void Update()
{
//if the agent should perform autonomous behavior
if (ServerAgentBehavior)
{
/** AGENT AUTOMATON **/
//--------------------------------------------------------------------
//CURRENT STATE: GAME NOT YET IN PROGRESS
//--------------------------------------------------------------------
if (agentAuto.CurrState == AgentAutomaton.WAIT_GAME_BEGIN)
{
//if the Match begins
if (GeneralUtils.MatchInProgress() && ballLaunched)
{
//get match information
byte config = GeneralUtils.GetCurrentConfig();
//reset flag
ballLaunched = false;
//enact transition to the next state
if (!GeneralUtils.AgentPlaying(config))
{
agentAuto.Transition(AgentAutomaton.NOT_USING_AGENT);
}
else
{
agentAuto.Transition(AgentAutomaton.GAME_IN_PROGRESS);
}
}
}
//--------------------------------------------------------------------
//CURRENT STATE: GAME IN PROGRESS
//--------------------------------------------------------------------
else if (agentAuto.CurrState == AgentAutomaton.GAME_IN_PROGRESS)
{
//if the game ends
if (!GeneralUtils.MatchInProgress())
{
//reset position
transform.position = initPos;
//enact transition to the next state
agentAuto.Transition(AgentAutomaton.WAIT_GAME_BEGIN);
}
else
{
//---------------------------------------------
//if EASY difficulty
//---------------------------------------------
if (mySkillLevel == GeneralUtils.AGENT_SKILL_RANDOM)
{
if (DateTime.Now.Subtract(timeOfLastIncrement).TotalMilliseconds >= stepCount)
{
//capture the current time
timeOfLastIncrement = DateTime.Now;
//calculate i (time elapsed)
if (dir == true) //moving up
{
ii += stepCount;
if (ii >= t)
{
dir = !dir;
}
}
else //moving down
{
ii -= stepCount;
if (ii <= 0)
{
dir = !dir;
}
}
//set my position
transform.position = new Vector3(transform.position.x, ((e - b) * ii) / t + b, 0);
}
}
//---------------------------------------------
//if MEDIUM or HARD difficulty
//---------------------------------------------
else if (mySkillLevel == GeneralUtils.AGENT_SKILL_NORMAL || mySkillLevel == GeneralUtils.AGENT_SKILL_FAST)
{
//CURRENT STATE: AGENT PADDLE IS DORMANT
if (motionAuto.CurrState == MotionPlanningAutomaton.DORMANT)
{
//if the ball has moved closer to the agent paddle
if (ballMovingToRight)
{
//reset flag
ballMovingToRight = false;
//capture the current time
timeBallMovesTowardsAgent = DateTime.Now;
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.BRIEF_PAUSE);
}
}
//CURRENT STATE: BRIEF PAUSE
else if (motionAuto.CurrState == MotionPlanningAutomaton.BRIEF_PAUSE)
{
//if some small time has passed
if (DateTime.Now.Subtract(timeBallMovesTowardsAgent).TotalMilliseconds > 400)
{
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.CALCULATING_TRAJECTORY);
}
}
//CURRENT STATE: CALCULATING TRAJECTORY
else if (motionAuto.CurrState == MotionPlanningAutomaton.CALCULATING_TRAJECTORY)
{
//calculate trajectory
DestPos = GeneralUtils.GetAgentDestination();
if (DestPos.y > yMax)
{
DestPos.y = yMax;
}
if (DestPos.y < yMin)
{
DestPos.y = yMin;
}
// //place the indicator at the destination position for debugging purposes
// destIndic.transform.position = new Vector3( DestPos.x, DestPos.y, 0 );
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.MOVING_TOWARDS_GOAL);
}
//CURRENT STATE: AGENT PADDLE MOVING TOWARDS GOAL
else if (motionAuto.CurrState == MotionPlanningAutomaton.MOVING_TOWARDS_GOAL)
{
//if the ball hits something else on the way towards the paddle
if (ballHitSomething)
{
//reset event flag
ballHitSomething = false;
//capture the current time
timeBallMovesTowardsAgent = DateTime.Now;
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.BRIEF_PAUSE);
}
//move towards goal if not yet at goal
else if (Vector2.Distance(GeneralUtils.GetAgentPosition(), DestPos) > 2F)
{
Vector3 pos = transform.position;
if (pos.y > yMax)
{
pos.y = yMax;
}
if (pos.y < yMin)
{
pos.y = yMin;
}
float k = mySkillLevel == GeneralUtils.AGENT_SKILL_NORMAL ? NORMAL : FAST;
float speed = Time.deltaTime * k;
Vector2 updatePos = Vector2.MoveTowards(GeneralUtils.GetAgentPosition(), DestPos, speed);
pos.y = updatePos.y;
transform.position = pos;
}
//otherwise, arrived at goal
else
{
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.AT_GOAL);
}
}
//CURRENT STATE: AGENT PADDLE IS AT GOAL
else if (motionAuto.CurrState == MotionPlanningAutomaton.AT_GOAL)
{
//if the ball has moved further away from the agent paddle
if (ballMovingToLeft)
{
//reset flag
ballMovingToLeft = false;
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.DORMANT);
}
//if the ball hits something else on the way towards the paddle
else if (ballHitSomething)
{
//reset flag
ballHitSomething = false;
//capture the current time
timeBallMovesTowardsAgent = DateTime.Now;
//print ("re-calculating after ball hit divider<------------------");
//enact transition to the next state
motionAuto.Transition(MotionPlanningAutomaton.BRIEF_PAUSE);
}
}
}
}
}
//--------------------------------------------------------------------
//CURRENT STATE: NOT USING AGENT
//--------------------------------------------------------------------
else if (agentAuto.CurrState == AgentAutomaton.NOT_USING_AGENT)
{
}
}
}