private void StateCheck()
{
if (VectorMath.DistanceBetweenPositions(hobgoblin.Pos, hobgoblin.Target.Pos) >= hobgoblin.CommandRadius || !VectorMath.LineOfSight(hobgoblin.world, hobgoblin.Pos, hobgoblin.Target.Pos))
{
hobgoblin.setState(hobgoblin.hunting);
}
}
private void StateCheck()
{
if (VectorMath.DistanceBetweenPositions(goblin.Pos, goblin.Target.Pos) < goblin.PassiveDistance && VectorMath.LineOfSight(goblin.world, goblin.Pos, goblin.Target.Pos))
{
goblin.setState(goblin.hunting);
}
}
public Vector2D GetRendezvousPoint()
{
Vector2D currentPosition = new Vector2D(Pos.X, Pos.Y);
Vector2D goalPosition = new Vector2D(Target.Pos.X, Target.Pos.Y);
double segmentDistance = 15;
Vector2D step = (goalPosition - Pos).Normalize() * segmentDistance;
int segmentCount = 0;
while (VectorMath.DistanceBetweenPositions(currentPosition, goalPosition) > segmentDistance)
{
currentPosition += step;
segmentCount++;
int defenseSegment = (int)VectorMath.DistanceBetweenPositions(Pos, goalPosition) / 25;
if (defenseSegment > 8)
{
defenseSegment = 8;
}
if (segmentCount == defenseSegment && defenseSegment > 1)
{
return(currentPosition);
}
}
return(currentPosition);
}
private void StateCheck()
{
// CommandRadius should be PassiveDistance.
if (VectorMath.DistanceBetweenPositions(hobgoblin.Pos, hobgoblin.Target.Pos) < hobgoblin.CommandRadius && VectorMath.LineOfSight(hobgoblin.world, hobgoblin.Pos, hobgoblin.Target.Pos))
{
hobgoblin.setState(hobgoblin.command);
}
}
private void StateCheck()
{
if (VectorMath.DistanceBetweenPositions(hobgoblin.Pos, hobgoblin.Target.Pos) < hobgoblin.PassiveDistance && VectorMath.LineOfSight(hobgoblin.world, hobgoblin.Pos, hobgoblin.Target.Pos))
{
hobgoblin.setState(hobgoblin.hunting);
}
else if (VectorMath.DistanceBetweenPositions(hobgoblin.Pos, hobgoblin.Target.Pos) >= hobgoblin.PassiveDistance && VectorMath.LineOfSight(hobgoblin.world, hobgoblin.Pos, hobgoblin.Target.Pos))
{
hobgoblin.setState(hobgoblin.command);
}
}
public static Vector2D Flee(Vector2D targetPos, IMover me, double panicDistance)
{
var distance = me.Pos - targetPos;
if (VectorMath.DistanceBetweenPositions(me.Pos, targetPos) > panicDistance || distance.LenghtIsZero())
{
return(new Vector2D(0, 0));
}
var desiredVelocity = distance.Normalize() * me.MaxSpeed;
var neededForce = desiredVelocity - me.Velocity;
return(neededForce.Truncate(me.MaxForce));
}
// Calls for goblins within range to start obeying.
