private int getMaxHeight(State state, State previousState, InfoDomain domain)
{
int centerx;
if (state.getVelocityX() == 0)
{
centerx = (int)(state.CurrentPlatform.maxWidth() - 40 + MINSIZE / 2) / 8;
}
else
{
centerx = (int)(state.CurrentPlatform.minWidth() - 40 - MINSIZE / 2) / 8;
}
int y = (int)(previousState.CurrentPlatform.maxHeight() - 40 - MAXSIZE) / 8;
int limit = y + 12;
int startx = centerx - MINSIZE / 8 / 2;
int endx = centerx + MINSIZE / 8 / 2 - 1;
int[,] table = domain.Table;
for (; y < limit; y--)
{
for (int x = startx; x < endx; x++)
{
if (!(table[y, x] == 1 || table[y, x] == 2))
{
return((int)(previousState.CurrentPlatform.maxHeight() - (y * 8 + 40)));
}
}
}
return(96);
}
public override Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph)
{
State newstate = newnode.getState();
State oldstate = oldnode.getState();
if (outsideOfMap(newstate))
{
return(false);
}
else
{
if (isVerticalMovement(oldstate, newstate) || newstate.getAction() == 2)
{
if (thereIsWallBetweenV(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
else
{
if (thereIsWallBetweenH(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
}
}
private int distanceForMomentum(State state, InfoDomain domain)
{
int centerx = (int)(state.getPosX() - 40) / 8;
int centery = (int)(state.getPosY() - 40) / 8;
int height = state.getSizeOfAgent();
int width = getWidth(height);
int direction = (int)state.getVelocityX();
int startx;
int endx;
int starty = centery - height / 8 / 2;
int endy = centery + height / 8 / 2;
int[,] table = domain.Table;
int endOfPlatform;
if (direction == 1)
{
startx = centerx - width / 8 / 2;
endOfPlatform = (int)(state.CurrentPlatform.minWidth() - 40) / 8;
endx = Math.Max(0, endOfPlatform);
for (int x = startx; x >= endx; x--)
{
for (int y = starty; y < endy; y++)
{
if (table[y, x] == 1 || table[y, x] == 2)
{
return((centerx - x) * 8);
}
}
}
return(centerx * 8 - width / 2);
}
else
{
startx = centerx + width / 8 / 2 - 1;
endOfPlatform = (int)(state.CurrentPlatform.minWidth() - 40) / 8;
endx = Math.Min(149, endOfPlatform);
for (int x = startx; x <= endx; x++)
{
for (int y = starty; y < endy; y++)
{
if (table[y, x] == 1 || table[y, x] == 2)
{
return((x - centerx) * 8);
}
}
}
return((149 - centerx) * 8 - width / 2);
}
}
protected Boolean canPassOver(State newstate, State oldstate, InfoDomain domain)
{
float oldpx = (oldstate.getPosX() - 40) / 8;
float oldpy = (oldstate.getPosY() - 40) / 8;
float newpx = (newstate.getPosX() - 40) / 8;
float newpy = (newstate.getPosY() - 40) / 8;
int ioldpx = (int)oldpx;
int inewpx = (int)newpx;
int ioldpy = (int)oldpy;
int inewpy = (int)newpy;
int startx;
int endx;
int starty;
int endy;
int iterx;
if (topy <= ((newstate.CurrentPlatform.maxHeight() - 40) / 8) - 12)
{
return(false);
}
int halfheight = newstate.getSizeOfAgent() / 2;
int halfwidth = getWidth(newstate.getSizeOfAgent()) / 2;
int[,] table = domain.Table;
startx = topx - 12; // 12 = NORMALSIZE / 8
endx = topx + 12;
starty = topy - 13;
endy = topy;
if (starty < 0 || endy >= 90 || startx < 0 || endx >= 150)
{
return(false);
}
for (; starty < /*<=?*/ endy; starty++)
{
iterx = startx;
for (; iterx < /*<=?*/ endx; iterx++)
{
if (table[starty, iterx] == 1 || table[starty, iterx] == 2)
{
return(false);
