//class NodeAStar
//{
// public GraphPoint<NaviPoint> point;
// public NodeAStar father;
// public float G;
// public float H;
// public float F;
// public NodeAStar ( GraphPoint<NaviPoint> point, NodeAStar father )
// {
// this.point = point;
// this.father = father;
// this.G = 0;
// this.H = 0;
// this.F = 0;
// }
//}
//private void CalPath ()
//{
// if (naviMap == null)
// return;
// #region 复制导航图
// GraphPoint<NaviPoint>[] map = new GraphPoint<NaviPoint>[naviMap.Map.Length + 2];
// GraphPoint<NaviPoint>[] temp = GraphPoint<NaviPoint>.DepthCopy( naviMap.Map );
// for (int i = 0; i < temp.Length; i++)
// {
// map[i] = temp[i];
// }
// #endregion
// #region 将当前点和目标点加入到导航图中
// int prePointSum = temp.Length;
// Vector2 curPos = orderServer.Pos;
// GraphPoint<NaviPoint> curNaviPoint = new GraphPoint<NaviPoint>( new NaviPoint( null, -1, curPos ), new List<GraphPath<NaviPoint>>() );
// GraphPoint<NaviPoint> aimNaviPoint = new GraphPoint<NaviPoint>( new NaviPoint( null, -1, aimPos ), new List<GraphPath<NaviPoint>>() );
// AddCurPosToNaviMap( map, curNaviPoint, prePointSum, naviMap.GuardLines, naviMap.BorderLines );
// AddAimPosToNaviMap( map, aimNaviPoint, curNaviPoint, prePointSum, naviMap.GuardLines, naviMap.BorderLines );
// #endregion
// #region 计算最短路径，使用A*算法
// List<NodeAStar> open = new List<NodeAStar>();
// List<NodeAStar> close = new List<NodeAStar>();
// open.Add( new NodeAStar( curNaviPoint, null ) );
// NodeAStar cur = null;
// while (open.Count != 0)
// {
// cur = open[open.Count - 1];
// if (cur.point == aimNaviPoint)
// break;
// open.RemoveAt( open.Count - 1 );
// close.Add( cur );
// foreach (GraphPath<NaviPoint> path in cur.point.neighbors)
// {
// if (Contains( close, path.neighbor ))
// {
// continue;
// }
// else
// {
// NodeAStar inOpenNode;
// if (Contains( open, path.neighbor, out inOpenNode ))
// {
// float G = cur.G + path.weight;
// if (inOpenNode.G > G)
// {
// inOpenNode.G = G;
// inOpenNode.F = G + inOpenNode.H;
// }
// }
// else
// {
// NodeAStar childNode = new NodeAStar( path.neighbor, cur );
// childNode.G = cur.G + path.weight;
// childNode.H = Vector2.Distance( aimPos, childNode.point.value.Pos );
// childNode.F = childNode.G + childNode.H;
// SortInsert( open, childNode );
// }
// }
// }
// }
// if (cur == null)
// return;
// Stack<NodeAStar> cahe = new Stack<NodeAStar>();
// while (cur.father != null)
// {
// cahe.Push( cur );
// cur = cur.father;
// }
// this.path = new NaviPoint[cahe.Count];
// int j = 0;
// foreach (NodeAStar node in cahe)
// {
// this.path[j] = node.point.value;
// }
// curPathIndex = 0;
// #endregion
//}
//private void SortInsert ( List<NodeAStar> open, NodeAStar childNode )
//{
// int i = 0;
// while (i < open.Count && open[i].F > childNode.F)
// {
// i++;
// }
// if (i == open.Count)
// open.Add( childNode );
// else
// open.Insert( i, childNode );
//}
//private bool Contains ( List<NodeAStar> list, GraphPoint<NaviPoint> graphPoint, out NodeAStar findNode )
//{
// if ((findNode = list.Find( new Predicate<NodeAStar>(
// delegate( NodeAStar node )
// {
// if (node.point == graphPoint)
// return true;
// else
// return false;
// } ) )) == null)
// return false;
// else
// return true;
//}
//private bool Contains ( List<NodeAStar> list, GraphPoint<NaviPoint> graphPoint )
//{
// if (list.Find( new Predicate<NodeAStar>(
// delegate( NodeAStar node )
// {
// if (node.point == graphPoint)
// return true;
// else
// return false;
// } ) ) == null)
// return false;
// else
// return true;
//}
//private void AddCurPosToNaviMap ( GraphPoint<NaviPoint>[] map, GraphPoint<NaviPoint> curNaviP,
// int prePointSum, List<Segment> guardLines, List<Segment> borderLines )
//{
// map[prePointSum] = curNaviP;
// for (int i = 0; i < prePointSum; i++)
// {