public void CallOut()
{
int debugCount = 0;
foreach (Goblin goblin in hobgoblin.world.getGoblins())
{
if (VectorMath.DistanceBetweenPositions(hobgoblin.Pos, goblin.Pos) < hobgoblin.CommandRadius)
{
debugCount++;
hobgoblin.AddDebugText("I have [" + debugCount + "] minion(s).", 2);
goblin.Obey(hobgoblin);
}
}
}
//public Vector2D Calculate()
//{
// Vector2D force; // My force will be stored here
// Vector2D pos = _me.Pos; // Position of the agent
// // For each wall
// for (int j = 0; j < _me.Walls.Count(); j++)
// {
// var wall = _me.Walls[j];
// var x = (wall.Center.X + _me.Pos.X) / 2;
// var y = (wall.Center.Y + _me.Pos.Y) / 2;
// Vector2D distance = new Vector2D(x, y);
// // If the wall is visible, calculate the force to apply
// double dotProduct = distance * partsList[j]->normal();
// if (dotProduct < 0)
// {
// force += partsList[j]->normal() / (distance.length() * distance.length() + 1);
// }
// }
// // Returned the calculated force
// return force;
//}
public IWall GetClosestWall(IWallAvoider ME)
{
IWall mostThreatening = null;
for (int i = 0; i < ME.Walls.Count(); i++)
{
IWall wall = ME.Walls[i];
bool collision = findSensorCollision(wall);
if (collision && (mostThreatening == null || VectorMath.DistanceBetweenPositions(ME.Pos, wall.Center) < VectorMath.DistanceBetweenPositions(ME.Pos, mostThreatening.Center)))
{
mostThreatening = wall;
}
}
return(mostThreatening);
}
public void Act(float timeElapsed)
{
timeElapsedSinceLastAttack += timeElapsed;
if (VectorMath.DistanceBetweenPositions(goblin.Pos, goblin.world.Hero.Pos) >= goblin.AttackRange)
{
Vector2D steeringForce = new Vector2D(0, 0);
if (goblin._SB != null)
{
steeringForce += goblin._SB.Calculate() * 4;
}
if (goblin._FlockB != null)
{
steeringForce += goblin._FlockB.Calculate() * 0.5;
}
if (goblin._OA != null)
{
steeringForce += goblin._OA.Calculate();
}
if (goblin._WA != null)
{
steeringForce += goblin._WA.Calculate();
}
steeringForce.Truncate(goblin.MaxForce);
Vector2D acceleration = steeringForce / goblin.Mass;
goblin.Velocity += (acceleration * timeElapsed);
goblin.Velocity = goblin.Velocity.Truncate(goblin.MaxSpeed);
goblin.OldPos = goblin.Pos;
goblin.Pos += (goblin.Velocity * timeElapsed);
if (goblin.Velocity.LengthSquared() > 0.00000001)
{
goblin.Heading = goblin.Velocity.Normalize();
goblin.Side = goblin.Heading.Perp();
}
goblin.WrapAround();
goblin.world.rePosGoblin(goblin.Key, goblin.OldPos, goblin.Pos);
}
else if (AttackAvailable())
{
//AttackPlayer();
}
// Checks wether a state change is in order.
StateCheck();
}
public Hobgoblin GetClosestHobgoblin()
{
Hobgoblin closestHobgoblin = null;
double closestDistance = int.MaxValue;
foreach (Hobgoblin hobgoblin in world.getHobgoblins())
{
double distance = VectorMath.DistanceBetweenPositions(Pos, hobgoblin.Pos);
if (distance < closestDistance)
{
closestHobgoblin = hobgoblin;
closestDistance = distance;
}
}
return(closestHobgoblin);
}
private IObstacle findMostThreateningObstacle(IObstacleAvoider me)
{
IObstacle mostThreatening = null;
for (int i = 0; i < me.Obstacles.Count(); i++)
{
IObstacle obstacle = me.Obstacles[i];
bool collision = lineIntersectsCircleAhead(obstacle);
if (collision && (mostThreatening == null || VectorMath.DistanceBetweenPositions(me.Pos, obstacle.Center) < VectorMath.DistanceBetweenPositions(me.Pos, mostThreatening.Center)))
{
mostThreatening = obstacle;
}
}
return(mostThreatening);
}
public override void Render(Graphics g)
{
double leftCorner = Pos.X - Scale;
double rightCorner = Pos.Y - Scale;
double size = Scale * 2;
Pen p = new Pen(VColor, 2);
Pen r = new Pen(Color.Red, 2);
Pen n = new Pen(Color.Green, 2);
if (world.TriangleModeActive)
{
// Draws triangle.