}
}
}
return(true);
}
protected override Boolean thereIsWallBetweenV(State newstate, State oldstate, InfoDomain domain)
{
float oldpx = (oldstate.getPosX() - 40) / 8;
float oldpy = (oldstate.getPosY() - 40) / 8;
float newpx = (newstate.getPosX() - 40) / 8;
float newpy = (newstate.getPosY() - 40) / 8;
int ioldpx = (int)oldpx;
int inewpx = (int)newpx;
int ioldpy = (int)oldpy;
int inewpy = (int)newpy;
int startx;
int endx;
int starty;
int endy;
int iterx;
int halfheight = newstate.getSizeOfAgent() / 2;
int halfwidth = getWidth(newstate.getSizeOfAgent()) / 2;
if (newstate.getAction() == 2)
{
float newx = newstate.getPosX();
float collectibley = 720;
for (int i = oldstate.sizeOfCaughtCollectible() * 2; i < newstate.sizeOfCaughtCollectible() * 2; i += 2)
{
if (newstate.getCaughtCollectible(i + 1) < collectibley)
{
collectibley = newstate.getCaughtCollectible(i + 1);
newx = newstate.getCaughtCollectible(i);
}
}
starty = (int)(collectibley + 32 - 40) / 8;
if (starty < 0)
{
starty = 0;
}
int height = (int)(newstate.CurrentPlatform.maxHeight() - collectibley - 32);
halfwidth = getWidth(height) / 2;
endy = (int)(newstate.getPosY() - 40 + oldstate.getSizeOfAgent() / 2) / 8;
startx = (int)(newstate.getPosX() - 40 - halfwidth) / 8;
endx = (int)(newstate.getPosX() - 40 + halfwidth) / 8;
//
newstate.point.Size = (int)(newstate.CurrentPlatform.maxHeight() - collectibley - 32);
newstate.setSizeOfAgent(newstate.point.Size);
newstate.setPosY(newstate.CurrentPlatform.maxHeight() - newstate.getSizeOfAgent() / 2);
//
newstate.point.x = newx;
}
else
{
if (inewpy > ioldpy)
{
starty = (int)(oldstate.getPosY() - 40 - halfheight) / 8;
endy = (int)(newstate.getPosY() - 40 + halfheight) / 8;
}
else
{
starty = (int)(newstate.getPosY() - 40 - halfheight) / 8;
endy = (int)(oldstate.getPosY() - 40 + halfheight) / 8;
}
startx = (int)(newstate.getPosX() - 40 - halfwidth) / 8;
endx = (int)(newstate.getPosX() - 40 + halfwidth) / 8;
}
int[,] table = domain.Table;
for (; starty < /*<=?*/ endy; starty++)
{
iterx = startx;
for (; iterx < /*<=?*/ endx; iterx++)
{
if (table[starty, iterx] == 1 || table[starty, iterx] == 2)
{
return(true);
}
}
}
return(false);
}
public override Boolean validate(RectangleNode newnode, RectangleNode oldnode, InfoDomain domain, Graph graph)
{
State newstate = newnode.getState();
State oldstate = oldnode.getState();
// The 3rd and 4th action were already verified
if (newnode.getState().getAction() == 3 || newnode.getState().getAction() == 4)
{
return(true);
}
if (outsideOfMap(newstate))
{
return(false);
}
else
{
if (isVerticalMovement(oldstate, newstate) || newstate.getAction() == 2) //se foi gap nao fazer isto
{
if (thereIsWallBetweenV(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
else
{
if (thereIsWallBetweenH(newstate, oldstate, domain))
{
if (emptyBottom)
{
oldnode._busyActions[3] = false;
emptyBottom = false;
if (newstate.getVelocityX() == 0)
{
oldnode._busyMorphLeft = false;
}
else
{
oldnode._busyMorphRight = false;
}
//may need to put a turning point.
}
if (canPassOver(newstate, oldstate, domain))
{
oldnode._busyActions[4] = false;
if (newstate.getVelocityX() == 0)
{
oldnode._busyTiltLeft = false;
}
else
{
oldnode._busyTiltRight = false;
}
//may need to put a turning point.
