public RectangleGFRRT(State xinit, InfoDomain domain, int maxiter, Validator validator, Tactics tactics)
{
this._xinit = xinit;
this._domain = domain;
this._maxiter = maxiter;
this._tactics = tactics;
this._validator = validator;
}
private int distanceForMomentum(State state, InfoDomain domain)
{
int centerx = (int)(state.getPosX() - 40) / 8;
int centery = (int)(state.getPosY() - 40) / 8;
int size = 80;
int direction = (int)state.getVelocityX();
int startx;
int endx;
int starty = centery - size / 8 / 2;
int endy = centery + size / 8 / 2;
int[,] table = domain.Table;
if (direction == 1)
{
startx = centerx - size / 8 / 2;
endx = 0;
for (int x = startx; x >= endx; x--)
{
for (int y = starty; y < endy; y++)
{
if (table[y, x] == 1 || table[y, x] == 3)
{
return((centerx - x) * 8);
}
}
}
return(centerx * 8 - size / 2);
}
else
{
startx = centerx + size / 8 / 2 - 1;
endx = 149;
for (int x = startx; x <= endx; x++)
{
for (int y = starty; y < endy; y++)
{
if (table[y, x] == 1 || table[y, x] == 3)
{
return((x - centerx) * 8);
}
}
}
return((149 - centerx) * 8 - size / 2);
}
}
public override CircleNode apply(CircleNode Xinit, InfoDomain _domain, Graph graph)
{
bool newState = false;
CircleActions cAction = new CircleActions();
int action = 0;
State s = null;
while (!newState)
{
if (Xinit.allActionsBusy())
{
graph.NonBusyNodes.Remove(Xinit);
return(null);
}
action = cAction.getRandomAction();
switch (action)
{
case 0:
if (!Xinit._busyActions[0])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() - 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 0; // this means going left
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 0, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(80);
if (s.getPosX() < Xinit.getState().CurrentPlatform.minWidth())
{
if ((!Xinit.getState().SpecialMoveL) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
s.setPosX(s.getPosX() - gapInfo[0] - s.getSizeOfAgent() / 2);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
s.point.Platform = s.CurrentPlatform;
s.point.y = s.getPosY();
Xinit.getState().SpecialMoveL = true;
s.point.Gap = true;
}
else
{
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, 100);
s.point.Platform = s.CurrentPlatform;
s.setPosY(s.CurrentPlatform.maxHeight() - radius);
s.point.Fall = true;
s.point.x = Xinit.getState().CurrentPlatform.minWidth() - radius;
s.point.y = s.getPosY();
s.setPosX(s.point.x);
Xinit.setActionBusy(0);
}
}
else
{
Xinit.setActionBusy(0);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
s.point.Platform = s.CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 1:
if (!Xinit._busyActions[1])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() + 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 1; // this means going right
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 1, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(80);
if (s.getPosX() > Xinit.getState().CurrentPlatform.maxWidth())
{
if ((!Xinit.getState().SpecialMoveR) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
s.setPosX(s.getPosX() + gapInfo[0] + s.getSizeOfAgent() / 2);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
s.point.Platform = s.CurrentPlatform;
s.point.y = s.getPosY();
Xinit.getState().SpecialMoveR = true;
s.point.Gap = true;
}
else
{
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
s.point.Platform = s.CurrentPlatform;
s.setPosY(s.CurrentPlatform.maxHeight() - radius);
s.point.Fall = true;
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + radius;
s.setPosX(s.point.x);
s.point.y = s.getPosY();
Xinit.setActionBusy(1);
}
}
else
{
Xinit.setActionBusy(1);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
s.point.Platform = s.CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 2:
if (!Xinit._busyActions[2])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX();
newcoordinates[1] = Xinit.getState().getPosY() - 305;
newcoordinates[2] = Xinit.getState().getVelocityX();
newcoordinates[3] = Xinit.getState().getVelocityY();
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 2, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(80);
Xinit.setActionBusy(2);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
s.point.Platform = s.CurrentPlatform;
this.caughtCollectible(Xinit.getState(), s);
s.setPosY(s.getPosY() + 305);
if (Xinit.getState().sizeOfCaughtCollectible() < s.sizeOfCaughtCollectible())
{
s.point.DiamondAbove = true;
if (Xinit.getState().getAction() == 0)
{
s.point.x -= 32;
s.point.x -= radius;
}
else if (Xinit.getState().getAction() == 1)
{
s.point.x += 32;
s.point.x += radius;
}
}
else
{
continue;
}
s.point.y = s.getPosY();
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 3:
if (!Xinit._busyActions[3])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX();
newcoordinates[1] = Xinit.getState().getPosY() - 305;
newcoordinates[2] = Xinit.getState().getVelocityX();
newcoordinates[3] = Xinit.getState().getVelocityY();
//if(newcoordinates[2] == 0) // going left
// newcoordinates[0] -= 64;
//else if(newcoordinates[2] == 1) // going right
// newcoordinates[0] += 64;
if (newcoordinates[2] == 0) // going left
{
newcoordinates[0] -= 384;
}
else if (newcoordinates[2] == 1) // going right
{
newcoordinates[0] += 384;
}
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 3, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(80);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
if (s.ReachableObstacles == null)
{
if (s.VisitedPlatforms == null)
{
s.ReachableObstacles = _domain.AllObstacles.platformsAbove(Xinit.getState(), s);
s.VisitedPlatforms = new bool[s.ReachableObstacles.Count];
}
else
{
Xinit.setActionBusy(3);
return(null);
}
}
if (s.ReachableObstacles != null)
{
Obstacles.Obstacle o = null;
int i = 0;
for (i = 0; i < s.ReachableObstacles.Count; i++)
{
if (!s.VisitedPlatforms[i])
{
o = (Obstacles.Obstacle)s.ReachableObstacles[i];
break;
}
}
if (o == null)
{
Xinit.setActionBusy(3);
return(null);
}
else
{
if (s.getVelocityX() == 0) // going left
{
s.setPosX(o.maxWidth() - s.getSizeOfAgent() / 2);
}
else if (s.getVelocityX() == 1) // going right
{
s.setPosX(o.minWidth() + s.getSizeOfAgent() / 2);
}
s.setPosY(o.maxHeight() - s.getSizeOfAgent() / 2);
s.point.x = s.getPosX();
s.point.y = s.getPosY();
s.point.ToPlatform = true;
s.CurrentPlatform = o;
s.point.Platform = s.CurrentPlatform;
s.VisitedPlatforms[i] = true;
Xinit.setActionBusy(3);
}
}
else
{
return(null);
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
}
}
CircleNode n = new CircleNode(s);
return(n);
}
public override RectangleNode apply(RectangleNode Xinit, InfoDomain _domain, Graph graph)
{
return(null);
}
