public Rangefinder(Agent agent, float length, Ray ray)
{
//assign the owning Agent
m_Agent = agent;
//assign the length of the rangefinder
m_Length = length;
//create the new ray from the given ray
m_Ray = ray;
}
/// <summary>
///
/// </summary>
/// <param name="targetObjects"></param>
/// <param name="radius"></param>
/// <param name="owner"></param>
public AgentAdjacencyList(Agent owner, List<GameEntity> targetObjects, float radius)
{
//grab the list to track
m_Entities = targetObjects;
//get the radius of the list
m_Radius = radius;
//get the owner of the list
m_Owner = owner;
//init the InRange list
m_Edges = new List<AgentAdjacencyListEdge>();
}
public Bomb(Agent agentParent, int id)
{
m_ID = id;
this.m_AgentParent = agentParent;
//to trace bombs parent
m_AgentIdTag = agentParent.Id;
m_World = agentParent.World;
//inherits parents position
this.m_Position = agentParent.Position;
//heading is initially 0
Heading = 0.0f;
//load model
loadContent(agentParent.World.Content, "bomb");
m_Position = agentParent.Position;
//velocity, acceleration, speed are initially zero
Velocity = Vector3.Zero;
Acceleration = Vector3.Zero;
Speed = 0.0f;
//init max speed
//?MaxSpeed = Bann.MAX_SPEED;
//lifetime initialy set to 3000 ( 3 seconds )
LifeTime = 1500;
//sensory radius will be range of bomb
/*
* |
* |
* ---o---
* |
* |
*
*/
SensoryRadius = (float)Bomb.RADIUS;
//logic to figure out what gets hit in explosion to be done
// using all objects in a range and check if they
//collide with 2 rectangles looks to be the best way
}
/// <summary>
///
/// </summary>
/// <param name="agent"></param>
public override void Execute(Agent agent)
{
if (agent.NearBomb())
{
agent.NavPath = null;
agent.ChangeState(new State_Escape());
}
else if (!agent.NearEnemy())
{
agent.NavPath = null;
agent.ChangeState(new State_Navigate());
}
else
{
agent.DropBomb();
}
}
/// <summary>
/// Creates a Rangefinder of a given length to serve as an agent's sense for feelers
/// </summary>
/// <param name="startPosition">Where the rangefinder originates</param>
/// <param name="length">The length of the feeler</param>
/// <param name="angle">The angle offset from the heading of the agent</param>
public Rangefinder(Agent agent, float length, float angle)
{
//assign the owning agent
m_Agent = agent;
//assign the length of the rangefinder
m_Length = length;
//get an angle representing the direction of the rangefinder
m_Angle = angle;
//create a rotation matrix for the angle applied to the heading
Matrix orientationMatrix = Matrix.CreateRotationY(angle + m_Agent.Heading);
//use the rotation matrix to transform a forward pointing Vector
//be sure to normalize the direction vector
Vector3 forward = Vector3.Forward;
Vector3 direction = Vector3.Normalize(Vector3.Transform(forward, orientationMatrix));
//create the ray from the given information
m_Ray = new Ray(m_Agent.Position, direction);
}
public void LoadNewMap(String filename)
{
System.IO.StreamReader fin;
fin = new System.IO.StreamReader(@filename);
String currentString;
currentString = fin.ReadLine();
m_StartPositions.Clear();
m_Agents.Clear();
m_AllAgents.Clear();
bool readingWalls = false;
bool readingBlocks = false;
bool readingNodes = false;
bool readingTarget = false;
bool readingSpawn = false;
float x, y, z;
List<Vector3> wallPositions = new List<Vector3>();
List<Vector3> blockPositions = new List<Vector3>();
List<Vector3> nodePositions = new List<Vector3>();
Vector3 targetPosition = Vector3.Zero;
Vector3 spawnPosition = Vector3.Zero;
while (currentString != "[End]")
{
//check to see if we're reading walls
if (currentString == "[Walls]")
{
readingWalls = true;
readingBlocks = false;
readingNodes = false;
readingTarget = false;
readingSpawn = false;
//get next line
currentString = fin.ReadLine();
}
else if (currentString == "[Blocks]")
{
readingWalls = false;
readingBlocks = true;
readingNodes = false;
readingTarget = false;
readingSpawn = false;
//get next line
currentString = fin.ReadLine();
}
else if (currentString == "[Nodes]")
{
readingWalls = false;
readingBlocks = false;
readingNodes = true;
readingTarget = false;
readingSpawn = false;
//get next line
currentString = fin.ReadLine();
}
else if (currentString == "[Target]")
{
readingWalls = false;
readingBlocks = false;
readingNodes = false;
readingTarget = true;
readingSpawn = false;
//get next line
currentString = fin.ReadLine();
}
else if (currentString == "[Spawn]")
{
readingWalls = false;
readingBlocks = false;
readingNodes = false;
readingTarget = false;
readingSpawn = true;
//get next line
currentString = fin.ReadLine();
}
else if (currentString == "")
{
currentString = fin.ReadLine();
}
else
{
//current string should now be 3 float values separated by spaces
//create a array of characters the length of the current string
char[] c = new char[currentString.Length];
string xString = "";
string yString = "";
string zString = "";
int space1 = 0, space2 = 0;
//create a string reader and attach it to the current character string