}
if ((!oldnode._busyActions[3] || !oldnode._busyActions[4]))
{
if (!graph.NonBusyNodes.Contains(oldnode))
{
graph.NonBusyNodes.Add(oldnode);
}
}
return(false);
}
else
{
return(true);
}
}
}
}
protected override Boolean thereIsWallBetweenH(State newstate, State oldstate, InfoDomain domain)
{
float oldpx = (oldstate.getPosX() - 40) / 8;
float oldpy = (oldstate.getPosY() - 40) / 8;
float newpx = (newstate.getPosX() - 40) / 8;
float newpy = (newstate.getPosY() - 40) / 8;
int ioldpx = (int)oldpx;
int inewpx = (int)newpx;
int ioldpy = (int)oldpy;
int inewpy = (int)newpy;
int startx;
int endx;
int starty;
int endy;
int midy;
int iterx;
bool walltop = false;
bool wallbottom = false;
int halfheight = newstate.getSizeOfAgent() / 2;
int oldhalfwidth = getWidth(oldstate.getSizeOfAgent()) / 2;
int halfwidth = getWidth(newstate.getSizeOfAgent()) / 2;
int[,] table = domain.Table;
if (inewpx > ioldpx)
{
startx = (int)(oldstate.getPosX() - 40 + oldhalfwidth) / 8;
endx = (int)(newstate.getPosX() - 40 + halfwidth) / 8;;
}
else
{
startx = (int)(newstate.getPosX() - 40 - halfwidth) / 8;
endx = (int)(oldstate.getPosX() - 40 - oldhalfwidth) / 8;
}
starty = (int)(oldstate.getPosY() - 40 - halfheight) / 8;
endy = (int)(oldstate.getPosY() - 40 + halfheight) / 8;
midy = endy - 6;
for (; starty < /*<=?*/ midy; starty++)
{
iterx = startx;
for (; iterx < /*<=?*/ endx; iterx++)
{
if (table[starty, iterx] == 1 || table[starty, iterx] == 2)
{
topy = starty;
topx = iterx;
walltop = true;
break;
}
}
if (walltop)
{
break;
}
}
starty = midy;
for (; starty < /*<=?*/ endy; starty++)
{
iterx = startx;
for (; iterx < /*<=?*/ endx; iterx++)
{
if (table[starty, iterx] == 1 || table[starty, iterx] == 2)
{
if (!walltop)
{
topy = starty;
topx = iterx;
}
wallbottom = true;
break;
}
}
if (wallbottom)
{
break;
}
}
if (!walltop && !wallbottom)
{
return(false);
}
else
{
if (walltop && !wallbottom)
{
emptyBottom = true;
}
return(true);
}
}
public override Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph)
{
return(false);
}
protected override Boolean thereIsWallBetweenV(State newstate, State oldstate, InfoDomain domain)
{
float oldpx = (oldstate.getPosX() - 40) / 8;
float oldpy = (oldstate.getPosY() - 40) / 8;
float newpx = (newstate.getPosX() - 40) / 8;
float newpy = (newstate.getPosY() - 40) / 8;
int ioldpx = (int)oldpx;
int inewpx = (int)newpx;
int ioldpy = (int)oldpy;
int inewpy = (int)newpy;
int startx;
int endx;
int starty;
int endy;
int[,] table = domain.Table;
//int maxHeight = 300;
if (newstate.getAction() == 3)
{
starty = (int)(newstate.getPosY() - 40 - radiusOfCircle) / 8;
endy = (int)(oldstate.getPosY() - 40 + radiusOfCircle) / 8;
startx = (int)(oldstate.getPosX() - 40 - radiusOfCircle) / 8;
endx = (int)(oldstate.getPosX() - 40 + radiusOfCircle) / 8;
}
else
if (newstate.getAction() == 2)
{
float collectibley = 720;
for (int i = oldstate.sizeOfCaughtCollectible() * 2; i < newstate.sizeOfCaughtCollectible() * 2; i += 2)
{
if (newstate.getCaughtCollectible(i + 1) < collectibley)
{
collectibley = newstate.getCaughtCollectible(i + 1);
}
}
starty = (int)(collectibley + 32 - 40) / 8;
if (starty < 0)
{
starty = 0;
}
endy = (int)(newstate.getPosY() - 40 + radiusOfCircle) / 8;
startx = (int)(newstate.getPosX() - 40 - radiusOfCircle) / 8;
endx = (int)(newstate.getPosX() - 40 + radiusOfCircle) / 8;
}
else
{
if (inewpy > ioldpy)
{
starty = (int)(oldstate.getPosY() - 40 - radiusOfCircle) / 8;
endy = (int)(newstate.getPosY() - 40 + radiusOfCircle) / 8;
}
else
{
