protected virtual float TryPathToTarget()
{
float cost = NotActionCost;
TargetAccesible = false;
bool movementDone = false;
if (Target == LastTarget)
{
PathToTarget = MathFunctions.PathfindingWithReusing(WorldPosition2D, Target.WorldPosition2D, CurrentTerrain.IsPosAccesible, CurrentWorld.SearchRadius * 2, PathToTarget);
}
else
{
PathToTarget = MathFunctions.Pathfinding(WorldPosition2D, Target.WorldPosition2D, CurrentTerrain.IsPosAccesible, CurrentWorld.SearchRadius);
}
LastTarget = Target;
// If a path to target is possible
if (PathToTarget.Count > 0)
{
TargetAccesible = MathFunctions.IsTouchingTarget(PathToTarget[PathToTarget.Count - 1], Target.WorldPosition2D, CurrentTerrain.IsPosAccesible);
// Try movement
movementDone = CurrentTerrain.TryMoveToCell(this, PathToTarget[0]);
if (movementDone)
{
cost = PathToTargetCost;
PathToTarget.RemoveAt(0);
}
}
return(cost);
}
/// <summary>
/// Updates set of beliefs.
/// </summary>
/// <param name="belief"> </param>
/// <param name="beliefPos"></param>
/// <returns></returns>
private List <Tuple <int, int> > UpdateBelief(TypesBelief belief, IEnumerable <Tuple <int, int> > beliefPos)
{
var result = new List <Tuple <int, int> >();
foreach (var spot in beliefPos)
{
if (CurrentTerrain.Contains(new Tuple <int, int>(spot.Item1, spot.Item2)))
{
switch (belief)
{
case TypesBelief.PotentialWaterSpots:
if (_terrain[spot.Item1, spot.Item2] >= 0)
{
continue;
}
break;
case TypesBelief.ObstaclesOnTerrain:
if (_terrain[spot.Item1, spot.Item2] < RunningOverThreshold)
{
continue;
}
break;
}
}
result.Add(spot);
}
return(result);
}
public IEnumerable <Percept> GetCurrentTerrain()
{
var R = SenseRadius;
CurrentTerrain.Clear();
var result = new List <Percept>();
for (var i = X - R > 0 ? X - R : 0; i <= X + R; i++)
{
for (var j = Y; Math.Pow((j - Y), 2) + Math.Pow((i - X), 2) <= Math.Pow(R, 2); j--)
{
if (j < 0 || i >= _terrain.GetLength(0))
{
break;
}
// In the circle
result.AddRange(CheckTerrain(Mars.TerrainAt(i, j), new Tuple <int, int>(i, j)));
CurrentTerrain.Add(new Tuple <int, int>(i, j));
UpdatePerceivedCellsDicc(new Tuple <int, int>(i, j));
}
for (var j = Y + 1; (j - Y) * (j - Y) + (i - X) * (i - X) <= R * R; j++)
{
if (j >= _terrain.GetLength(1) || i >= _terrain.GetLength(0))
{
break;
}
// In the circle
result.AddRange(CheckTerrain(Mars.TerrainAt(i, j), new Tuple <int, int>(i, j)));
CurrentTerrain.Add(new Tuple <int, int>(i, j));
UpdatePerceivedCellsDicc(new Tuple <int, int>(i, j));
}
}
return(result);
}
protected virtual float SearchAndPathToTargetAction()
{
float cost = SearchCost;
Target = null;
WorldObject currentWorldObj;
Vector2Int topLeftCorner;
Vector2Int position = Vector2Int.zero;
int radius, x, y, yIncrement;
// Incremental radius search
for (radius = 1; radius < CurrentWorld.SearchRadius && Target == null; radius++)
{
topLeftCorner = WorldPosition2D - Vector2Int.one * radius;
for (x = 0; x <= radius * 2 && Target == null; x++)
{
yIncrement = (x == 0 || x == radius * 2) ? 1 : radius * 2;
for (y = 0; y <= radius * 2 && Target == null; y += yIncrement)
{
position.x = topLeftCorner.x + x;
position.y = topLeftCorner.y + y;
if (position != WorldPosition2D)
{
currentWorldObj = CurrentTerrain.GetCellContent(position);
if (IsInterestingObj(currentWorldObj))
{
Target = currentWorldObj;
}
}
}
}
}
if (Target != null)
{
if (cost < NullEnergyCost)
{
cost = TryPathToTarget();
}
else
{
cost += TryPathToTarget();
}
}
return(cost);
}
protected virtual float RandomMovementAction()
{
bool movementDone = false;
Vector2Int nextDirection;
nextDirection = MathFunctions.PseudorandomDirection(WorldPosition2D, Direction, RandomGenerator, ConserveDirectionProbability, CurrentTerrain.IsPosAccesible);
// If exists some possible movement
if (!nextDirection.Equals(Vector2Int.zero))
{
movementDone = CurrentTerrain.TryMoveToCell(this, WorldPosition2D + nextDirection);
}
return(movementDone ? RandomMoveCost : NotActionCost);
}