// Left lat
g.DrawLine(p, (int)(Pos.X + (Side.X - Heading.X) * (size / 2)), (int)(Pos.Y + (Side.Y - Heading.Y) * (size / 2)), (int)(Pos.X) + (int)(Heading.X * (size / 2)), (int)Pos.Y + (int)(Heading.Y * (size / 2)));
// Right lat
g.DrawLine(p, (int)(Pos.X + ((Side.X * -1) - Heading.X) * (size / 2)), (int)(Pos.Y + ((Side.Y * -1) - Heading.Y) * (size / 2)), (int)Pos.X + (int)(Heading.X * (size / 2)), (int)Pos.Y + (int)(Heading.Y * (size / 2)));
// Bottom lat
g.DrawLine(p, (int)(Pos.X + ((Side.X * -1) - Heading.X) * (size / 2)), (int)(Pos.Y + ((Side.Y * -1) - Heading.Y) * (size / 2)), (int)(Pos.X + (Side.X - Heading.X) * (size / 2)), (int)(Pos.Y + (Side.Y - Heading.Y) * (size / 2)));
}
else
{
// Draws circle.
g.DrawEllipse(p, new Rectangle((int)leftCorner, (int)rightCorner, (int)size, (int)size));
}
if (world.VelocityVisible)
{
g.DrawLine(r, (int)Pos.X, (int)Pos.Y, (int)Pos.X + (int)(Velocity.X * 2), (int)Pos.Y + (int)(Velocity.Y * 2));
}
if (world.DebugMode)
{
Brush brush = new SolidBrush(Color.Black);
g.DrawString(DebugText, SystemFonts.DefaultFont, brush, (float)(Pos.X + size), (float)(Pos.Y - size / 2), new StringFormat());
// RendezvousPoint.
Vector2D debugRendezvousPoint = GetRendezvousPoint();
g.DrawEllipse(n, new Rectangle((int)debugRendezvousPoint.X - 15, (int)debugRendezvousPoint.Y - 15, 30, 30));
// Command circle.
g.DrawEllipse(r, new Rectangle((int)leftCorner - CommandRadius + (int)(size / 2), (int)rightCorner - CommandRadius + (int)(size / 2), CommandRadius * 2, CommandRadius * 2));
Vector2D currentPosition = new Vector2D(Pos.X, Pos.Y);
Vector2D goalPosition = new Vector2D(world.Hero.Pos.X, world.Hero.Pos.Y);
double segmentDistance = 15;
var toTarget = goalPosition - currentPosition;
Vector2D step = (goalPosition - Pos).Normalize() * segmentDistance;
bool lineOfSightBlocked = false;
while (VectorMath.DistanceBetweenPositions(currentPosition, goalPosition) > segmentDistance)
{
currentPosition += step;
foreach (IObstacle obstacle in world.getObstacles())
{
if (VectorMath.DistanceBetweenPositions(currentPosition, obstacle.Center) <= obstacle.Radius)
{
lineOfSightBlocked = true;
break;
}
}
foreach (IWall wall in world.getWalls())
{
if (VectorMath.PointInWall(currentPosition, wall))
{
lineOfSightBlocked = true;
break;
}
}
if (!lineOfSightBlocked)
{
g.DrawEllipse(r, new Rectangle((int)currentPosition.X, (int)currentPosition.Y, 1, 1));
}
else
{
break;
}
}
if (lineOfSightBlocked)
{
AddDebugText("No line of sight.", 2);
}
else
{
AddDebugText("Line of sight!", 2);
}
}
}
public override void Render(Graphics g)
{
double leftCorner = Pos.X - Scale;
double rightCorner = Pos.Y - Scale;
double size = Scale * 2;
Pen p = new Pen(VColor, 2);
Pen r = new Pen(Color.Red, 2);
if (world.TriangleModeActive)
{
// Draws triangle.
// Left lat
g.DrawLine(p, (int)(Pos.X + (Side.X - Heading.X) * (size / 2)), (int)(Pos.Y + (Side.Y - Heading.Y) * (size / 2)), (int)(Pos.X) + (int)(Heading.X * (size / 2)), (int)Pos.Y + (int)(Heading.Y * (size / 2)));
// Right lat
g.DrawLine(p, (int)(Pos.X + ((Side.X * -1) - Heading.X) * (size / 2)), (int)(Pos.Y + ((Side.Y * -1) - Heading.Y) * (size / 2)), (int)Pos.X + (int)(Heading.X * (size / 2)), (int)Pos.Y + (int)(Heading.Y * (size / 2)));
// Bottom lat
g.DrawLine(p, (int)(Pos.X + ((Side.X * -1) - Heading.X) * (size / 2)), (int)(Pos.Y + ((Side.Y * -1) - Heading.Y) * (size / 2)), (int)(Pos.X + (Side.X - Heading.X) * (size / 2)), (int)(Pos.Y + (Side.Y - Heading.Y) * (size / 2)));
}
else
{
// Draws circle.