starty = (int)(newstate.getPosY() - 40 - radiusOfCircle) / 8;
endy = (int)(oldstate.getPosY() - 40 + radiusOfCircle) / 8;
}
startx = (int)(newstate.getPosX() - 40 - radiusOfCircle) / 8;
endx = (int)(newstate.getPosX() - 40 + radiusOfCircle) / 8;
}
for (; starty < /*<=?*/ endy; starty++)
{
for (int iterx = startx; iterx < /*<=?*/ endx; iterx++)
{
if (table[starty, iterx] == 1 || table[starty, iterx] == 3)
{
return(true);
}
}
}
return(false);
}
public override RectangleNode apply(RectangleNode Xinit, InfoDomain _domain, Graph graph)
{
bool newState = false;
RectangleActions rAction = new RectangleActions();
int action = 0;
State s = null;
while (!newState)
{
if (Xinit.allActionsBusy())
{
graph.NonBusyNodes.Remove(Xinit);
return(null);
}
action = rAction.getRandomAction();
switch (action)
{
case 0: //MOVE_LEFT
if (!Xinit._busyActions[0])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() - 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 0; // 0 means going left
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 0, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
s.point.Size = s.getSizeOfAgent();
int halfwidth = getWidth(s.getSizeOfAgent()) / 2;
int halfheight = s.getSizeOfAgent() / 2;
if (s.getPosX() + MINSIZE / 2 <= Xinit.getState().CurrentPlatform.minWidth())
{
if ((!Xinit.getState().SpecialMoveL) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
//when it's gap it just needs to keep on going, but for the planning sake
//we moved it's position to next platform's begining
s.setPosX(s.getPosX() - gapInfo[0] - halfwidth);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
Xinit.getState().SpecialMoveL = true;
s.setPosX(s.CurrentPlatform.maxWidth() - halfwidth);
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.Size = s.getSizeOfAgent();
s.point.x = s.getPosX();
}
else
{
if (Xinit.getState().SpecialMoveL)
{
gapInfo = gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max);
int gapsize = (int)gapInfo[3];
if (gapsize <= NORMALSIZE)
{
s.setSizeOfAgent(getHeight(gapsize - 16));
if (gapsize < MINSIZE)
{
s.setSizeOfAgent(MAXSIZE);
}
}
else
{
s.setSizeOfAgent(NORMALSIZE);
}
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, NORMALSIZE);
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Xinit.getState().CurrentPlatform.minWidth() - gapsize / 2;
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.FallGap = true;
}
else
{
s.point.x = Xinit.getState().CurrentPlatform.minWidth() - halfwidth;
s.setPosX(s.point.x);
s.setSizeOfAgent(possibleHeight(s, _domain));
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(Xinit.getState().CurrentPlatform.maxHeight() - halfheight); //so distanceForMomentum is correct
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
int distance = distanceForMomentum(s, _domain);
s.point.DistanceMomentum = distance;
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, distance);
s.point.DistancePlatform = (int)Math.Max(0, Xinit.getState().CurrentPlatform.minWidth() - s.CurrentPlatform.maxWidth());
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Math.Min((Xinit.getState().CurrentPlatform.minWidth() - halfwidth), (s.CurrentPlatform.maxWidth() - halfwidth));
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.Fall = true;
}
if (s.getSizeOfAgent() != Xinit.getState().getSizeOfAgent())
{
s.point.Morph = true;
}
Xinit.setActionBusy(0);
}
}
else
{
Xinit.setActionBusy(0);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 1: //MOVE_RIGHT
