private static void UpdateStrokeStats(CurrentChasingStroke stroke, Tuple<NearPointResult, NearPointResult[]> hits, Tuple<Point3D, Vector3D>[] strokePoints, Point3D botPosition, double skipPointRadius)
{
List<NearPointResult> allHits = new List<NearPointResult>();
allHits.Add(hits.Item1);
if (hits.Item2 != null)
{
allHits.AddRange(hits.Item2);
}
double? distanceSquared = null;
int? index = null;
foreach (NearPointResult hit in allHits)
{
if (hit == null)
{
continue;
}
if (distanceSquared == null || distanceSquared.Value > hit.DistanceSquared)
{
distanceSquared = hit.DistanceSquared;
}
int maxIndex = Math.Max(hit.SegmentFrom, hit.SegmentTo);
if ((index == null || index.Value < maxIndex) && hit.DistanceSquared < skipPointRadius * skipPointRadius)
{
index = maxIndex;
}
if (hit.SegmentTo == strokePoints.Length - 1 && Vector3D.DotProduct(botPosition - strokePoints[hit.SegmentFrom].Item1, strokePoints[hit.SegmentFrom].Item2) > 0)
{
// Chasing the last point, and beyond the point's velocity. So it would have to fly back to get to the point.
// This means that it is done chasing this stroke
index = strokePoints.Length; // setting to an index beyond the stroke's range
}
}
// Store the values
if (distanceSquared != null)
{
stroke.MinDistance = Math.Sqrt(distanceSquared.Value);
}
if (index != null)
{
stroke.MinIndex = index.Value;
}
}
private Vector3D? GetStrokeAccel(SwarmObjectiveStrokes.Stroke objectiveStroke, Point3D position, Vector3D velocity)
{
const double VELOCITYINFLUENCERADIUS = 2d;
const double TOWARDRADIUSMULT = .5; // making this smaller than the size of the velocity influence radius so there aren't any dead spots
const double SKIPPOINTRADIUSMULT = 1d;
if (objectiveStroke == null)
{
return null;
}
// Current stroke
CurrentChasingStroke currentlyChasingStroke = _currentlyChasingStroke;
if (currentlyChasingStroke == null || currentlyChasingStroke.Token != objectiveStroke.Token)
{
currentlyChasingStroke = new CurrentChasingStroke(objectiveStroke.Token);
_currentlyChasingStroke = currentlyChasingStroke;
}
// Get affected by the stroke
var hits = GetNearestSegmentsOrPoint(objectiveStroke.Points, position, currentlyChasingStroke.MinIndex);
if (hits == null || (hits.Item1 == null && (hits.Item2 == null || hits.Item2.Length == 0)))
{
currentlyChasingStroke.MinIndex = objectiveStroke.Points.Length;
currentlyChasingStroke.MinDistance = double.MaxValue;
return null;
}
// Stats
UpdateStrokeStats(currentlyChasingStroke, hits, objectiveStroke.Points, position, this.Radius * SKIPPOINTRADIUSMULT);
#region build return
Vector3D retVal = new Vector3D(0, 0, 0);
double accel = this.MaxAccel;
if (hits.Item1 != null)
{
retVal += GetStrokeAccel_Point(hits.Item1, position, accel, VELOCITYINFLUENCERADIUS, TOWARDRADIUSMULT);
}
if (hits.Item2 != null)
{
for (int cntr = 0; cntr < hits.Item2.Length; cntr++)
{
bool shouldAttractToward = cntr == 0 && hits.Item1 == null;
retVal += GetStrokeAccel_Segment(hits.Item2[cntr], position, accel, VELOCITYINFLUENCERADIUS, TOWARDRADIUSMULT, shouldAttractToward);
}
}
#endregion
return retVal;
}
