//get the next action according to the plan and the agent state
private void getAction()
{
currentAction = controller.computeAction(pathPlan.getPathPoints()[0], circleInfo.VelocityX, circleInfo.X, circleInfo.Y, timestep.ElapsedMilliseconds * 0.001f, acceleration);
timestep.Restart();
if (currentAction == Moves.JUMP)
{
jumpPerformed = true;
}
//change to next point when a point is reached or when a jump was performed
if (!correctRRT && controller.rollReached)
{
lastMove = pathPlan.getPathPoints()[0].getAction();
if (firstAction3)
{
firstAction3 = false;
}
else
{
pathPlan.nextPoint();
}
if (pathPlan.getPathPoints().Count == 0)
{
lastAction = true;
}
if (controller.jumpReached)
{
justJumped = true;
}
else if (justJumped)
{
justJumped = false;
}
controller.jumpReached = false;
controller.rollReached = false;
remainingActions--;
gameTime.Restart();
timestep.Restart();
}
else if (firstAction2)
{
firstAction2 = false;
firstAction3 = true;
pathPlan.getOriginalPoints()[pathPlan.getCurrentPoint()].passedThrough();
}
}
//get the next action according to the plan and the agent state
private void getAction()
{
acceleration = getAcceleration();
var timeStep = timestep.ElapsedMilliseconds * 0.001f;
if (timeStep < 0.001f)
{
timeStep = 0.001f;
}
currentAction = controller.computeAction(pathPlan.getPathPoints()[0], rectangleInfo.VelocityX, rectangleInfo.VelocityY, rectangleInfo.X, rectangleInfo.Y, timeStep, acceleration);
timestep.Restart();
//change to next point when a point is reached or when a jump was performed
if (!correctRRT && (controller.slideReached || controller.morphReached))
{
lastMove = pathPlan.getPathPoints()[0].getAction();
if (firstAction3)
{
firstAction3 = false;
}
else
{
pathPlan.nextPoint();
}
if (pathPlan.getPathPoints().Count == 0)
{
lastAction = true;
}
controller.slideReached = false;
controller.morphReached = false;
remainingActions--;
gameTime.Restart();
timestep.Restart();
}
else if (firstAction2)
{
firstAction2 = false;
firstAction3 = true;
pathPlan.getOriginalPoints()[pathPlan.getCurrentPoint()].passedThrough();
}
}