if (!Xinit._busyActions[1])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() + 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 1; // 1 means going right
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 1, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
s.point.Size = s.getSizeOfAgent();
int halfwidth = getWidth(s.getSizeOfAgent()) / 2;
int halfheight = s.getSizeOfAgent() / 2;
if (s.getPosX() - MINSIZE / 2 >= Xinit.getState().CurrentPlatform.maxWidth())
{
if ((!Xinit.getState().SpecialMoveR) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
//when it's gap it just needs to keep on going, but for the planning sake
//we moved it's position to next platform's begining
s.setPosX(s.getPosX() + gapInfo[0] + halfwidth);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
Xinit.getState().SpecialMoveR = true;
s.setPosX(s.CurrentPlatform.minWidth() + halfwidth);
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = s.getPosY();
s.point.x = s.getPosX();
}
else
{
if (Xinit.getState().SpecialMoveR)
{
gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max);
int gapsize = (int)gapInfo[3];
if (gapsize <= NORMALSIZE)
{
s.setSizeOfAgent(getHeight(gapsize - 16));
if (gapsize < MINSIZE)
{
s.setSizeOfAgent(MAXSIZE);
}
}
else
{
s.setSizeOfAgent(NORMALSIZE);
}
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, NORMALSIZE);
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + gapsize / 2;
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.FallGap = true;
}
else
{
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + halfwidth;
s.setPosX(s.point.x);
s.setSizeOfAgent(possibleHeight(s, _domain));
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + halfwidth;
s.setPosX(s.point.x);
s.setPosY(Xinit.getState().CurrentPlatform.maxHeight() - halfheight);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
int distance = distanceForMomentum(s, _domain);
s.point.DistanceMomentum = distance;
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, distance);
s.point.DistancePlatform = (int)Math.Max(0, s.CurrentPlatform.minWidth() - Xinit.getState().CurrentPlatform.maxWidth());
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Math.Max((Xinit.getState().CurrentPlatform.maxWidth() + halfwidth), (s.CurrentPlatform.minWidth() + halfwidth));
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.Fall = true;
}
if (s.getSizeOfAgent() != Xinit.getState().getSizeOfAgent())
{
s.point.Morph = true;
}
Xinit.setActionBusy(1);
}
}
else
{
Xinit.setActionBusy(1);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 2: //MORPH_UP
if (!Xinit._busyActions[2])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX();
newcoordinates[1] = Xinit.getState().getPosY() + Xinit.getState().getSizeOfAgent() / 2 - MAXSIZE;
newcoordinates[2] = Xinit.getState().getVelocityX();
newcoordinates[3] = Xinit.getState().getVelocityY();
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 2, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
Xinit.setActionBusy(2);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
this.caughtCollectible(Xinit.getState(), s);
s.setPosY(Xinit.getState().getPosY());
s.point.y = s.getPosY(); //ok?
if (Xinit.getState().sizeOfCaughtCollectible() < s.sizeOfCaughtCollectible())
{
s.point.DiamondAbove = true;
if (Xinit.getState().getAction() == 0)
{
s.point.x -= 32;
s.point.x -= radius;
}
else if (Xinit.getState().getAction() == 1)
{
s.point.x += 32;
s.point.x += radius;
}
}
else
{
continue;
}
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 3: //MORPH_DOWN
if (!Xinit._busyActions[3])
{
