public void Update()
{
//Console.WriteLine("Updating Adjacency List of Entity " + m_Owner.ID + ".\nSearching through " + m_Entities.Count + " entities.\n Using a radius of " + m_Radius);
//work in squared distances
float radiusSquared = m_Radius * m_Radius;
//clear the list
m_Edges.Clear();
//loop through all the entities
for (int i = 0; i < m_Entities.Count; i++)
{
//Console.Write("Entity " + m_Entities[i].ID + ": ");
if (m_Entities[i].ID != m_Owner.ID)
{
//get vector to target
Vector3 toTarget = m_Entities[i].Position - m_Owner.Position;
//get length(squared) of toTarget Vector
float lengthSquared = toTarget.LengthSquared();
//Console.WriteLine("Squared Distance = " + lengthSquared + ".");
//see if it's within the radius
if (lengthSquared <= radiusSquared)
{
//get the actual distance
float distance = (float)Math.Sqrt(lengthSquared);
//get the direction of the toTarget vector
float angle = (float)Math.Atan2(-toTarget.Z, toTarget.X);
//[-pi, pi)
angle = MathHelper.WrapAngle(angle);
//target angle
float targetAngle = -MathHelper.WrapAngle(m_Owner.Heading - angle + MathHelper.ToRadians(90));
targetAngle = MathHelper.WrapAngle(targetAngle);
if (targetAngle < 0)
targetAngle += MathHelper.ToRadians(360.0f);
//create the new object to insert into the list
AgentAdjacencyListEdge edge = new AgentAdjacencyListEdge(m_Entities[i], distance, targetAngle);
//insert it into the list
m_Edges.Add(edge);
//Console.WriteLine("Entity " + edge.Entity.ID + " added to list");
}
}
}
//Console.WriteLine("Update Complete");
}
/// <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;
}
}