private void HandleTreasureMode()
{
if (treasurePathQueue.Count == 0) {
// switch mode
mode = ModeEnum.EXPLORING;
npAgentGameMode = Stage.GameMode.NP_AGENT_EXPLORING;
// resume to previous exploring path if any
if (previousPath != null && !previousPath.Done) {
currentPath = previousPath;
// nextGoal = currentPath.NextNode;
// agentObject.TurnToFace(nextGoal.Translation);
}
else {
HandleExploringMode();
}
}
else {
// get another path from treasure path queue
currentPath = treasurePathQueue.Dequeue();
// add path to stage two show trace
stage.Components.Add(currentPath);
// get first path goal
nextGoal = currentPath.NextNode;
// orient towards the first path goal
agentObject.TurnToFace(nextGoal.Translation);
}
}
private void HandleExploringMode()
{
if (explorePathQueue.Count == 0) {
done = true;
npAgentGameMode = Stage.GameMode.NP_AGENT_TREASURE_STOP;
}
else {
// get another path from explore path queue
currentPath = explorePathQueue.Dequeue();
// get first path goal
nextGoal = currentPath.NextNode;
// orient towards the first path goal
agentObject.TurnToFace(nextGoal.Translation);
}
}
/// <summary>
/// Here we allow switching from regular path to treasure path if only if
/// the treasure path is not done, otherwise it will do nothing (disable)
/// </summary>
private void ChangeToTreasurePath(int idx)
{
AddNewTreasurePath(idx);
// save the previous path if any
if (mode == ModeEnum.EXPLORING) {
if (!currentPath.Done) {
previousPath = currentPath;
}
}
// update the mode
mode = ModeEnum.TREASURE_HUNTING;
// set new path
currentPath = treasurePathQueue.Dequeue();
// add path to stage
stage.Components.Add(currentPath);
// get the first target
nextGoal = currentPath.NextNode;
// orient towards the first path goal
agentObject.TurnToFace(nextGoal.Translation);
}
/// <summary>
/// Create exploring path using A* algorithm
/// to avoid collision
/// </summary>
private void AddPathToExploreQueue()
{
/**
* We move as follows
* + path:
* s -> x1 -> x2 -> x3 -> x4 -> ...
*
* + direction:
* right -> down -> right -> up -> right -> down ....
*
* + cover an rectangle area of 52 * spacing since the distance
* of seeing is 4000 pixles = 26 * 150
*
* =================
* = Map 512 x 512 =
* =================
*
* 100 200 300 400 500
* ------------|------------|------------|------------|------------|
* | |
* | s ------> x1 x4 -----------> |
* | | ^ . |
* | | | . |
* 100 - | | . |
* | | | . |
* | | | |
* | | | |
* | | | |
* 200 - | | |
* | | | |
* | | | |
* | | | |
* | | | |
* 300 - | | |
* | | | |
* | | | |
* | | | |
* | | | |
* 400 - | | |
* | | | |
* | V | |
* | x2 ----------> x3 |
* | |
* 500 -----------------------------------------------------------------
*
*/
Vector3 start = new Vector3(0, 0, 0);
Vector3 goal = new Vector3(0, 0, 0);
Vector3 x0 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 78), 78 * stage.Spacing);
Vector3 x1 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 130), 130 * stage.Spacing);
Vector3 x2 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 182), 182 * stage.Spacing);
Vector3 x3 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 234), 234 * stage.Spacing);
Vector3 x4 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 286), 286 * stage.Spacing);
Vector3 x5 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 338), 338 * stage.Spacing);
Vector3 x6 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 390), 390 * stage.Spacing);
Vector3 x7 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 442), 442 * stage.Spacing);
Vector3 x8 = new Vector3(26 * stage.Spacing, stage.SurfaceHeight(26, 494), 494 * stage.Spacing);
Vector3 z0 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 26), 26 * stage.Spacing);
Vector3 z1 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 78), 78 * stage.Spacing);
Vector3 z2 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 130), 130 * stage.Spacing);
Vector3 z3 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 182), 182 * stage.Spacing);
Vector3 z4 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 234), 234 * stage.Spacing);
Vector3 z5 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 286), 286 * stage.Spacing);
Vector3 z6 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 338), 338 * stage.Spacing);
Vector3 z7 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 390), 390 * stage.Spacing);
Vector3 z8 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 442), 442 * stage.Spacing);
Vector3 z9 = new Vector3(486 * stage.Spacing, stage.SurfaceHeight(486, 494), 494 * stage.Spacing);
/*
* Debugging only to show path pattern
*/
bool ifDebug = false;
bool displayPath = ifDebug;
// right
start = z0; goal = z1;
Path p1 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p1);
}
explorePathQueue.Enqueue(p1);
// down
start = z1; goal = x0;
Path p2 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p2);
