public void AddNeighbor(NavNode n)
{
if (!Neighbors.Contains(n))
{
Neighbors.Add(n);
Costs.Add(EdgeCost(n));
}
}
private float EdgeCost(NavNode n)
{
float x, y;
x = Math.Abs(n.Position.X - this.Position.X);
y = this.Position.Y - n.Position.Y; // negative if the neighbor is above
// We will probably adjust this:
return 1;// x + y * 1.2f;
}
// Index by which bot is searching (prevents conflicts)
public void SetPrevious(NavAgent agent, NavNode node)
{
Previous[agent] = node;
}
public override void Update(GameTime gameTime)
{
if (bot == null || mesh == null) this.Delete();
else
{
int tick = 1;// gameTime.ElapsedGameTime.Milliseconds;
idlecooldown -= tick;
if (bot.Target == null)
{
// stall
// Console.WriteLine("stalling...");
}
else if (state == States.idle)
{
// Console.WriteLine("idle...");
if (idlecooldown >= 0) idlecooldown -= tick;
else state = States.start;
}
else if (state == States.start)
{
//Console.WriteLine("starting...");
Clear();
path.Add(bot.Position);
path.Add(bot.Target.Position);
ncurrent = mesh.GetNearestNode(bot.Position);
ngoal = mesh.GetNearestNode(bot.Target.Position);
openSet.Add(ncurrent);
costs[ncurrent] = 0;
state = States.getnext; // initialize
}
else if (state == States.getnext)
{
//Console.WriteLine("get next");
if (openSet.Count == 0) Reset();
else
{
// next node has the minimum cost in the open set
float minTotalCost = float.MaxValue;
foreach (NavNode n in openSet)
{
if (costs[n] < minTotalCost)
{
ncurrent = n;
minTotalCost = costs[n];
}
}
if (ncurrent == ngoal)
{
state = States.done;
}
else
{
closedSet.Add(ncurrent);
openSet.Remove(ncurrent);
// state = States.expand;
}
}
//}
//else if (state == States.expand)
//{
// //Console.WriteLine("Expand...");
for (int j = 0; j < ncurrent.Neighbors.Count; j++)
{
NavNode neighbor = ncurrent.Neighbors[j];
if (!closedSet.Contains(neighbor) && !openSet.Contains(neighbor))
{
// Add to open set and calculate costs
openSet.Add(neighbor);
costs[neighbor] = costs[ncurrent] + ncurrent.Costs[j];
neighbor.SetPrevious(this, ncurrent);
}
}
//state = States.getnext;
}
else if (state == States.done)
{
//Console.WriteLine("done");
path.Clear();
while (ncurrent.GetPrevious(this) != null)
{
path.Insert(0, ncurrent.Position);
ncurrent = ncurrent.GetPrevious(this);
}
bot.SetDestinations(path);
Reset();
}
}
}
public static MapData LoadPillar(World w)
{
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, 960, 850, 1530, 130, 0));
data.walls.Add(new Wall(w, 960, 969, 1406, 222, 0));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.walls.Add(new Wall(w, 980, -300, 1404, 128, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(500, 640);
data.spawnPoints[1] = new Vector2(820, 640);
data.spawnPoints[2] = new Vector2(1120, 640);
data.spawnPoints[3] = new Vector2(1420, 640);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(960, 440, 1800);
//TODO
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 0, 0);
NavNode node02 = new NavNode(data.navmesh, 1, 1);
node01.AddNeighbor(node02);
node02.AddNeighbor(node01);
data.background = MainGame.tex_bg_pillar;
data.music = MainGame.mus_pillar;
return data;
}
public static MapData LoadCircus(World w)
{
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, -12, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 1932, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 1038, 960, 2174, 282, 0));
data.walls.Add(new Wall(w, 933, 729, 525, 164, 0));
