double myDis = BehaviorHelper.Distance(myLocation, trackLocation);
Double destDis = BehaviorHelper.Distance(destWaypoint.Location, trackLocation);
if (myDis > (destDis * 2))
{
return(true);
}
else
{
return(false);
}
}
static public LocationGraph GenerateRouteGraph(String startName, LocationValue startLocation, String endName, LocationValue endLocation, List <WaypointRoute> routes)
{
LocationGraph result = new LocationGraph();
double distanceThreshold = 1.0;
//List<String> routeNames = new List<string>(this.Keys);
String name;
for (int i = 0; i < routes.Count; i++)
{
name = routes[i].Name;
WaypointRoute route = routes[i];
LocationGraph.LocationNode lastNode = null;
foreach (Waypoint wp in route)
{
LocationGraph.LocationNode node = new LocationGraph.LocationNode(wp.Name, wp.Location);
result.AddNode(node);
if (lastNode != null)
{
result.BiConnect(lastNode, node);
}
lastNode = node;
}
if (i > 0)
{
WaypointRoute lastRoute = routes[i - 1];
Boolean done = false;
for (int j = 1; j < lastRoute.Count; j++)
{
if (done)
{
break;
}
for (int k = 1; k < route.Count; k++)
{
if (done)
{
break;
}
Waypoint lastRouteP1 = lastRoute[j - 1];
Waypoint lastRouteP2 = lastRoute[j];
Waypoint nextRouteP1 = route[k - 1];
Waypoint nextRouteP2 = route[k];
LocationValue intersect = BehaviorHelper.LineIntersect(lastRouteP1.Location, lastRouteP2.Location,
nextRouteP1.Location, nextRouteP2.Location);
/*if (intersect != null)
* {
* string newName = String.Format("Intersection_{0}_{1}_{2}_{3}", lastRouteP1.Name, lastRouteP2.Name, nextRouteP1.Name, nextRouteP2.Name);
* LocationGraph.LocationNode intersectNode = new LocationGraph.LocationNode(newName, intersect);
* result.AddNode(intersectNode);
* result.BiConnect(intersectNode.Name, lastRouteP1.Name);
* result.BiConnect(intersectNode.Name, lastRouteP2.Name);
* result.BiConnect(intersectNode.Name, nextRouteP1.Name);
* result.BiConnect(intersectNode.Name, nextRouteP2.Name);
* }
* else*/
if (BehaviorHelper.Distance(lastRouteP1.Location, nextRouteP1.Location) < distanceThreshold)
{
result.BiConnect(lastRouteP1.Name, nextRouteP1.Name);
done = true;
}
else if (BehaviorHelper.Distance(lastRouteP1.Location, nextRouteP2.Location) < distanceThreshold)
{
result.BiConnect(lastRouteP1.Name, nextRouteP2.Name);
done = true;
}
else if (BehaviorHelper.Distance(lastRouteP2.Location, nextRouteP1.Location) < distanceThreshold)
{
result.BiConnect(lastRouteP2.Name, nextRouteP1.Name);
done = true;
}
else if (BehaviorHelper.Distance(lastRouteP2.Location, nextRouteP2.Location) < distanceThreshold)
{
result.BiConnect(lastRouteP2.Name, nextRouteP2.Name);
done = true;
}
}
}
}
}
//result.ProximityConnect(10);
//result.IntersectConnect();
LocationNode startNode = new LocationNode(startName, startLocation);
LocationNode endNode = new LocationNode(endName, endLocation);
result.InsertByProximity(startNode);
result.InsertByProximity(endNode);
return(result);
}
public void FindShortestPath(List <String> path, String startName, String endName, out Double out_distance, out List <String> out_path)
{
out_path = new List <string>();
out_distance = -1;
path = new List <string>(path);
path.Add(startName);
LocationNode startNode = m_nodes[startName];
List <LocationNode> childNodes = new List <LocationNode>(startNode.ConnectedNodes);
List <String> bestPath = null;
LocationNode bestNode = null;
Double bestDistance = -1;
foreach (LocationNode child in childNodes)
{
if (path.Contains(child.Name)) // ignore children that we have already been to
{
continue;
}
if (child.Name == endName) // we've found the destination!