System.IO.StringReader sr = new System.IO.StringReader(currentString);
//scan x
for (int i = 0; i < currentString.Length; i++)
{
if (currentString[i] == ' ')
{
space1 = i;
break;
}
xString += currentString[i];
}
//scan y
for (int i = space1 + 1; i < currentString.Length; i++)
{
if (currentString[i] == ' ')
{
space2 = i;
break;
}
yString += currentString[i];
}
//scan z
for (int i = space2 + 1; i < currentString.Length; i++)
{
zString += currentString[i];
}
x = float.Parse(xString);
y = float.Parse(yString);
z = float.Parse(zString);
Vector3 newPosition = new Vector3(x, y, z);
//check for what we're adding to
if (readingWalls)
{
wallPositions.Add(newPosition);
}
else if (readingBlocks)
{
blockPositions.Add(newPosition);
}
else if (readingNodes)
{
nodePositions.Add(newPosition);
}
else if (readingSpawn)
{
spawnPosition = newPosition;
m_StartPositions.Add(newPosition);
}
else if (readingTarget)
{
targetPosition = newPosition;
}
//read in next string
currentString = fin.ReadLine();
}
}
//currentString == [End]
//so close file
fin.Close();
//wallPositions contains all wall positions
LoadNewMapWalls(wallPositions);
//blockPositions contains all block positions
LoadNewMapBlocks(blockPositions);
//nodePositions contains all node positions
LoadNewMapNodes(nodePositions);
//spawnPosition contains new m_StartAgentLocation
if (m_StartPositions.Count == 1)
{
//create agents for genetic algorithm
m_NumAgents = Params.POP_SIZE;
m_Agents.Clear();
for (int i = 0; i < m_NumAgents; i++)
{
GameEntity newAgent = new Agent(this, m_NextId++, false);
((Agent)newAgent).LoadContent(m_Content, "agent1");
m_Agents.Add(newAgent);
}
//load spawn positions
LoadNewMapSpawn(spawnPosition);
LoadNewMapTarget(targetPosition);
}
else
{
//create 3 more agents
for (int i = 0; i < 3; i++)
{
GameEntity newAgent = new Agent(this, m_NextId++, false);
((Agent)newAgent).LoadContent(m_Content, "agent1");
//add new agent
m_Agents.Add(newAgent);
}
LoadNewMapStartPositions();
}
//targetPosition contains new m_StartTargetLocation
//set adjacency lists
SetAdjacencyListEnemies();
SetAdjacencyListNodes();
//reset tick count
m_NumTicks = 0;
}
public Vector3 Pursuit(Agent targetAgent)
{
//get to target vector
Vector3 toTarget = targetAgent.Position - m_Agent.Position;
double lookAheadTime = toTarget.Length() / (m_Agent.MaxSpeed + targetAgent.Speed);
return Seek(targetAgent.Position + targetAgent.Velocity * (float)lookAheadTime);
}
public SteeringBehaviors(Agent agent)
{
m_Agent = agent;
}
/// <summary>
///
/// </summary>
/// <param name="agent"></param>
public override void Execute(Agent agent)
{
//agent.MaxSpeed = Agent.PANIC_SPEED;
agent.TurnSpeed = Agent.PANIC_SPEED;
if (!agent.NearBomb())
{
agent.NavPath = null;
agent.ChangeState(new State_Navigate());
}
else
{
//Console.WriteLine("Executing navigate for agent " + agent.ID);
//return;
// Give the agent time to move to prevent constant course correction
if (agent.NavDelay > DateTime.Now && agent.NavPath != null && agent.NextNode != null)
{
//Console.WriteLine("Navigation Delay");
agent.NextNode = agent.MoveAlongPath(agent.NavPath, agent.NextNode);
return;
}
else if (agent.NavDelay < DateTime.Now)
{
//Console.WriteLine("Adding NavDelay");
agent.NavDelay = DateTime.Now.AddSeconds(5);
}
//find the smallest distance to the escape position
AgentAdjacencyListEdge escapeEdge = new AgentAdjacencyListEdge();
GameEntity escapeNode = escapeEdge.Entity;
escapeEdge.Distance = float.MaxValue;
//find node closest to agent
AgentAdjacencyListEdge closestEdge = new AgentAdjacencyListEdge();
GameEntity closestNode = closestEdge.Entity;
closestEdge.Distance = float.MaxValue;
//loop through all the edges in the adjacency list of nodes
//check all the distances and retain the smallest distance
//and record that node as the node to traverse to
for (int i = 0; i < agent.AdjacencyListNodes.Edges.Count; i++)
{
//get distance from node to escape position
float distance = Vector3.Distance(agent.StartingLocation, agent.AdjacencyListNodes.Edges[i].Entity.Position);
//compare the distances
if (distance < escapeEdge.Distance)
{
//set new escape edge
escapeEdge = agent.AdjacencyListNodes.Edges[i];
//set the new escape node
escapeNode = ((Node)escapeEdge.Entity);
}
//comparison for closest edge
distance = Vector3.Distance(agent.Position, agent.AdjacencyListNodes.Edges[i].Entity.Position);
//compare the distances
if (distance < closestEdge.Distance)
{
//set the closest edge
closestEdge = agent.AdjacencyListNodes.Edges[i];
//set the closest node
closestNode = ((Node)closestEdge.Entity);
}
}
agent.NavPath = agent.FindPath(((Node)closestNode), ((Node)escapeNode));
agent.NextNode = (Node)closestNode;
}
}
/// <summary> /// /// </summary> /// <param name="agent"></param> public abstract void Execute(Agent agent);
/// <summary>
///
/// </summary>
/// <param name="agent"></param>
public override void Execute(Agent agent)
{
agent.MaxSpeed = Agent.MAX_SPEED;
agent.TurnSpeed = Agent.MAX_TURN_SPEED;
// It is assured that by the time this is executed, all the
// nodes will exist in the world.
