public override void ExecuteBehavior(UrbanChallenge.Behaviors.Behavior b)
{
if (displaySignals)
{
if (b.Decorators != null)
{
Console.Write("Decorators: ");
foreach (BehaviorDecorator bd in b.Decorators)
{
if (bd is TurnSignalDecorator)
{
TurnSignalDecorator tsd = (TurnSignalDecorator)bd;
Console.Write(tsd.Signal.ToString() + ", ");
}
else
{
Console.Write("Unrecognized, ");
}
}
Console.Write("\n");
}
else
{
Console.WriteLine("Decorators: null");
}
}
}
public static UrbanChallenge.Common.Shapes.Polygon PolygonIntersection(UrbanChallenge.Common.Shapes.Polygon polygon, UrbanChallenge.Common.Shapes.Polygon eePolygon)
{
GpcWrapper.Polygon one = ToGpcPolygon(polygon);
GpcWrapper.Polygon two = ToGpcPolygon(eePolygon);
GpcWrapper.Polygon final = GpcWrapper.GpcWrapper.Clip(GpcWrapper.GpcOperation.Intersection, one, two);
return ToShapePolygon(final);
}
public static GpcWrapper.Polygon ToGpcPolygon(UrbanChallenge.Common.Shapes.Polygon input)
{
GraphicsPath gp = new GraphicsPath();
PointF[] polyPoints = new PointF[input.Count];
for (int i = 0; i < input.Count; i++)
{
polyPoints[i] = DrawingUtility.ToPointF(input[i]);
}
gp.AddPolygon(polyPoints);
return new GpcWrapper.Polygon(gp);
}
public void BeginTrackingCycle(UrbanChallenge.Common.CarTimestamp timestamp)
{
// nothing to do
}
public override void InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, RndfEditor.Display.Utilities.WorldTransform t)
{
throw new Exception("The method or operation is not implemented.");
}
public void InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, WorldTransform t)
{
throw new Exception("The method or operation is not implemented.");
}
public void SetTurnSignal(UrbanChallenge.Behaviors.TurnSignal signal)
{
// do this "out of band" because it doesn't really fit with anything else
commandTransport.SetTurnSignal(signal);
}
public void InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, WorldTransform t)
{
this.position = orig + offset;
}
public void CancelMove(UrbanChallenge.Common.Coordinates orig, WorldTransform t)
{
this.position = orig;
}
public void Update(UrbanChallenge.Common.Vehicle.VehicleState ourState)
{
// get lane
ArbiterLane lane = this.turnFinalWaypoint.Lane;
// get the possible vehicles that could be in this stop
if (TacticalDirector.VehicleAreas.ContainsKey(lane))
{
// get vehicles in the the lane of the exit
List<VehicleAgent> possibleVehicles = TacticalDirector.VehicleAreas[lane];
// get the point we are looking from
LinePath.PointOnPath referencePoint = lane.LanePath().GetClosestPoint(this.turnFinalWaypoint.Position);
// tmp
VehicleAgent tmp = null;
double tmpDist = Double.MaxValue;
// check over all possible vehicles
foreach (VehicleAgent possible in possibleVehicles)
{
// get vehicle point on lane
LinePath.PointOnPath vehiclePoint = lane.LanePath().GetClosestPoint(possible.ClosestPosition);
// check if the vehicle is in front of the reference point
double vehicleDist = lane.LanePath().DistanceBetween(referencePoint, vehiclePoint);
if (vehicleDist >= 0 && vehicleDist < TahoeParams.VL * 2.0)
{
tmp = possible;
tmpDist = vehicleDist;
}
}
if (tmp != null)
{
if (this.currentVehicle == null || !this.currentVehicle.Equals(tmp))
{
this.timer.Stop();
this.timer.Reset();
this.currentVehicle = tmp;
}
else
this.currentVehicle = tmp;
if (this.currentVehicle.IsStopped && !this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
this.timer.Start();
}
else if (!this.currentVehicle.IsStopped && this.timer.IsRunning)
{
this.timer.Stop();
this.timer.Reset();
}
}
else
{
this.currentVehicle = null;
this.timer.Stop();
this.timer.Reset();
}
}
else
{
this.timer.Stop();
this.timer.Reset();
this.currentVehicle = null;
}
}
public bool IsCompletelyClear(UrbanChallenge.Common.Vehicle.VehicleState ourState)
{
this.Update(ourState);
return this.Clear(ourState);
}