data.walls.Add(new Wall(w, 1390, 481, 139, 31, 0));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(250, 690);
data.spawnPoints[1] = new Vector2(1422, 348);
data.spawnPoints[2] = new Vector2(550, 690);
data.spawnPoints[3] = new Vector2(1370, 690);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(950, 405, 1800);
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 0, 0);
NavNode node02 = new NavNode(data.navmesh, 1, 1);
node01.AddNeighbor(node02);
node02.AddNeighbor(node01);
data.background = MainGame.tex_bg_circus;
data.music = MainGame.mus_circus;
data.foreground = MainGame.tex_fg_circus;
return data;
}
public static MapData LoadCastle(World w)
{
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, 980, 880, 1404, 128, 0));
data.walls.Add(new Wall(w, 319, 368, 152, 976, 0));
data.walls.Add(new Wall(w, 1564, 359, 108, 915, 0));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.walls.Add(new Wall(w, 450, 518, 209, 47, 0));
data.walls.Add(new Wall(w, 1402, 518, 216, 55, 0));
data.walls.Add(new Wall(w, 963, 256, 172, 44, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(468, 366);
data.spawnPoints[1] = new Vector2(1383, 375);
data.spawnPoints[2] = new Vector2(486, 699);
data.spawnPoints[3] = new Vector2(1380, 704);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(960, 170, 1800); // (x, y, respawn time)
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 470, 700);
NavNode node02 = new NavNode(data.navmesh, 630, 700);
NavNode node03 = new NavNode(data.navmesh, 790, 700);
NavNode node04 = new NavNode(data.navmesh, 950, 700);
NavNode node05 = new NavNode(data.navmesh, 1110, 700);
NavNode node06 = new NavNode(data.navmesh, 1270, 700);
NavNode node07 = new NavNode(data.navmesh, 1430, 700);
NavNode node08 = new NavNode(data.navmesh, 470, 370);
NavNode node09 = new NavNode(data.navmesh, 630, 370);
NavNode node10 = new NavNode(data.navmesh, 790, 370);
NavNode node11 = new NavNode(data.navmesh, 950, 370);
NavNode node12 = new NavNode(data.navmesh, 1110, 370);
NavNode node13 = new NavNode(data.navmesh, 1270, 370);
NavNode node14 = new NavNode(data.navmesh, 1430, 370);
NavNode node15 = new NavNode(data.navmesh, 470, 170);
NavNode node16 = new NavNode(data.navmesh, 630, 170);
NavNode node17 = new NavNode(data.navmesh, 790, 170);
NavNode node18 = new NavNode(data.navmesh, 950, 170);
NavNode node19 = new NavNode(data.navmesh, 1110, 170);
NavNode node20 = new NavNode(data.navmesh, 1270, 170);
NavNode node21 = new NavNode(data.navmesh, 1430, 170);
node01.AddNeighbors(node02);
node02.AddNeighbors(node01, node03, node09, node10);
node03.AddNeighbors(node02, node04, node10, node11);
node04.AddNeighbors(node03, node05, node10, node11, node12);
node05.AddNeighbors(node04, node06, node11, node12);
node06.AddNeighbors(node05, node07, node12, node13);
node07.AddNeighbors(node06);
node08.AddNeighbors(node09, node15, node16);
node09.AddNeighbors(node02, node08, node10, node15, node16, node17);
node10.AddNeighbors(node02, node03, node04, node09, node11);
node11.AddNeighbors(node03, node04, node05, node10, node12);
node12.AddNeighbors(node04, node05, node06, node11, node13);
node13.AddNeighbors(node06, node12, node14, node19, node20, node21);
node14.AddNeighbors(node13, node20, node21);
node15.AddNeighbors(node08, node09, node16);
node16.AddNeighbors(node08, node09, node10, node15, node17);
node17.AddNeighbors(node09, node16, node18);
node18.AddNeighbors(node17, node19);
node19.AddNeighbors(node13, node18, node20);
