///<summary>
///constructor for atomic goal TraverseEdge
///</summary>
///<param name="bot">bot entity that owns this goal</param>
///<param name="edgeToFollow">edge to follow</param>
///<param name="lastEdgeInPath">true if last edge in path</param>
public TraverseEdge(
BotEntity bot,
PathEdge edgeToFollow,
bool lastEdgeInPath)
: base(bot, GoalTypes.TraverseEdge)
{
_edgeToFollow = edgeToFollow;
_timeExpected = 0.0f;
_lastEdgeInPath = lastEdgeInPath;
_sourceNodeIndex =
bot.PathPlanner.GetClosestNodeToPosition(
edgeToFollow.Source);
_destinationNodeIndex =
bot.PathPlanner.GetClosestNodeToPosition(
edgeToFollow.Destination);
}
///<summary>
///constructor for composite goal NegotiateDoor
///</summary>
///<param name="bot">bot entity that owns this goal</param>
///<param name="pathEdge">edge through door</param>
///<param name="lastEdgeInPath">true if last edge in path</param>
public NegotiateDoor(BotEntity bot, PathEdge pathEdge, bool lastEdgeInPath)
: base(bot, GoalTypes.NegotiateDoor)
{
_pathEdge = pathEdge;
_lastEdgeInPath = lastEdgeInPath;
}
///<summary>
///Generate a string representation of a path edge
///TODO: this could probably be moved to PathEdge
///</summary>
///<returns></returns>
protected static string EdgeToString(PathEdge edge)
{
StringBuilder edgeText = new StringBuilder();
edgeText.AppendFormat("{0}--{1}-->{2}",
Vector2Util.ToString(edge.Source),
edge.Behavior,
Vector2Util.ToString(edge.Destination));
return edgeText.ToString();
}