if (agent.EscapeNode == null)
{
float tempNodeDist = float.MaxValue;
foreach (AgentAdjacencyListEdge edge in agent.AdjacencyListNodes.Edges)
{
if (edge.Distance < tempNodeDist)
{
tempNodeDist = edge.Distance;
agent.EscapeNode = (Node)edge.Entity;
}
}
}
if (agent.Invuln == true && DateTime.Now > agent.InvulnTimer)
{
agent.Invuln = false;
}
if (agent.NearBomb())
{
agent.NavPath = null;
agent.ChangeState(new State_Escape());
}
else if (agent.NearEnemy())
{
agent.ChangeState(new State_Attack());
}
else
{
//Console.WriteLine("Executing navigate for agent " + agent.ID);
//return;
// Give the agent time to move to prevent constant course correction
if (agent.NavDelay > DateTime.Now && agent.NavPath != null && agent.NextNode != null)
{
//Console.WriteLine("Navigation Delay");
agent.NextNode = agent.MoveAlongPath(agent.NavPath, agent.NextNode);
return;
}
else if (agent.NavDelay < DateTime.Now)
{
//Console.WriteLine("Adding NavDelay");
agent.NavDelay = DateTime.Now.AddSeconds(5);
}
// Check to see if the next node is under a block and drop bomb if appropriate
foreach (Block block in agent.World.Blocks)
{
if (agent.NextNode != null && agent.NextNode.Position == block.Position)
{
agent.DropBomb();
return;
}
}
// First find the closest agent
//Console.Write("Finding closest agent... ");
float tempAgentDist = float.MaxValue;
Agent tempTargetAgent = null;
foreach (AgentAdjacencyListEdge edge in agent.AdjacencyListEnemies.Edges)
{
if (edge.Distance < tempAgentDist)
{
tempAgentDist = edge.Distance;
tempTargetAgent = (Agent)edge.Entity;
}
}
//Console.WriteLine("Agent " + tempTargetAgent.ID + " at " + tempTargetAgent.Position);
// If that agent is different from the current target agent,
// recalculate navigation, otherwise continue moving.
if (!tempTargetAgent.Equals(agent.TargetAgent))
{
// Find the node closest to the target enemy, use as end
//Console.Write("Finding end node... ");
float tempEndNodeDist = float.MaxValue;
foreach (AgentAdjacencyListEdge edge in tempTargetAgent.AdjacencyListNodes.Edges)
{
//Console.WriteLine("Looking at edge.\n");
if (edge.Distance < tempEndNodeDist)
{
tempEndNodeDist = edge.Distance;
agent.EndNode = (Node)edge.Entity;
}
}
//if (agent.EndNode == null)
// return;
//Console.WriteLine("Node " + agent.EndNode.ID + " at " + agent.EndNode.Position);
// Find the node closest to the current agent, use as start
//Console.Write("Finding start node... ");
float tempStartNodeDist = float.MaxValue;
foreach (AgentAdjacencyListEdge edge in agent.AdjacencyListNodes.Edges)
{
if (edge.Distance < tempStartNodeDist)
{
tempStartNodeDist = edge.Distance;
agent.StartNode = (Node)edge.Entity;
}
}
//if (agent.StartNode == null)
//return;
//Console.WriteLine("Node " + agent.StartNode.ID + " at " + agent.StartNode.Position);
agent.NavPath = agent.FindPath(agent.StartNode, agent.EndNode);
agent.NextNode = agent.StartNode;
}
else
{
agent.NextNode = agent.MoveAlongPath(agent.NavPath, agent.NextNode);
}
}
return;
}