// Segment seg = new Segment( curNaviP.value.Pos, map[i].value.Pos );
// bool cross = false;
// foreach (Segment guardLine in guardLines)
// {
// if (Segment.IsCross( guardLine, seg ))
// {
// cross = true;
// break;
// }
// }
// if (!cross)
// {
// foreach (Segment borderLine in borderLines)
// {
// if (Segment.IsCross( borderLine, seg ))
// {
// cross = true;
// break;
// }
// }
// }
// if (!cross)
// {
// float weight = Vector2.Distance( curNaviP.value.Pos, map[i].value.Pos );
// GraphPoint<NaviPoint>.Link( map[i], curNaviP, weight );
// }
// }
//}
//private void AddAimPosToNaviMap ( GraphPoint<NaviPoint>[] map, GraphPoint<NaviPoint> aimNaviP, GraphPoint<NaviPoint> curNaviP,
// int prePointSum, List<Segment> guardLines, List<Segment> borderLines )
//{
// map[prePointSum + 1] = aimNaviP;
// for (int i = 0; i < prePointSum; i++)
// {
// Segment seg = new Segment( aimNaviP.value.Pos, map[i].value.Pos );
// bool cross = false;
// foreach (Segment guardLine in guardLines)
// {
// if (Segment.IsCross( guardLine, seg ))
// {
// cross = true;
// break;
// }
// }
// if (!cross)
// {
// foreach (Segment borderLine in borderLines)
// {
// if (Segment.IsCross( borderLine, seg ))
// {
// cross = true;
// break;
// }
// }
// }
// if (!cross)
// {
// float weight = Vector2.Distance( aimNaviP.value.Pos, map[i].value.Pos );
// GraphPoint<NaviPoint>.Link( map[i], aimNaviP, weight );
// }
// }
// Segment curToAim = new Segment( curNaviP.value.Pos, aimNaviP.value.Pos );
// bool link = true;
// foreach (Segment guardLine in guardLines)
// {
// if (Segment.IsCross( guardLine, curToAim ))
// {
// if (MathTools.Vector2Cross( guardLine.endPoint - guardLine.startPoint, curNaviP.value.Pos - guardLine.endPoint ) < 0)
// {
// link = false;
// break;
// }
// }
// }
// if (link)
// {
// foreach (Segment borderLine in borderLines)
// {
// if (Segment.IsCross( borderLine, curToAim ))
// {
// link = false;
// break;
// }
// }
// }
// if (link)
// {
// float weight = Vector2.Distance( curNaviP.value.Pos, aimNaviP.value.Pos );
// GraphPoint<NaviPoint>.Link( curNaviP, aimNaviP, weight );
// }
//}
private void UpdateNaviMap()
{
this.naviMap = orderServer.CalNavigateMap(new NaviMapConsiderObj(
delegate(EyeableBorderObjInfo obj)
{
return(true);
}), mapSize, orderServer.TankWidth * 0.6f);
}
public void Update(float seconds)
{
if (InputHandler.IsKeyDown(Keys.W))
{
orderServer.ForwardSpeed = 1000;
}
else if (InputHandler.IsKeyDown(Keys.S))
{
orderServer.ForwardSpeed = -1000;
}
else
{
orderServer.ForwardSpeed = 0;
}
if (InputHandler.IsKeyDown(Keys.D))
{
orderServer.TurnRightSpeed = 20;
}
else if (InputHandler.IsKeyDown(Keys.A))
{
orderServer.TurnRightSpeed = -20;
}
else
{
orderServer.TurnRightSpeed = 0;
}
if (InputHandler.MouseJustPressRight)
{
action.AddOrder(new OrderRotaRaderToPos(InputHandler.GetCurMousePosInLogic(BaseGame.RenderEngine)));
}
action.AddOrder(new OrderRotaTurretToPos(InputHandler.GetCurMousePosInLogic(BaseGame.RenderEngine)));
//if (InputHandler.JustPressKey( Keys.C ))
//{
foreach (EyeableBorderObjInfo borderObj in orderServer.EyeableBorderObjInfos)
{
borderObj.UpdateConvexHall(10);
}
//}
//if (InputHandler.JustPressKey( Keys.N ))
//{
naviMap = orderServer.CalNavigateMap(
delegate(EyeableBorderObjInfo obj)
{
//if (((SceneCommonObjInfo)(obj.EyeableInfo.ObjInfo.SceneInfo)).isTankObstacle)
return(true);
//else
//return false;
}, commonServer.MapBorder, 5);
//}
action.Update(seconds);
itemDisappeared = false;
foreach (EyeableBorderObjInfo borderObjInfo in orderServer.EyeableBorderObjInfos)
{
if (borderObjInfo.EyeableInfo.ObjInfo.ObjClass == "Item")
{
if (borderObjInfo.IsDisappeared)
{
itemDisappeared = true;
}
}
}
seeItem = false;
foreach (IEyeableInfo eyeableInfo in orderServer.GetEyeableInfo())
{
if (eyeableInfo.ObjInfo.ObjClass == "Item")
{
seeItem = true;
}
}
}