float[] newcoordinates = new float[4];
if (!Xinit._busyMorphLeft)
{
newcoordinates[2] = 0;
Xinit._busyMorphLeft = true;
}
else if (!Xinit._busyMorphRight)
{
newcoordinates[2] = 1;
Xinit._busyMorphRight = true;
}
newcoordinates[3] = Xinit.getState().getVelocityY();
if (newcoordinates[2] == 0)
{
newcoordinates[0] = Xinit.getState().getPosX() - 32;
}
else if (newcoordinates[2] == 1)
{
newcoordinates[0] = Xinit.getState().getPosX() + 32;
}
newcoordinates[1] = Xinit.getState().getPosY() + Xinit.getState().getSizeOfAgent() / 2 - MINSIZE / 2;
//float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 3, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(MINSIZE);
s.point.Size = s.getSizeOfAgent();
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
s.point.Morph = true;
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (Xinit._busyMorphLeft && Xinit._busyMorphRight)
{
Xinit.setActionBusy(3);
}
if (!this.contains(s, graph)) //TODO equals ter em conta o size
{
newState = true;
}
}
break;
case 4: //TILT
if (!Xinit._busyActions[4])
{
int halfwidth = getWidth(Xinit.getState().getSizeOfAgent()) / 2;
float[] newcoordinates = new float[4];
if (!Xinit._busyTiltLeft)
{
Xinit._busyTiltLeft = true;
newcoordinates[2] = 0;
newcoordinates[0] = Xinit.getState().getPosX() - 32 - halfwidth;
}
else if (!Xinit._busyTiltRight)
{
Xinit._busyTiltRight = true;
newcoordinates[2] = 1;
newcoordinates[0] = Xinit.getState().getPosX() + 32 + halfwidth;
}
newcoordinates[3] = Xinit.getState().getVelocityY();
newcoordinates[1] = Xinit.getState().getPosY() - 96;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 4, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(96);
s.point.Size = s.getSizeOfAgent();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
s.point.Size = getMaxHeight(s, Xinit.getState(), _domain) - 10;
//Can be wrong if platform is smaller than 96
if (newcoordinates[2] == 0)
{
s.setPosX(s.CurrentPlatform.maxWidth() - s.getSizeOfAgent() / 2); //change if you change the size from 96
}
else
{
s.setPosX(s.CurrentPlatform.minWidth() + s.getSizeOfAgent() / 2); //change if you change the size from 96
}
s.setPosY(s.CurrentPlatform.maxHeight() - s.getSizeOfAgent() / 2);
s.point.Tilt = true;
this.caughtCollectible(Xinit.getState(), s); //TODO ter em conta o start diferente
if (Xinit._busyTiltLeft && Xinit._busyTiltRight)
{
Xinit.setActionBusy(4);
}
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph)) //TODO equals ter em conta o size
{
newState = true;
}
}
break;
}
}
RectangleNode n = new RectangleNode(s);
return(n);
}
abstract public Boolean validate(CircleNode newnode, CircleNode oldnode, InfoDomain domain, Graph graph);
abstract public RectangleNode apply(RectangleNode Xinit, InfoDomain _domain, Graph graph);
abstract public CircleNode apply(CircleNode Xinit, InfoDomain _domain, Graph graph);
public void DeprecatedSetup(int[] nI, float[] sI, float[] cI, float[] oI, float[] sPI, float[] cPI, float[] colI, Rectangle area, double timeLimit)
{
// Time limit is the time limit of the level - if negative then there is no time constrains
this.area = area;
int temp;
// numbersInfo[] Description
//
// Index - Information
//
// 0 - Number of Obstacles
// 1 - Number of Rectangle Platforms
// 2 - Number of Circle Platforms
// 3 - Number of Collectibles
numbersInfo = new int[4];
int i;
for (i = 0; i < nI.Length; i++)
{
numbersInfo[i] = nI[i];
}
nCollectiblesLeft = nI[3];
// rectangleInfo[] Description
//
// Index - Information
//
// 0 - Rectangle X Position
// 1 - Rectangle Y Position
