public void GetPortals()
{
Portals.Clear();
for (int i = 0; i < TriPath.Count - 1; i++)
{
Pair <Vector3, Vector3> portal = new Pair <Vector3, Vector3>();
if (TriPath[i].U == TriPath[i + 1].U ||
TriPath[i].U == TriPath[i + 1].V || TriPath[i].U == TriPath[i + 1].W)
{
portal = new Pair <Vector3, Vector3>(TriPath[i].U.A, TriPath[i].U.B);
}
else if (TriPath[i].V == TriPath[i + 1].U ||
TriPath[i].V == TriPath[i + 1].V || TriPath[i].V == TriPath[i + 1].W)
{
portal = new Pair <Vector3, Vector3>(TriPath[i].V.A, TriPath[i].V.B);
}
else
{
portal = new Pair <Vector3, Vector3>(TriPath[i].W.A, TriPath[i].W.B);
}
if (Op2D.Cross(portal.first - TriPath[i].Center, portal.second - TriPath[i].Center) < 0)
{
Vector3 tmp = portal.first;
portal.first = portal.second;
portal.second = tmp;
}
Portals.Add(portal);
}
Portals.Add(new Pair <Vector3, Vector3>(EndPt, EndPt));
}
public bool IsPointInside(Vector3 pt)
{
float area = 0;
area += Op2D.TriArea(U.A - pt, U.B - pt);
area += Op2D.TriArea(V.A - pt, V.B - pt);
area += Op2D.TriArea(W.A - pt, W.B - pt);
if (area > Area * 1.001f)
{
return(false);
}
return(true);
}
public CharacterDecTree()
{
// #1
DecTree.FirstSucc resetAnim = new DecTree.FirstSucc(
new DecTree.Assert(ch => ch.AnimBlender.CurrentAnimSet == "PickItemDown"),
new DecTree.Job(ch =>
{
ch.AnimBlender.ResetAnimSet("PickItemDown");
ch.AnimBlender.SetAnimSet("PickItemDown");
ch.Velocity = Vector3.ZERO;
ch.TurnTo(ch.PickingTarget.Position);
return(true);
}));
// #2
Func <Character, bool> animBendDown = (
ch => ch.AnimBlender.AnimSetPhase("PickItemDown") > 0.5f
);
DecTree.FirstSucc bendDown = new DecTree.FirstSucc(
new DecTree.Assert(animBendDown),
new DecTree.FirstFail(
new DecTree.Assert(ch => ch.PickingTarget.Exists), // #2.1
new DecTree.Job(animBendDown)
)
);
// #3
DecTree.FirstSucc pickItem = new DecTree.FirstSucc(
new DecTree.Assert(ch => ch.PickingTarget == null || !ch.PickingTarget.Exists),
new DecTree.Job(ch =>
{
ch.Inventory.Add(ch.PickingTarget.Profile.Clone());
Engine.Singleton.ObjectManager.Destroy(ch.PickingTarget);
ch.PickingTarget = null;
return(true); // #3.1
}));
// #4
DecTree.Job bendUp = new DecTree.Job(
ch => ch.AnimBlender.AnimSetPhase("PickItemDown") > 0.99f
);
PickItemDownSeq = new DecTree.FirstFail(
resetAnim,
bendDown,
pickItem,
bendUp);
DecTree.Job cleanUp = new DecTree.Job(ch => { ch.PickItemOrder = false; ch.Contact = null; return(true); });
DecTree.FirstFail pickItemNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.PickItemOrder),
new DecTree.FirstSucc(PickItemDownSeq, cleanUp), // #1
cleanUp); // #2
TurnJob = new DecTree.Job(ch =>
{
if (ch.TurnDelta != 0)
{
Quaternion rotation = Quaternion.IDENTITY;
rotation.FromAngleAxis(new Degree(ch.TurnDelta), Vector3.UNIT_Y);
ch.Orientation *= rotation;
ch.TurnDelta = 0;
}
return(true);
});
DecTree.FirstFail walkNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.MoveOrder),
new DecTree.Job(ch =>
{
ch.Velocity = ch.Orientation * Vector3.UNIT_Z * ch.Profile.WalkSpeed;
if (ch.RunOrder)
{
ch.AnimBlender.SetAnimSet("Run");
}
else if (ch.Sword != null)
{
if (ch.Sword.InUse)
{
ch.AnimBlender.SetAnimSet("WalkSword");
}
else
{
ch.AnimBlender.SetAnimSet("Walk");
}
}
else
{
ch.AnimBlender.SetAnimSet("Walk");
}
return(true);
}),
TurnJob);
DecTree.FirstFail walkNodeBack = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.MoveOrderBack),
new DecTree.Job(ch =>
{