}
explorePathQueue.Enqueue(p2);
// right
start = x0; goal = x1;
Path p3 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p3);
}
explorePathQueue.Enqueue(p3);
// up
start = x1; goal = z2;
Path p4 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p4);
}
explorePathQueue.Enqueue(p4);
// right
start = z2; goal = z3;
Path p5 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p5);
}
explorePathQueue.Enqueue(p5);
// down
start = z3; goal = x2;
Path p6 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p6);
}
explorePathQueue.Enqueue(p6);
// right
start = x2; goal = x3;
Path p7 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p7);
}
explorePathQueue.Enqueue(p7);
// up
start = x3; goal = z4;
Path p8 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p8);
}
explorePathQueue.Enqueue(p8);
// right
start = z4; goal = z5;
Path p9 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p9);
}
explorePathQueue.Enqueue(p9);
// down
start = z5; goal = x4;
Path p10 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug) {
stage.Components.Add(p10);
}
explorePathQueue.Enqueue(p10);
// right
start = x4; goal = x5;
Path p11 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p11);
explorePathQueue.Enqueue(p11);
// up
start = x5; goal = z6;
Path p12 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p12);
explorePathQueue.Enqueue(p12);
// right
start = z6; goal = z7;
Path p13 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p13);
explorePathQueue.Enqueue(p13);
// down
start = z7; goal = x6;
Path p14 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p14);
explorePathQueue.Enqueue(p14);
// right
start = x6; goal = x7;
Path p15 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p15);
explorePathQueue.Enqueue(p15);
// up
start = x7; goal = z8;
Path p16 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p16);
explorePathQueue.Enqueue(p16);
// right
start = z8; goal = z9;
Path p17 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p17);
explorePathQueue.Enqueue(p17);
// down
start = z9; goal = x8;
Path p18 = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.WAYPOINT), Path.PathType.SINGLE, displayPath);
if (ifDebug)
stage.Components.Add(p18);
explorePathQueue.Enqueue(p18);
}
/// <summary>
/// Build an A* path to treasure
/// and add it to the treasure path queue
/// </summary>
/// <param name="idx">index of treasure</param>
private void AddNewTreasurePath(int idx)
{
// build A* path to goal
int startX = (int)(agentObject.Translation.X / 150);
int startZ = (int)(agentObject.Translation.Z / 150);
int goalX = (int)(stage.Treasures[idx].Translation.X / 150);
int goalZ = (int)(stage.Treasures[idx].Translation.Z / 150);
Vector3 start =
new Vector3(startX * stage.Terrain.Spacing, stage.Terrain.SurfaceHeight(startX, startZ), startZ * stage.Terrain.Spacing);
Vector3 goal =
new Vector3(goalX * stage.Terrain.Spacing, stage.Terrain.SurfaceHeight(goalX, goalZ), goalZ * stage.Terrain.Spacing);
// create A* path forward to treasure
Path forwardPath = new Path(stage, MakeAStarPath(start, goal, NavNode.NavNodeEnum.A_STAR), Path.PathType.SINGLE, true);
// add this path to queue
treasurePathQueue.Enqueue(forwardPath);
// create A* path backward to previous position
if (goalX == LocationConstant.TREASURE_1_X && goalZ == LocationConstant.TREASURE_1_Z) {
Path backwardPath = new Path(stage, MakeAStarPath(goal, start, NavNode.NavNodeEnum.PATH), Path.PathType.SINGLE, true);
// add this path to queue
treasurePathQueue.Enqueue(backwardPath);
}
}
/// <summary>
/// Create a NPC.
/// AGXNASK distribution has npAgent move following a Path.
/// </summary>
/// <param name="theStage"> the world</param>
/// <param name="label"> name of </param>
/// <param name="pos"> initial position </param>
/// <param name="orientAxis"> initial rotation axis</param>
/// <param name="radians"> initial rotation</param>
/// <param name="meshFile"> Direct X *.x Model in Contents directory </param>
public NPAgent(Stage theStage, string label, Vector3 pos, Vector3 orientAxis, float radians, string meshFile)
: base(theStage, label, pos, orientAxis, radians, meshFile)
{
IsCollidable = true;
first.Name = "npFirst";
follow.Name = "npFollow";
above.Name = "npAbove";
// initialize all treasures
InitializeMarkTreasures();
// initialize treasure path queue
treasurePathQueue = new Queue<Path>();
// initialize exploring path queue
explorePathQueue = new Queue<Path>();
// add all predefined path to explore path queue
// AddPathToExploreQueue();
Path initialPath = new Path(stage, MakeExploringPaths(), Path.PathType.SINGLE, true);
// set it to current path
currentPath = initialPath;
// set the mode
mode = ModeEnum.EXPLORING;
npAgentGameMode = Stage.GameMode.NP_AGENT_EXPLORING;
stage.Components.Add(currentPath);
nextGoal = currentPath.NextNode;
agentObject.TurnToFace(nextGoal.Translation);
}