// 2 - Rectangle X Velocity
// 3 - Rectangle Y Velocity
// 4 - Rectangle Height
rectangleInfo = new float[5];
rectangleInfo[0] = sI[0];
rectangleInfo[1] = sI[1];
rectangleInfo[2] = sI[2];
rectangleInfo[3] = sI[3];
rectangleInfo[4] = sI[4];
// circleInfo[] Description
//
// Index - Information
//
// 0 - Circle X Position
// 1 - Circle Y Position
// 2 - Circle X Velocity
// 3 - Circle Y Velocity
// 4 - Circle Radius
circleInfo = new float[5];
circleInfo[0] = cI[0];
circleInfo[1] = cI[1];
circleInfo[2] = cI[2];
circleInfo[3] = cI[3];
circleInfo[4] = cI[4];
// Obstacles and Platforms Info Description
//
// X = Center X Coordinate
// Y = Center Y Coordinate
//
// H = Platform Height
// W = Platform Width
//
// Position (X=0,Y=0) = Left Superior Corner
// obstaclesInfo[] Description
//
// Index - Information
//
// If (Number of Obstacles > 0)
// [0 ; (NumObstacles * 4) - 1] - Obstacles' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[0] > 0)
{
obstaclesInfo = new float[numbersInfo[0] * 4];
}
else
{
obstaclesInfo = new float[4];
}
temp = 1;
if (nI[0] > 0)
{
while (temp <= nI[0])
{
obstaclesInfo[(temp * 4) - 4] = oI[(temp * 4) - 4];
obstaclesInfo[(temp * 4) - 3] = oI[(temp * 4) - 3];
obstaclesInfo[(temp * 4) - 2] = oI[(temp * 4) - 2];
obstaclesInfo[(temp * 4) - 1] = oI[(temp * 4) - 1];
temp++;
}
}
else
{
obstaclesInfo[0] = oI[0];
obstaclesInfo[1] = oI[1];
obstaclesInfo[2] = oI[2];
obstaclesInfo[3] = oI[3];
}
// rectanglePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Rectangle Platforms > 0)
// [0; (numRectanglePlatforms * 4) - 1] - Rectangle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[1] > 0)
{
rectanglePlatformsInfo = new float[numbersInfo[1] * 4];
}
else
{
rectanglePlatformsInfo = new float[4];
}
temp = 1;
if (nI[1] > 0)
{
while (temp <= nI[1])
{
rectanglePlatformsInfo[(temp * 4) - 4] = sPI[(temp * 4) - 4];
rectanglePlatformsInfo[(temp * 4) - 3] = sPI[(temp * 4) - 3];
rectanglePlatformsInfo[(temp * 4) - 2] = sPI[(temp * 4) - 2];
rectanglePlatformsInfo[(temp * 4) - 1] = sPI[(temp * 4) - 1];
temp++;
}
}
else
{
rectanglePlatformsInfo[0] = sPI[0];
rectanglePlatformsInfo[1] = sPI[1];
rectanglePlatformsInfo[2] = sPI[2];
rectanglePlatformsInfo[3] = sPI[3];
}
// circlePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Circle Platforms > 0)
// [0; (numCirclePlatforms * 4) - 1] - Circle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[2] > 0)
{
circlePlatformsInfo = new float[numbersInfo[2] * 4];
}
else
{
circlePlatformsInfo = new float[4];
}
temp = 1;
if (nI[2] > 0)
{
while (temp <= nI[2])
{
circlePlatformsInfo[(temp * 4) - 4] = cPI[(temp * 4) - 4];
circlePlatformsInfo[(temp * 4) - 3] = cPI[(temp * 4) - 3];
circlePlatformsInfo[(temp * 4) - 2] = cPI[(temp * 4) - 2];
circlePlatformsInfo[(temp * 4) - 1] = cPI[(temp * 4) - 1];
temp++;
}
}
else
{
circlePlatformsInfo[0] = cPI[0];
circlePlatformsInfo[1] = cPI[1];
circlePlatformsInfo[2] = cPI[2];
circlePlatformsInfo[3] = cPI[3];
}
//Collectibles' To Catch Coordinates (X,Y)
//
// [0; (numCollectibles * 2) - 1] - Collectibles' Coordinates (X,Y)
collectiblesInfo = new float[numbersInfo[3] * 2];
temp = 1;
while (temp <= nI[3])
{
collectiblesInfo[(temp * 2) - 2] = colI[(temp * 2) - 2];
collectiblesInfo[(temp * 2) - 1] = colI[(temp * 2) - 1];
temp++;
}
InfoDomain domain = new InfoDomain(nI, sI, cI, oI, sPI, cPI, colI, timeLimit, 0);
TableMaker table = new TableMaker(nI, oI, sPI, cPI, colI);
table.makeTable();
domain.Table = table.Table;
ArrayList collectibles = new ArrayList();
temp = 1;