{
out_path.Add(endName);
out_distance = BehaviorHelper.Distance(startNode.Location, child.Location);
return;
}
else
{
List <String> tempPath = null;
Double tempDistance = -1;
FindShortestPath(path, child.Name, endName, out tempDistance, out tempPath);
if (tempDistance < 0)
{
continue;
}
else if (bestDistance < 0)
{
bestDistance = tempDistance;
bestPath = tempPath;
bestNode = child;
}
else if (tempDistance < bestDistance)
{
bestDistance = tempDistance;
bestPath = tempPath;
bestNode = child;
}
}
}
if (bestDistance < 0)
{
return;
}
else
{
out_distance = BehaviorHelper.Distance(startNode.Location, m_nodes[bestPath[0]].Location) + bestDistance;
//bestPath.Insert(0, startNode.Name);
bestPath.Insert(0, bestNode.Name);
out_path = bestPath;
}
}
//public void ProximityConnect(Double distanceThreshold)
//{
// List<String> workingList = new List<string>(m_nodes.Keys);
// while (workingList.Count > 0)
// {
// String currentNodeName = workingList[0];
// workingList.Remove(currentNodeName);
// foreach (String workingNodeName in workingList)
// {
// if (BehaviorHelper.LocationIsEqual(m_nodes[currentNodeName].Location, m_nodes[workingNodeName].Location, distanceThreshold))
// {
// BiConnect(currentNodeName, workingNodeName);
// }
// }
// }
//}
//public void IntersectConnect()
//{
// List<String> workingList = new List<string>(m_nodes.Keys);
// while (workingList.Count > 0)
// {
// String currentNodeName = workingList[0];
// LocationNode currentNode = m_nodes[currentNodeName];
// workingList.Remove(currentNodeName);
// List<LocationNode> connectedNodes = new List<LocationNode>(currentNode.ConnectedNodes);
// foreach (LocationNode connectedNode in connectedNodes)
// {
// foreach (String workingNodeName in workingList)
// {
// LocationNode workingNode = m_nodes[workingNodeName];
// List<LocationNode> connectedNodes2 = new List<LocationNode>(workingNode.ConnectedNodes);
// foreach (LocationNode workingConnectedNode in connectedNodes2)
// {
// LocationValue intersectLoc = BehaviorHelper.LineIntersect(currentNode.Location, connectedNode.Location,
// workingNode.Location, workingConnectedNode.Location);
// if (intersectLoc != null)
// {
// LocationNode newNode = new LocationNode(String.Format("{0}_{1}_{2}_{3}",currentNode.Name,connectedNode.Name,
// workingNode.Name, workingConnectedNode.Name),
// intersectLoc);
// AddNode(newNode);
// BiConnect(currentNode, newNode);
// BiConnect(connectedNode, newNode);
// BiConnect(workingNode, newNode);
// BiConnect(workingConnectedNode, newNode);
// }
// }
// }
// }
// }
//}
void InsertByProximity(LocationNode newNode)
{
//find closest node
List <String> workingList = new List <string>(m_nodes.Keys);
String closest = workingList[0];
double distance = BehaviorHelper.Distance(newNode.Location, m_nodes[closest].Location);
workingList.Remove(closest);
foreach (String n in workingList)
{
double thisDistance = BehaviorHelper.Distance(newNode.Location, m_nodes[n].Location);
if (thisDistance < distance)
{
closest = n;
distance = thisDistance;
}
}
LocationNode closestNode = m_nodes[closest];
LocationNode otherNode = null;
