protected bool OnMove()
{
if (Config.Instance.showCurrentWay)
{
DrawWay();
}
// Достигли текущей точки!
if (AntMath.Distance((Vector2)_control.Position, _nextPoint) < WayMap.Current.approachRadius)
{
NextPoint();
}
// Рулежка.
UpdateAngle();
if (!AntMath.Equal(AntMath.Angle(_control.Angle), AntMath.Angle(_targetAngle), 1.0f))
{
float curAng = AntMath.Angle(_control.Angle);
float tarAng = AntMath.Angle(_targetAngle);
if (Mathf.Abs(curAng - tarAng) > 180.0f)
{
if (curAng > tarAng)
{
tarAng += 360.0f;
}
else
{
tarAng -= 360.0f;
}
}
if (curAng < tarAng)
{
_control.isLeft = true;
_control.isRight = false;
}
else if (curAng > tarAng)
{
_control.isLeft = false;
_control.isRight = true;
}
}
else
{
_control.isLeft = false;
_control.isRight = false;
// Газ.
if (!_isWayFinished)
{
_control.isForward = true;
}
else
{
_control.isForward = false;
}
}
return(_isWayFinished);
}
public override void Execute(float aDeltaTime, float aTimeScale)
{
// Aim on the target.
if (!AntMath.Equal(AntMath.Angle(_control.towerRef.Angle), AntMath.Angle(_targetAngle), 1.0f))
{
float curAng = AntMath.Angle(_control.towerRef.Angle);
float tarAng = AntMath.Angle(_targetAngle);
if (Mathf.Abs(curAng - tarAng) > 180.0f)
{
if (curAng > tarAng)
{
tarAng += 360.0f;
}
else
{
tarAng -= 360.0f;
}
}
if (curAng < tarAng)
{
_control.RotateTower(1.0f, aDeltaTime);
}
else if (curAng > tarAng)
{
_control.RotateTower(-1.0f, aDeltaTime);
}
}
else
{
Finish();
}
}
public bool IsSee(Vector2 aPoint)
{
if (AntMath.Distance(_t.position.x, _t.position.y, aPoint.x, aPoint.y) < radius)
{
float angle = AntMath.Angle(AntMath.AngleDeg(_t.position.x, _t.position.y, aPoint.x, aPoint.y));
float diff = AntMath.AngleDifferenceDeg(angle, Angle);
if (AntMath.InRange(diff, lowerLimit, upperLimit))
{
if (Config.Instance.showVision)
{
AntDrawer.DrawLine(_t.position.x, _t.position.y, aPoint.x, aPoint.y, Color.yellow);
}
return(true);
}
}
return(false);
}
public override void Update(float aDeltaTime)
{
// Процесс наведения на цель.
if (!AntMath.Equal(AntMath.Angle(_control.Tower.Angle), AntMath.Angle(_targetAngle), 1.0f))
{
float curAng = AntMath.Angle(_control.Tower.Angle);
float tarAng = AntMath.Angle(_targetAngle);
if (Mathf.Abs(curAng - tarAng) > 180.0f)
{
if (curAng > tarAng)
{
tarAng += 360.0f;
}
else
{
tarAng -= 360.0f;
}
}
if (curAng < tarAng)
{
_control.isTowerLeft = true;
_control.isTowerRight = false;
}
else if (curAng > tarAng)
{
_control.isTowerLeft = false;
_control.isTowerRight = true;
}
}
else
{
_control.isTowerLeft = false;
_control.isTowerRight = false;
}
}
public void GetConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// Получаем список всех объектов которые необходимо отслеживать.
if (_visualNodes == null)
{
_visualNodes = AntEngine.Current.GetNodes <VisualNode>();
}
// 1. Обновляем информацию о себе.