g.DrawEllipse(p, new Rectangle((int)leftCorner, (int)rightCorner, (int)size, (int)size));
}
if (world.VelocityVisible)
{
// Wall avoidance lines.
double MAX_SEE_AHEAD = 15;
Vector2D center = Pos + Heading * MAX_SEE_AHEAD;
Vector2D leftSensor = new Vector2D(Pos.X + ((Side.X - Heading.X) * -MAX_SEE_AHEAD / 2), Pos.Y + ((Side.Y - Heading.Y) * -MAX_SEE_AHEAD / 2));
Vector2D rightSensor = new Vector2D(Pos.X + ((Side.X - Heading.X * -1) * MAX_SEE_AHEAD / 2), Pos.Y + ((Side.Y - Heading.Y * -1) * MAX_SEE_AHEAD / 2));
g.DrawLine(r, (int)Pos.X, (int)Pos.Y, (int)center.X, (int)center.Y);
g.DrawLine(r, (int)Pos.X, (int)Pos.Y, (int)leftSensor.X, (int)leftSensor.Y);
g.DrawLine(r, (int)Pos.X, (int)Pos.Y, (int)rightSensor.X, (int)rightSensor.Y);
// Velocity
g.DrawLine(r, (int)Pos.X, (int)Pos.Y, (int)Pos.X + (int)(Velocity.X * 2), (int)Pos.Y + (int)(Velocity.Y * 2));
}
if (world.DebugMode)
{
Brush brush = new SolidBrush(Color.Black);
g.DrawString(DebugText, SystemFonts.DefaultFont, brush, (float)(Pos.X + size), (float)(Pos.Y - size / 2), new StringFormat());
Vector2D currentPosition = new Vector2D(Pos.X, Pos.Y);
Vector2D goalPosition = new Vector2D(world.Hero.Pos.X, world.Hero.Pos.Y);
double segmentDistance = 15;
var toTarget = goalPosition - currentPosition;
Vector2D step = (goalPosition - Pos).Normalize() * segmentDistance;
bool lineOfSightBlocked = false;
while (VectorMath.DistanceBetweenPositions(currentPosition, goalPosition) > segmentDistance)
{
currentPosition += step;
foreach (IObstacle obstacle in world.getObstacles())
{
#region Localspace try
//if (obstacle.Name.Equals("obstacle4"))
//{
// var angle = VectorMath.AngleBetweenPositions(Pos, obstacle.Center);
// Console.WriteLine("Angle: " + angle);
// double relativeX = obstacle.Center.X - Pos.X;
// double relativeY = obstacle.Center.Y - Pos.Y;
// double rotatedX = Math.Cos(-angle) * relativeX - Math.Sin(-angle) * relativeY;
// double rotatedY = Math.Cos(-angle) * relativeY + Math.Sin(-angle) * relativeX;
// Console.WriteLine("Obstacle location in local space: " + new Vector2D(rotatedX, rotatedY));
//}
#endregion
if (VectorMath.DistanceBetweenPositions(currentPosition, obstacle.Center) <= obstacle.Radius)
{
lineOfSightBlocked = true;
break;
}
}
foreach (IWall wall in world.getWalls())
{
if (VectorMath.PointInWall(currentPosition, wall))
{
lineOfSightBlocked = true;
break;
}
}
if (!lineOfSightBlocked)
{
g.DrawEllipse(r, new Rectangle((int)currentPosition.X, (int)currentPosition.Y, 1, 1));
}
else
{
break;
}
}
if (lineOfSightBlocked)
{
AddDebugText("No line of sight.", 2);
}
else
{
AddDebugText("Line of sight!", 2);
}
}
}
public bool CollisionFound(Vector2D pos)
{
return(VectorMath.DistanceBetweenPositions(pos, Center) <= Radius);
}
private bool lineIntersectsCircleAhead(IObstacle obstacle)
{
return(VectorMath.DistanceBetweenPositions(obstacle.Center, _ahead) <= obstacle.Radius || VectorMath.DistanceBetweenPositions(obstacle.Center, _ahead2) <= obstacle.Radius);
}