ch.Velocity = -(ch.Orientation * Vector3.UNIT_Z * ch.Profile.WalkSpeed);
ch.AnimBlender.SetAnimSet("WalkBack");
return(true);
}),
TurnJob);
DecTree.FirstFail idleNode = new DecTree.FirstFail(
new DecTree.Job(ch =>
{
ch.TalkPerm = true;
ch.InventoryPerm = true;
ch.Velocity = Vector3.ZERO;
ch.AnimBlender.SetAnimSet("Idle");
return(true);
}),
TurnJob);
DecTree.FirstFail followPathNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.FollowPathOrder),
new DecTree.Job(ch =>
{
if (Op2D.Dist(ch.Position, ch.WalkPath[0]) < 0.3f)
{
ch.WalkPath.RemoveAt(0);
}
if (ch.obejdz)
{
//ch.WalkPath.Insert(0, ch.Position + new Vector3(1, 0, 0));
ch.obejdz = false;
Engine.Singleton.CurrentLevel.navMesh.AStar(ch.Position + new Vector3(1, 0, 0), ch.Activities.Activities[ch.Activities.Index].v3);
if (Engine.Singleton.CurrentLevel.navMesh.TriPath.Count > 1)
{
Engine.Singleton.CurrentLevel.navMesh.GetPortals();
ch.WalkPath = Engine.Singleton.CurrentLevel.navMesh.Funnel();
}
}
if (ch.WalkPath.Count == 0)
{
ch.FollowPathOrder = false;
if (ch.Activities.InProgress &&
ch.Activities.Activities[ch.Activities.Index].Type == ActivityType.WALK)
{
ch.Activities.EndActivity();
}
return(true);
}
else if (ch.Contacts.Count > 0)
{
Engine.Singleton.CurrentLevel.navMesh.AStar(ch.Position, ch.Activities.Activities[ch.Activities.Index].v3);
if (Engine.Singleton.CurrentLevel.navMesh.TriPath.Count > 1)
{
Engine.Singleton.CurrentLevel.navMesh.GetPortals();
ch.WalkPath = Engine.Singleton.CurrentLevel.navMesh.Funnel();
ch.FollowPathOrder = true;
ch.Activities.InProgress = true;
}
}
else
{
ch.Orientation = Quaternion.Slerp(
0.2f,
ch.Orientation,
Vector3.UNIT_Z.GetRotationTo(
(Op2D.XZ * (ch.WalkPath[0] - ch.Position)).NormalisedCopy),
true
);
ch.Velocity = ch.Orientation * Vector3.UNIT_Z * ch.Profile.WalkSpeed;
ch.AnimBlender.SetAnimSet("Walk");
}
return(false);
}
));
// get sword
DecTree.FirstSucc resetAnimGetSword = new DecTree.FirstSucc(
new DecTree.Assert(ch => ch.AnimBlender.CurrentAnimSet == "GetSword"),
new DecTree.Job(ch =>
{
ch.Velocity = Vector3.ZERO;
ch.AnimBlender.ResetAnimSet("GetSword");
ch.AnimBlender.SetAnimSet("GetSword");
return(true);
}));
Func <Character, bool> animGetSword1 = (ch => ch.AnimBlender.AnimSetPhase("GetSword") > 0.5f);
DecTree.FirstSucc getSwordWait1 = new DecTree.FirstSucc(
new DecTree.Assert(animGetSword1),
new DecTree.FirstFail(
new DecTree.Assert(ch => ch.GetSwordOrder),
new DecTree.Job(animGetSword1)
)
);
Func <Character, bool> animGetSword2 = (ch => ch.AnimBlender.AnimSetPhase("GetSword") > 0.99f);
DecTree.FirstSucc getSwordWait2 = new DecTree.FirstSucc(
new DecTree.Assert(animGetSword2),
new DecTree.FirstFail(
new DecTree.Assert(ch => ch.GetSwordOrder),
new DecTree.Job(animGetSword2)
)
);
DecTree.FirstSucc getSword = new DecTree.FirstSucc(
new DecTree.Job(ch =>
{
ItemSword sword = ch.Sword;
ch.UnequipSword();
ch.EquipSwordToSword(sword);
return(true);
}));
GetSwordSeq = new DecTree.FirstFail(
resetAnimGetSword,
getSwordWait1,
getSword,
getSwordWait2
);
DecTree.Job cleanUpGetSword = new DecTree.Job(ch => { ch.GetSwordOrder = false; return(true); });
DecTree.FirstFail getSwordNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.GetSwordOrder),
new DecTree.FirstSucc(GetSwordSeq, cleanUpGetSword),
cleanUpGetSword);
// hide sword
DecTree.FirstSucc resetAnimHideSword = new DecTree.FirstSucc(
new DecTree.Assert(ch => ch.AnimBlender.CurrentAnimSet == "HideSword"),