while (temp <= nI[3])
{
collectibles.Add(colI[(temp * 2) - 2]);
collectibles.Add(colI[(temp * 2) - 1]);
temp++;
}
if (cI[0] > 0 && cI[1] > 0)
{
State root = new State(cI[2], cI[3], cI[0], cI[1], -1, collectibles, new ArrayList());
root.setSizeOfAgent(80);
CircleValidator validator = new CircleValidator();
CircleTactics tactics = new CircleTactics();
Obstacles.Obstacle o = domain.AllObstacles.getNextPlatform(root);
root.CurrentPlatform = o;
root.setPosY(root.CurrentPlatform.maxHeight() - root.getSizeOfAgent() / 2);
CircleGFRRT gfrrt = new CircleGFRRT(root, domain, 10000000, validator, tactics);
plays = gfrrt.run();
walker = new CircleWalker(plays);
pointToTarget = walker.getFirstPoint();
DebugSensorsInfo();
//p.Print();
}
}
private int possibleHeight(State state, InfoDomain domain)
{
int height = state.getSizeOfAgent();
int width = getWidth(height);
int centerx = (int)(state.getPosX() - 40) / 8;
int centery = (int)(state.getPosY() - 40) / 8;
bool thereiswall = true;
int[,] table = domain.Table;
float v = state.getVelocityX();
int x;
if (v == 0)
{
x = centerx - (width / 8) / 2;
if (x < 0)
{
width -= (0 - x) * 8;
if (width < 48)
{
return(96);
}
centerx += ((0 - x) / 2);
x = 0;
}
}
else
{
x = centerx + (width / 8) / 2 - 1;
if (x > 149)
{
width -= ((x - 149) * 8);
if (width < 48)
{
return(96);
}
centerx -= ((x - 149) / 2);
x = 149;
}
}
height = getHeight(width);
int starty = centery - (height / 8) / 2;
int endy = centery + (height / 8) / 2;
if (endy > 89)
{
endy = 89;
}
int iter = 1;
while (thereiswall)
{
thereiswall = false;
for (int y = starty; y < endy; y++)
{
if (table[y, x] == 1 || table[y, x] == 2)
{
thereiswall = true;
break;
}
}
if (thereiswall)
{
width -= 8;
if (width < 48)
{
return(96); //it wont pass the validator either way
}
height = getHeight(width);
// Y will be checked by the validator
if (v == 0)
{
if (iter % 2 == 0)
{
centerx += 1; //half what we took from the width
}
x = centerx - (width / 8) / 2;
}
else
{
if (iter % 2 == 0)
{
centerx -= 1; //half what we took from the width
}
x = centerx + (width / 8) / 2 - 1;
}
iter++;
}
}
if (height < 192 - 10)
{
return(height + 10);
}
else
{
return(height);
}
}
abstract protected Boolean thereIsWallBetweenV(State newstate, State oldstate, InfoDomain domain);
protected override Boolean thereIsWallBetweenH(State newstate, State oldstate, InfoDomain domain)
{
float oldpx = (oldstate.getPosX() - 40) / 8;
float oldpy = (oldstate.getPosY() - 40) / 8;
float newpx = (newstate.getPosX() - 40) / 8;
float newpy = (newstate.getPosY() - 40) / 8;
int ioldpx = (int)oldpx;
int inewpx = (int)newpx;
int ioldpy = (int)oldpy;
int inewpy = (int)newpy;
int startx;
int endx;
int starty;
int endy;
int[,] table = domain.Table;
// If horizontal movement
if (inewpy == ioldpy)
{
if (inewpx > ioldpx)
{
startx = (int)(oldstate.getPosX() - 40 + 40) / 8;
endx = (int)(newstate.getPosX() - 40 + 40) / 8;;
}
else
{
startx = (int)(newstate.getPosX() - 40 - 40) / 8;
endx = (int)(oldstate.getPosX() - 40 - 40) / 8;
}
starty = (int)(oldstate.getPosY() - 40 - 40) / 8;
endy = (int)(oldstate.getPosY() - 40 + 40) / 8;
for (; starty < /*<=?*/ endy; starty++)
{
for (; startx < /*<=?*/ endx; startx++)
{
if (table[starty, startx] == 1 || table[starty, startx] == 3)
{
return(true);
}
}
}
return(false);
}
return(false);
}
abstract public Boolean validate(RectangleNode newnode, RectangleNode oldnode, InfoDomain domain, Graph graph);
public override CircleNode apply(CircleNode Xinit, InfoDomain _domain, Graph graph)
{
return(null);
}