// -------------------------------
aWorldState.Set(aAgent.planner, "ArmedWithGun", control.Tower.HasGun);
aWorldState.Set(aAgent.planner, "ArmedWithBomb", control.Tower.HasBomb);
aWorldState.Set(aAgent.planner, "HasAmmo", control.Tower.HasAmmo);
aWorldState.Set(aAgent.planner, "Injured", (health.HP != health.maxHP));
aWorldState.Set(aAgent.planner, "EnemyAlive", true); // Наш враг всегда жив, потому что респавнится.
aWorldState.Set(aAgent.planner, "Alive", (health.HP > 0.0f));
aWorldState.Set(aAgent.planner, "HasObstacle", sensor.HasObstacle);
if (sensor.HasObstacle)
{
sensor.HasObstacle = false;
}
// 2. Обрабатываем зрение.
// -----------------------
// Сбрасываем состояние всех возможных значений зрения.
aWorldState.Set(aAgent.planner, "NearEnemy", false);
aWorldState.Set(aAgent.planner, "EnemyVisible", false);
aWorldState.Set(aAgent.planner, "GunInlineOfSight", false);
aWorldState.Set(aAgent.planner, "AmmoInlineOfSight", false);
aWorldState.Set(aAgent.planner, "BombInlineOfSight", false);
aWorldState.Set(aAgent.planner, "HealInlineOfSight", false);
VisualNode visual;
// Перебираем все объекты которые можно просматривать.
for (int i = 0, n = _visualNodes.Count; i < n; i++)
{
visual = _visualNodes[i];
// Если объект из другой группы.
if (vision.group != visual.Visual.group)
{
// Если объект попадает в область зрения.
if (vision.IsSee(visual.entity.Position))
{
blackboard[visual.Visual.conditionName].AsBool = true;
blackboard[string.Concat(visual.Visual.conditionName, "_Pos")].AsVector2 = visual.entity.Position;
// Отмечаем что видим.
aWorldState.Set(aAgent.planner, visual.Visual.conditionName, true);
if (vision.enemyGroup == visual.Visual.group &&
AntMath.Distance(control.Position, visual.entity.Position) < 1.5f)
{
aWorldState.Set(aAgent.planner, "NearEnemy", true);
}
}
}
}
// 3. Обрабатываем наведение пушки на врага.
// -----------------------------------------
aWorldState.Set(aAgent.planner, "EnemyLinedUp", false);
if (aWorldState.Has(aAgent.planner, "EnemyVisible") && control.Tower.HasGun)
{
if (blackboard["EnemyVisible"].AsBool)
{
float angle = AntMath.AngleDeg((Vector2)control.Position, blackboard["EnemyVisible_Pos"].AsVector2);
if (AntMath.Equal(AntMath.Angle(control.Tower.Angle), AntMath.Angle(angle), 10.0f))
{
aWorldState.Set(aAgent.planner, "EnemyLinedUp", true);
}
}
}
}
private void UpdateMovement()
{
if (AntMath.Distance(_currentPoint, (Vector2)_t.position) < 0.5f)
{
// Arrived to the current way point.
_pointIndex++;
if (_pointIndex < _route.Count)
{
// Move to next one.
_currentPoint = _route[_pointIndex];
}
else
{
// This is end of the way.
float dist = AntMath.Distance(_currentPoint, (Vector2)_t.position);
if (dist < 0.5f)
{
// Enable break.
_speed = AntMath.Lerp(_speed, 0.0f, 1.0f - breakCurve.Evaluate(dist / 0.5f));
_isBrake = true;
}
if (AntMath.Equal(_speed, 0.0f, 0.1f))
{
// Absolutely arrived.
StopMove();
if (EventArrived != null)
{
EventArrived(this);
}
}
}
_steeringTime = 0.0f;
_isSteering = false;
}
float targetAngle = AntMath.Angle(AntMath.AngleDeg(_t.position, _currentPoint));
_debugTargetAngle = targetAngle * AntMath.RADIANS;
float angleDiff = AntMath.AngleDifference(Angle, targetAngle) * AntMath.DEGREES;
// If our direction incorrect.
if (!AntMath.Equal(angleDiff, 0.0f, 0.01f) && !_isSteering)
{
// Correct our angle to the current way point.