public override void SetRoadNetwork(UrbanChallenge.Arbiter.ArbiterRoads.ArbiterRoadNetwork roadNetwork)
{
}
public override void SetProjection(UrbanChallenge.Common.EarthModel.PlanarProjection proj)
{
}
public UrbanChallenge.Behaviors.Behavior Resume(UrbanChallenge.Common.Vehicle.VehicleState currentState, double speed)
{
List<Polygon> stayOuts = new List<Polygon>();
foreach(Polygon so in this.Zone.StayOutAreas)
{
if(!so.IsInside(currentState.Front) && !so.IsInside(currentState.Position))
stayOuts.Add(so);
}
return new UTurnBehavior(this.Zone.Perimeter.PerimeterPolygon, new LinePath(new Coordinates[] { this.final.Start.Position, this.final.End.Position }), null, new ScalarSpeedCommand(1.7), stayOuts);
}
public RndfEditor.Display.Utilities.HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, RndfEditor.Display.Utilities.WorldTransform wt, RndfEditor.Display.Utilities.DisplayObjectFilter filter)
{
return new HitTestResult(this, false, float.MaxValue);
}
public bool Clear(UrbanChallenge.Common.Vehicle.VehicleState ourState)
{
return (this.currentVehicle == null ||
(this.currentVehicle.StateMonitor.Observed.speedValid && !this.currentVehicle.IsStopped && this.currentVehicle.Speed > 2.0));
}
public void BeginMove(UrbanChallenge.Common.Coordinates orig, WorldTransform t)
{
}
public void OnPreRender(UrbanChallenge.OperationalUI.Common.GraphicsWrapper.IGraphics g, WorldTransform transform)
{
}
public HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
// check filter
if (filter.Target == null || filter.Target is ArbiterParkingSpotWaypoint)
{
// get bounding box dependent on tolerance
RectangleF bounding = this.GetBoundingBox(wt);
bounding.Inflate(tol, tol);
// check if contains point
if (bounding.Contains(DrawingUtility.ToPointF(loc)))
{
return new HitTestResult(this, true, (float)loc.DistanceTo(this.Position));
}
}
return new HitTestResult(this, false, float.MaxValue);
}
public void Transform(UrbanChallenge.Common.Mapack.Matrix3 m)
{
throw new NotSupportedException();
}
private LinePath ConvertPath(UrbanChallenge.Common.Path.Path p)
{
LinePath lineList = new LinePath();
lineList.Add(p[0].Start);
for (int i = 0; i < p.Count; i++) {
lineList.Add(p[i].End);
}
return lineList;
}
public UrbanChallenge.Behaviors.Behavior Resume(UrbanChallenge.Common.Vehicle.VehicleState currentState, double speed)
{
return new StayInLaneBehavior(OpposingLane.LaneId, new ScalarSpeedCommand(0.0), new List<int>());
}
public HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
return new HitTestResult(this, false, float.MaxValue);
}
public HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
if (filter(this))
{
Coordinates closest = this.GetClosest(loc);
if ((float)loc.DistanceTo(closest) < 5 + tol)
{
return new HitTestResult(this, true, (float)loc.DistanceTo(closest));
}
}
return new HitTestResult(this, false, float.MaxValue);
}
public UrbanChallenge.Behaviors.Behavior Resume(UrbanChallenge.Common.Vehicle.VehicleState currentState, double speed)
{
return this.RecoveryBehavior != null ? this.RecoveryBehavior : new NullBehavior();
}
public override void BeginMove(UrbanChallenge.Common.Coordinates orig, RndfEditor.Display.Utilities.WorldTransform t)
{
}
public UrbanChallenge.Behaviors.Behavior Resume(UrbanChallenge.Common.Vehicle.VehicleState currentState, double speed)
{
return new HoldBrakeBehavior();
}
public override void InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, RndfEditor.Display.Utilities.WorldTransform t)
{
this.VehicleState.Position = orig + offset;
}
public void BeginTrackingCycle(UrbanChallenge.Common.CarTimestamp timestamp)
{
first.BeginTrackingCycle(timestamp);
second.BeginTrackingCycle(timestamp);
}
public double DistanceTo(UrbanChallenge.Common.Coordinates loc)
{
return this.Perimeter.PerimeterPolygon.IsInside(loc) ? 0.0 : Double.MaxValue;
}
