public PursueNode(PursueNode parent, Location origin, Location leave, int maxDist, Vector2 targetDir, Vector2 dir) : base(parent)
{
G = (parent == null) ? 0 : (parent.G + 1);
this.maxDist = maxDist;
this.origin = origin;
this.leave = leave;
this.targetDir = targetDir;
this.dir = dir;
}
public override Node ChildNode(Location loc)
{
Vector2 newDir = loc.ToVector() - CurLocation.ToVector();
PursueNode n = new PursueNode(this, origin, leave, maxDist, targetDir, newDir)
{
CurLocation = loc,
Obstacles = Obstacles,
};
return(n);
}
public override Queue <Location> ExtractPlan(Subject s, Intention i, Beliefs b, List <Location> path)
{
Queue <Location> plan = new Queue <Location>();
Location dest = new Location();
dest = s.Location;
PursueNode fNode = new PursueNode(null, b.Agents['0'].Location, dest, 10, b.Agents['0'].Direction, s.Direction)
{
CurLocation = new Location(s.Location),
Obstacles = new HashSet <Location>(b.Obstacles.Keys)
};
fNode.Obstacles.UnionWith(Util.GetDynamicObstacles(s.ID, s.Location, b));
plan = Planner.Search(fNode);
return(plan);
}
public override bool Equals(object obj)
{
if (ReferenceEquals(null, obj))
{
return(false);
}
if (ReferenceEquals(this, obj))
{
return(true);
}
if (obj.GetType() != this.GetType())
{
return(false);
}
PursueNode other = (PursueNode)obj;
return(!System.Object.ReferenceEquals(null, CurLocation) &&
CurLocation.Equals(other.CurLocation) &&
dir.Equals(other.dir));
}