new DecTree.Job(ch =>
{
ch.Velocity = Vector3.ZERO;
ch.AnimBlender.ResetAnimSet("HideSword");
ch.AnimBlender.SetAnimSet("HideSword");
return(true);
}));
Func <Character, bool> animHideSword1 = (ch => ch.AnimBlender.AnimSetPhase("HideSword") > 0.5f);
DecTree.FirstSucc hideSwordWait1 = new DecTree.FirstSucc(
new DecTree.Assert(animHideSword1),
new DecTree.FirstFail(
new DecTree.Assert(ch => ch.HideSwordOrder),
new DecTree.Job(animHideSword1)
)
);
Func <Character, bool> animHideSword2 = (ch => ch.AnimBlender.AnimSetPhase("HideSword") > 0.99f);
DecTree.FirstSucc hideSwordWait2 = new DecTree.FirstSucc(
new DecTree.Assert(animHideSword2),
new DecTree.FirstFail(
new DecTree.Assert(ch => ch.HideSwordOrder),
new DecTree.Job(animHideSword2)
)
);
DecTree.FirstSucc hideSword = new DecTree.FirstSucc(
new DecTree.Job(ch =>
{
ItemSword sword = ch.Sword;
ch.UnequipSword();
ch.EquipSwordToLongswordSheath(sword);
return(true);
}));
HideSwordSeq = new DecTree.FirstFail(
resetAnimHideSword,
hideSwordWait1,
hideSword,
hideSwordWait2
);
DecTree.Job cleanUpHideSword = new DecTree.Job(ch => { ch.HideSwordOrder = false; return(true); });
DecTree.FirstFail hideSwordNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.HideSwordOrder),
new DecTree.FirstSucc(HideSwordSeq, cleanUpHideSword),
cleanUpHideSword);
////////////////////////////////////////////////////////////////////////////////////////////////
// go left
DecTree.FirstFail go_left = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.MoveLeftOrder),
new DecTree.Job(ch =>
{
Quaternion orient = Quaternion.IDENTITY;
orient.FromAngleAxis(new Degree(90), Vector3.UNIT_Y);
ch.Velocity = ch.Orientation * orient * Vector3.UNIT_Z * ch.Profile.WalkSpeed;
ch.AnimBlender.SetAnimSet("Idle"); // ### ANIMACJA CHODZENIA!
return(true);
}),
TurnJob);
DecTree.FirstFail go_right = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.MoveRightOrder),
new DecTree.Job(ch =>
{
Quaternion orient = Quaternion.IDENTITY;
orient.FromAngleAxis(new Degree(-90), Vector3.UNIT_Y);
ch.Velocity = ch.Orientation * orient * Vector3.UNIT_Z * ch.Profile.WalkSpeed;
ch.AnimBlender.SetAnimSet("Idle"); // ### ANIMACJA CHODZENIA!
return(true);
}),
TurnJob);
DecTree.FirstSucc resetAnimAttack = new DecTree.FirstSucc(
new DecTree.Assert(ch => ch.AnimBlender.CurrentAnimSet == "GetSword"),
new DecTree.Job(ch =>
{
ch.AnimBlender.ResetAnimSet("GetSword");
ch.AnimBlender.SetAnimSet("GetSword");
Engine.Singleton.SoundManager.PlaySound("Other/haa.mp3");
return(true);
}));
// #2
Func <Character, bool> animAttack = (
ch => ch.AnimBlender.AnimSetPhase("GetSword") > 0.99f
);
DecTree.FirstSucc AnimAttack = new DecTree.FirstSucc(
new DecTree.Assert(animAttack),
new DecTree.FirstFail(
new DecTree.Job(animAttack)
)
);
// #4
AttackSeq = new DecTree.FirstFail(
resetAnimAttack,
AnimAttack);
DecTree.Job cleanUpA = new DecTree.Job(ch => { ch.AttackOrder = false; Atakowanie(); return(true); });
DecTree.FirstFail AttackNode = new DecTree.FirstFail(
new DecTree.Assert(ch => ch.AttackOrder),
new DecTree.FirstSucc(AttackSeq, cleanUpA), // #1
cleanUpA);
Children.Add(getSwordNode);
Children.Add(hideSwordNode);
Children.Add(walkNodeBack);
Children.Add(go_left);
Children.Add(go_right);
Children.Add(AttackNode);
Children.Add(pickItemNode);
Children.Add(followPathNode);
Children.Add(walkNode);
Children.Add(idleNode);
}
public EnemyDecTree()
{
TurnJob = new DecTree.Enemies.e_Job(en =>