LocationValue pointOnLine = null;
double distanceToPointOnLine = -1;
foreach (LocationNode node in closestNode.ConnectedNodes)
{
if (pointOnLine == null)
{
otherNode = node;
pointOnLine = BehaviorHelper.ClosestPointOnLine(newNode.Location, closestNode.Location, node.Location);
distanceToPointOnLine = BehaviorHelper.Distance(newNode.Location, pointOnLine);
}
else
{
LocationValue l = BehaviorHelper.ClosestPointOnLine(newNode.Location, closestNode.Location, node.Location);
double d = BehaviorHelper.Distance(newNode.Location, l);
if (d < distanceToPointOnLine)
{
otherNode = node;
pointOnLine = l;
distanceToPointOnLine = d;
}
}
}
if (distanceToPointOnLine > 5 || true)
{
LocationNode insertNode = new LocationNode(String.Format("{0}_{1}_{2}", newNode.Name, closestNode.Name, otherNode.Name),
pointOnLine);
AddNode(insertNode);
BiConnect(insertNode.Name, closestNode.Name);
BiConnect(insertNode.Name, otherNode.Name);
AddNode(newNode);
BiConnect(newNode.Name, insertNode.Name);
}
else
{
AddNode(newNode);
BiConnect(newNode.Name, closestNode.Name);
BiConnect(newNode.Name, otherNode.Name);
}
}
public void Update(DDDServerConnection serverConnection, DMView dmView)
{
if (m_done)
{
return;
}
SimObject me = dmView.AllObjects[m_thisID];
LocationValue myLocation = me.Location;
SimObject track = dmView.AllObjects[m_targetID];
LocationValue trackLocation = track.Location;
m_absoluteLoiterPattern = m_relativeLoiterPattern.ToAbsolute(trackLocation);
switch (m_engagementState)
{
case EngagementState.Tracking:
if (ShouldTrack(serverConnection, dmView))
{
serverConnection.SendMoveObjectRequest(m_thisID, trackLocation, 1);
}
else
{
m_engagementState = EngagementState.Attacking;
StartLoiter(serverConnection, dmView);
}
break;
case EngagementState.Attacking:
ContinueLoiter(serverConnection, dmView);
if (!m_attackInProcess) // start the attack
{
// start with weapons
if (me.DockedWeapons.Count > 0)
{
m_attackWeaponID = me.DockedWeapons[0];
serverConnection.SendWeaponLaunchRequest(m_thisID, m_attackWeaponID, m_targetID);
m_attackEndTime = dmView.SimTime + 12000; // give a two minute time window to start, AttackUpdate will modify this
m_attackInProcess = true;
m_attackIsWeapon = true;
}
else // use native capabilities
{
// figure out capability/vulnerability match up
String cap = DetermineCapability(me.CapabilityList, track.VulnerabilityList);
if (cap != String.Empty)
{
serverConnection.SendAttackObjectRequest(m_thisID, m_targetID, cap);
m_attackInProcess = true;
m_attackIsWeapon = false;
m_attackEndTime = dmView.SimTime + 12000;
}
else // I don't have the right capabilities, finish up
{
ResetAttack();
if (m_returnAfter)
{
m_engagementState = EngagementState.Returning;
m_dddServer.SendMoveObjectRequest(m_thisID, m_originalLocation, 1);
}
else
{
m_done = true;
}
}
}
}
else // check to see if the attack was succesful
{
// if we are still in attack mode 2 seconds after attack was supposed to end
// start another attack
if (dmView.SimTime > m_attackEndTime + 2000)
{
ResetAttack();
}
}
break;
case EngagementState.Returning:
if (BehaviorHelper.Distance(myLocation, m_originalLocation) < 1)
{
m_done = true;
}
break;
}
}
//Boolean IsBlocked()
//{
// if (Paused)
// {
// m_blockedBy = "PAUSED";
// m_isBlocked = true;
// return m_isBlocked;
// }
// SimObject me = m_dmView.AllObjects[m_thisID];
// //SimObject dest = m_dmView.AllObjects[m_destID];
// LocationValue myLoc = me.Location;
// //LocationValue destLoc = dest.Location;
// LocationValue otherLocation = null;
// Vec2D myVec = new Vec2D(myLoc);
// Vec2D otherVec = null;
// Vec2D destVec = new Vec2D(m_destLocation);
// Polygon2D poly = GetPoly(myVec, destVec);
// foreach (String id in m_dmView.AllObjects.Keys)
// {
// if (id == m_thisID)
// {
// continue;
// }
// if (!m_objectClassesToAvoid.Contains(m_dmView.AllObjects[id].ClassName))
// {
// continue;
// }
// otherLocation = m_dmView.AllObjects[id].Location;
// otherVec = new Vec2D(otherLocation);
// if (Polygon2D.IsPointInside(poly, otherVec))
// {
// if (myVec.ScalerDistanceTo(otherVec) < m_avoidRange)
// {
// m_blockedBy = id;
// m_isBlocked = true;
// return m_isBlocked;
// }
// }
// }
// if (m_holdWP != null)
// {
// otherVec = new Vec2D(m_holdWP.Location);
// if (Polygon2D.IsPointInside(poly, otherVec))
// {
// if (myVec.ScalerDistanceTo(otherVec) < m_avoidRange)
// {
// //Console.Out.WriteLine(String.Format("MoveWithAvoidanceBehavior.IsBlocked() {0} true", m_thisID));
// m_blockedBy = "HOLD";
// m_isBlocked = true;
// return m_isBlocked;
// }
// }
// }
// //Console.Out.WriteLine(String.Format("MoveWithAvoidanceBehavior.IsBlocked() {0} false", m_thisID));
// m_blockedBy = String.Empty;
// m_isBlocked = false;
// return m_isBlocked;
//}
Boolean IsBlocked2()
{
if (Paused)
{
m_blockedBy = "PAUSED";
m_isBlocked = true;
return(m_isBlocked);
}
if (!ShouldAvoid)
{
m_blockedBy = String.Empty;;
m_isBlocked = false;
return(m_isBlocked);
}
SimObject me = m_dmView.AllObjects[m_thisID];
LocationValue myLoc = me.Location;
LocationValue otherLocation = null;
Vec2D myVec = new Vec2D(myLoc);
Vec2D otherVec = null;
Vec2D destVec = new Vec2D(m_destLocation);
Vec2D farPoint = ProjectPointOnLine(myVec, destVec, m_avoidRange);
//Polygon2D poly = GetPoly(myVec, destVec);
foreach (String id in m_dmView.AllObjects.Keys)
{
if (id == m_thisID)
{
continue;
}
if (!m_objectClassesToAvoid.Contains("ALL"))
{
if (!m_objectClassesToAvoid.Contains(m_dmView.AllObjects[id].ClassName))
{
continue;
}
}
otherLocation = m_dmView.AllObjects[id].Location;
otherVec = new Vec2D(otherLocation);
double d = BehaviorHelper.DistanceFromPointToLineSegment(otherVec, myVec, farPoint);
if (d < (m_avoidPathWidth / 2))
{
m_blockedBy = id;
m_isBlocked = true;
return(m_isBlocked);
}
}
if (m_holdWP != null)
{
otherVec = new Vec2D(m_holdWP.Location);
double d2 = BehaviorHelper.DistanceFromPointToLineSegment(otherVec, myVec, farPoint);
if (d2 < (m_avoidPathWidth / 2))
{
m_blockedBy = "HOLD";
m_isBlocked = true;
return(m_isBlocked);
}
}
//Console.Out.WriteLine(String.Format("MoveWithAvoidanceBehavior.IsBlocked() {0} false", m_thisID));
m_blockedBy = String.Empty;
m_isBlocked = false;
return(m_isBlocked);
}