node20.AddNeighbors(node12, node13, node14, node19, node21);
node21.AddNeighbors(node13, node14, node20);
data.background = MainGame.tex_bg_castle;
data.music = MainGame.mus_castle;
return data;
}
public static MapData LoadOctopus(World w)
{
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, 1695, 453, 244, 1562, 0));
data.walls.Add(new Wall(w, 326, 453, 200, 1458, 0));
data.walls.Add(new Wall(w, 1008, 914, 1296, 240, 0));
data.walls.Add(new Wall(w, 485, 537, 141, 75, 0));
data.walls.Add(new Wall(w, 1443, 520, 342, 88, 0));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(682, 692);
data.spawnPoints[1] = new Vector2(1216, 692);
data.spawnPoints[2] = new Vector2(1496, 319);
data.spawnPoints[3] = new Vector2(508, 389);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(1000, 300, 1800);
// TODO
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 0, 0);
NavNode node02 = new NavNode(data.navmesh, 1, 1);
node01.AddNeighbor(node02);
node02.AddNeighbor(node01);
data.background = MainGame.tex_bg_octopus;
data.music = MainGame.mus_octopus;
return data;
}
public static MapData LoadGraveyard(World w)
{
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, 965, 974, 1958, 223, 0));
data.walls.Add(new Wall(w, -12, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 1932, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 494, 614, 278, 26, 0));
data.walls.Add(new Wall(w, 1569, 812, 241, 281, -MathHelper.Pi / 6));
data.walls.Add(new Wall(w, 1497, 684, 229, 86, -MathHelper.Pi / 180 * 11.8f));
data.walls.Add(new Wall(w, 839, 368, 114, 21, 0));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(501, 741);
data.spawnPoints[1] = new Vector2(1468, 554);
data.spawnPoints[2] = new Vector2(501, 455);
data.spawnPoints[3] = new Vector2(973, 735);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(837, 292, 1800);
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 0, 0);
NavNode node02 = new NavNode(data.navmesh, 1, 1);
node01.AddNeighbor(node02);
node02.AddNeighbor(node01);
data.background = MainGame.tex_bg_graveyard;
data.music = MainGame.mus_graveyard;
return data;
}
public static MapData LoadClocktower(World w)
{
/////
// These are all wrong
/////
MapData data = new MapData();
data.walls = new List<Wall>();
data.walls.Add(new Wall(w, -12, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 1932, 476, 24, 1000, 0));
data.walls.Add(new Wall(w, 751, 443, 312, 46, 0));
data.walls.Add(new RoundWall(w, 758, 999, 114));
data.walls.Add(new RoundWall(w, -30, 1230, 633));
data.walls.Add(new RoundWall(w, 573, 1044, 88));
data.walls.Add(new RoundWall(w, 991, 914, 152));
data.walls.Add(new RoundWall(w, 1487, 1047, 227));
data.walls.Add(new RoundWall(w, 1873, 787, 257));
data.walls.Add(new RoundWall(w, 1196, 1051, 93));
data.walls.Add(new Wall(w, 980, -200, 1404, 128, 0));
data.spawnPoints = new Vector2[4];
data.spawnPoints[0] = new Vector2(586, 654);
data.spawnPoints[1] = new Vector2(1516, 589);
data.spawnPoints[2] = new Vector2(981, 580);
data.spawnPoints[3] = new Vector2(758, 327);
data.ammoPoints = new Vector3[1];
data.ammoPoints[0] = new Vector3(1285, 427, 1800);
data.navmesh = new NavMesh();
NavNode node01 = new NavNode(data.navmesh, 0, 0);
NavNode node02 = new NavNode(data.navmesh, 1, 1);
node01.AddNeighbor(node02);
node02.AddNeighbor(node01);
data.background = MainGame.tex_bg_clocktower;
data.music = MainGame.mus_clocktower;
return data;
}
public void AddNode(NavNode pnode)
{
nodes.Add(pnode);
}