_isSteering = true;
_steeringTime = 0.0f;
_totalSteeringTime = totalSteeringTime * (1.0f - Mathf.Abs(angleDiff / 360.0f));
}
// Acceleration!
if (!_isBrake && _accelerationTime < totalAccelTime)
{
_accelerationTime += Time.deltaTime;
_speed = AntMath.Lerp(_speed, moveSpeed, accelCurve.Evaluate(_accelerationTime / totalAccelTime));
}
// Correction of the angle.
if (_isSteering)
{
_steeringTime += Time.deltaTime;
Angle = AntMath.LerpAngleDeg(Angle, targetAngle, steeringCurve.Evaluate(_steeringTime / _totalSteeringTime));
if (AntMath.Equal(angleDiff, 0.0f, 0.01f))
{
_isSteering = false;
_steeringTime = 0.0f;
}
}
// Movement.
float ang = Angle * AntMath.RADIANS;
Velocity = new Vector2(_speed * Mathf.Cos(ang), _speed * Mathf.Sin(ang));
}
public void CollectConditions(AntAIAgent aAgent, AntAICondition aWorldState)
{
// 1. Remove all stored data from previous ticks.
// ----------------------------------------------
ClearSensors();
// 2. Get fresh Vision and Touch data.
// -----------------------------
UpdateVision();
UpdateTouch();
// 3. Update World State.
// ----------------------
aWorldState.Set(TankScenario.Alive, true);
aWorldState.Set(TankScenario.Injured, (_control.Health < _control.maxHealth));
aWorldState.Set(TankScenario.EnemyAlive, true); // All time is true ;)
aWorldState.Set(TankScenario.HasGun, _control.Tower.IsHasGun);
aWorldState.Set(TankScenario.HasAmmo, _control.Tower.IsHasAmmo);
aWorldState.Set(TankScenario.HasBomb, _control.Tower.IsHasBomb);
// Reset items visibility.
aWorldState.Set(TankScenario.SeeGun, false);
aWorldState.Set(TankScenario.SeeAmmo, false);
aWorldState.Set(TankScenario.SeeBomb, false);
aWorldState.Set(TankScenario.SeeRepair, false);
// Update vision for items.
for (int i = 0; i < SEE_ITEMS_COUNT; i++)
{
if (_seeItems[i] != null)
{
// Adds founded spawner and item to the our memory.
// This data maybe will be required by bot in the near future.
_blackboard.TrackSpawner(_seeItems[i].Position, _seeItems[i].kind);
_blackboard.TrackItem(_seeItems[i], _seeItems[i].kind);
// Update the world state.
switch (_seeItems[i].kind)
{
case ItemKind.Gun:
aWorldState.Set(TankScenario.SeeGun, true);
break;
case ItemKind.Ammo:
aWorldState.Set(TankScenario.SeeAmmo, true);
break;
case ItemKind.Bomb:
aWorldState.Set(TankScenario.SeeBomb, true);
break;
case ItemKind.Repair:
aWorldState.Set(TankScenario.SeeRepair, true);
break;
}
}
}
// Update vision for enemies.
aWorldState.Set(TankScenario.SeeEnemy, false);
for (int i = 0; i < TANKS_COUNT; i++)
{
if (_seeTanks[i] != null)
{
_blackboard.TrackTank(_seeTanks[i]);
aWorldState.Set(TankScenario.SeeEnemy, true);
}
}
// Check the enemy on line of the fire.
aWorldState.Set(TankScenario.OnLineofFire, false);
if (_blackboard.HasEnemy)
{
float angle = AntMath.AngleDeg(_control.Position, _blackboard.EnemyTank.Position);
if (AntMath.Equal(AntMath.Angle(angle), AntMath.Angle(_control.Tower.Angle), 10.0f))
{
aWorldState.Set(TankScenario.OnLineofFire, true);
}
}
// Check the touching of enemy tanks.
aWorldState.Set(TankScenario.NearEnemy, false);
for (int i = 0; i < TANKS_COUNT; i++)
{
if (_touchTanks[i] != null)
{
aWorldState.Set(TankScenario.NearEnemy, true);
break;
}
}
}