{
if (en.TurnDelta != 0)
{
Quaternion rotation = Quaternion.IDENTITY;
rotation.FromAngleAxis(new Degree(en.TurnDelta), Vector3.UNIT_Y);
en.Orientation *= rotation;
en.TurnDelta = 0;
}
return(true);
});
DecTree.Enemies.e_FirstFail walkNode = new DecTree.Enemies.e_FirstFail(
new DecTree.Enemies.e_Assert(en => en.MoveOrder),
new DecTree.Enemies.e_Job(en =>
{
en.Velocity = en.Orientation * Vector3.UNIT_Z * en.Profile.WalkSpeed;
//en.Animation("IdleLegs").Enabled = false;
//en.Animation("WalkLegs").Enabled = true;
//en.Animation("WalkLegs").Loop = true;
//en.Animation("WalkLegs").AddTime(1.0f / 90.0f);
return(true);
}),
TurnJob);
DecTree.Enemies.e_FirstFail idleNode = new DecTree.Enemies.e_FirstFail(
new DecTree.Enemies.e_Job(en =>
{
en.TalkPerm = true;
en.InventoryPerm = true;
en.Velocity = Vector3.ZERO;
//en.Animation("WalkLegs").Enabled = false;
//en.Animation("IdleLegs").Enabled = true;
//en.Animation("IdleLegs").Loop = true;
return(true);
}),
TurnJob);
DecTree.Enemies.e_FirstFail followPathNode = new DecTree.Enemies.e_FirstFail(
new DecTree.Enemies.e_Assert(en => en.FollowPathOrder),
new DecTree.Enemies.e_Job(en =>
{
if (Op2D.Dist(en.Position, en.WalkPath[0]) < 0.5f)
{
en.WalkPath.RemoveAt(0);
}
if (en.WalkPath.Count == 0)
{
en.FollowPathOrder = false;
return(true);
}
else
{
en.Orientation = Quaternion.Slerp(
0.2f,
en.Orientation,
Vector3.UNIT_Z.GetRotationTo(
(Op2D.XZ * (en.WalkPath[0] - en.Position)).NormalisedCopy),
true
);
en.Velocity = en.Orientation * Vector3.UNIT_Z * en.Profile.WalkSpeed;
//en.Animation("IdleLegs").Enabled = false;
//en.Animation("WalkLegs").Enabled = true;
//en.Animation("WalkLegs").Loop = true;
}
return(false);
}
));
e_Children.Add(followPathNode);
e_Children.Add(walkNode);
e_Children.Add(idleNode);
}
public void CalcArea()
{
Center = (U.A + U.B + V.A + V.B + W.A + W.B) / 6.0f;
Area = Op2D.TriArea(U.B - U.A, V.B - V.A);
}
public List <Vector3> Funnel()
{
List <Vector3> path = new List <Vector3>();
Vector3 right, left, current;
int rightId, leftId;
right = left = current = StartPt;
rightId = leftId = 0;
for (int i = 0; i < Portals.Count; i++)
{
if (left == current || Op2D.Cross(left - current, Portals[i].first - current) >= 0)
{
if (Op2D.Cross(right - current, Portals[i].first - current) > 0)
{
path.Add(right);
current = left = right;
i = leftId = rightId;
continue;
}
else
{
left = Portals[i].first;
leftId = i;
}
}
if (right == current || Op2D.Cross(right - current, Portals[i].second - current) <= 0)
{
if (Op2D.Cross(left - current, Portals[i].second - current) < 0)
{
path.Add(left);
current = right = left;
i = rightId = leftId;
continue;
}
else
{
right = Portals[i].second;
rightId = i;
}
}
}
path.Add(EndPt);
Engine.Singleton.SceneManager.DestroyManualObject("line");
// destroy the SceneNode (or keep it to add other manual objects)
Engine.Singleton.SceneManager.DestroySceneNode("line_node");
ManualObject manOb = Engine.Singleton.SceneManager.CreateManualObject("line");
manOb.Begin("line_material", RenderOperation.OperationTypes.OT_LINE_LIST);
for (int i = 1; i < path.Count; i++)
{
Vector3 adam = path[i - 1];
adam.y = 0.4f;
manOb.Position(adam);
Vector3 adam1 = path[i];
adam1.y = 0.4f;
manOb.Position(adam1);
}
manOb.End();
SceneNode moNode = Engine.Singleton.SceneManager.RootSceneNode.CreateChildSceneNode("line_node");
moNode.SetPosition(0, 0, 0);
moNode.AttachObject(manOb);
return(path);
}
