public void SensorsUpdated(int nC, float[] sI, float[] cI, float[] colI)
{
int temp;
nCollectiblesLeft = nC;
rectangleInfo[0] = sI[0];
rectangleInfo[1] = sI[1];
rectangleInfo[2] = sI[2];
rectangleInfo[3] = sI[3];
rectangleInfo[4] = sI[4];
this.CurrentRectangle = new RectangleCharacter(this.Model, rectangleInfo[0], rectangleInfo[1], sI[4]);
circleInfo[0] = cI[0];
circleInfo[1] = cI[1];
circleInfo[2] = cI[2];
circleInfo[3] = cI[3];
circleInfo[4] = cI[4];
Array.Resize(ref collectiblesInfo, (nCollectiblesLeft * 2));
temp = 1;
while (temp <= nCollectiblesLeft)
{
collectiblesInfo[(temp * 2) - 2] = colI[(temp * 2) - 2];
collectiblesInfo[(temp * 2) - 1] = colI[(temp * 2) - 1];
temp++;
}
// ConsolePrinter.PrintLine(sI[4].ToString());
}
public DecisionMakingProcess(WorldModel WM) : base(WM)
{
this.AStar = new NodeArrayAStarPathFinding(WM, new ZeroHeuristic());
this.Manual = new InstructionManualProcessor(WM);
this.CurrentConnectionID = -1;
this.CurrentActionID = -1;
this.CurrentRectangle = WM.Character;
this.CurrentSolution = new int[0];
}
public int GetNextAction(RectangleCharacter cube)
{
if ((cube.Equals(CurrentRectangle) && this.CurrentConnectionID != -1) ||
(((this.CurrentConnectionID != -1) && (this.CurrentActionID >= this.CurrentSolution.Length - 1) && !isOutConn(this.WM.Path[this.CurrentConnectionID]) && !isOnGoal())))
{
ConsolePrinter.PrintLine("Improvise");
this.calculateNewAction();
}
this.CurrentRectangle = cube;
if ((this.CurrentConnectionID != -1) && isOnGoal())
{
this.Manual.Update(this.WM.Path[this.CurrentConnectionID], getSolution());
this.CurrentConnectionID++;
this.ResetSolution();
ConsolePrinter.PrintLine("Follow");
}
if (this.CurrentConnectionID == -1 || this.isOutPath())
{
this.AStar.InitializePathfindingSearch(this.CurrentRectangle);
if (this.AStar.InProgress)
{
if (this.AStar.Search())
{
this.CurrentConnectionID = 0;
this.ResetSolution();
ConsolePrinter.PrintLine("Search");
}
}
}
this.CurrentActionID++;
/* if ((this.CurrentActionID >= this.CurrentSolution.Length - 1))
* {
*
* ConsolePrinter.PrintLine("Improvise a lot");
* this.calculateNewAction();
* }*/
ConsolePrinter.PrintLine("ActionID: " + this.CurrentActionID);
ConsolePrinter.PrintLine("Action : " + this.CurrentSolution[this.CurrentActionID]);
return(this.CurrentSolution[this.CurrentActionID]);
}
public void InitializePathfindingSearch(RectangleCharacter startPosition)
{
Point initp = new Point(WM, WM.Character.xPos, WM.Character.yPos);
Point aux = new Point(WM, 9999, 9999);
float dist = 99999999999;
foreach (Point p in WM.Mesh)
{
float auxd = initp.DistanceTo(p);
if (auxd <= dist)
{
aux = p;
dist = auxd;
}
}
Connection c = new Connection(WM, initp, aux);
c.categorie = c.SLIDEONPLATFORM;
initp.addConnection(c);
NodeRecord nri = new NodeRecord();
nri.node = initp;
nri.gValue = 0;
nri.hValue = 0;
nri.fValue = 0;
nri.Points = 0;
var bestNode = nri;
this.StartNode = initp;
this.InProgress = true;
this.TotalProcessedNodes = 0;
this.MaxOpenNodes = 0;
this.Open.Initialize();
this.Open.AddToOpen(bestNode);
this.Closed.Initialize();
}
public void Setup(int[] nI, float[] sI, float[] cI, float[] oI, float[] sPI, float[] cPI, float[] colI, Rectangle area, double timeLimit)
{
// Time limit is the time limit of the level - if negative then there is no time constrains
this.area = area;
int temp;
// numbersInfo[] Description
//
// Index - Information
//
// 0 - Number of Obstacles
// 1 - Number of Rectangle Platforms
// 2 - Number of Circle Platforms
// 3 - Number of Collectibles
numbersInfo = new int[4];
int i;
for (i = 0; i < nI.Length; i++)
{
numbersInfo[i] = nI[i];
}
nCollectiblesLeft = nI[3];
// rectangleInfo[] Description
//
// Index - Information
//
// 0 - Rectangle X Position
// 1 - Rectangle Y Position
// 2 - Rectangle X Velocity
// 3 - Rectangle Y Velocity
// 4 - Rectangle Height
rectangleInfo = new float[5];
rectangleInfo[0] = sI[0];
rectangleInfo[1] = sI[1];
rectangleInfo[2] = sI[2];
rectangleInfo[3] = sI[3];
rectangleInfo[4] = sI[4];
// circleInfo[] Description
//
// Index - Information
//
// 0 - Circle X Position
// 1 - Circle Y Position
// 2 - Circle X Velocity
// 3 - Circle Y Velocity
// 4 - Circle Radius
circleInfo = new float[5];
circleInfo[0] = cI[0];
circleInfo[1] = cI[1];
circleInfo[2] = cI[2];
circleInfo[3] = cI[3];
circleInfo[4] = cI[4];
// Obstacles and Platforms Info Description
//
// X = Center X Coordinate
// Y = Center Y Coordinate
//
// H = Platform Height
// W = Platform Width
//
// Position (X=0,Y=0) = Left Superior Corner
// obstaclesInfo[] Description
//
// Index - Information
//
// If (Number of Obstacles > 0)
// [0 ; (NumObstacles * 4) - 1] - Obstacles' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[0] > 0)
{
obstaclesInfo = new float[numbersInfo[0] * 4];
}
else
{
obstaclesInfo = new float[4];
}
temp = 1;
if (nI[0] > 0)
{
while (temp <= nI[0])
{
obstaclesInfo[(temp * 4) - 4] = oI[(temp * 4) - 4];
obstaclesInfo[(temp * 4) - 3] = oI[(temp * 4) - 3];
obstaclesInfo[(temp * 4) - 2] = oI[(temp * 4) - 2];
obstaclesInfo[(temp * 4) - 1] = oI[(temp * 4) - 1];
temp++;
}
}
else
{
obstaclesInfo[0] = oI[0];
obstaclesInfo[1] = oI[1];
obstaclesInfo[2] = oI[2];
obstaclesInfo[3] = oI[3];
}
// rectanglePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Rectangle Platforms > 0)
// [0; (numRectanglePlatforms * 4) - 1] - Rectangle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[1] > 0)
{
rectanglePlatformsInfo = new float[numbersInfo[1] * 4];
}
else
{
rectanglePlatformsInfo = new float[4];
}
temp = 1;
if (nI[1] > 0)
{
while (temp <= nI[1])
{
rectanglePlatformsInfo[(temp * 4) - 4] = sPI[(temp * 4) - 4];
rectanglePlatformsInfo[(temp * 4) - 3] = sPI[(temp * 4) - 3];
rectanglePlatformsInfo[(temp * 4) - 2] = sPI[(temp * 4) - 2];
rectanglePlatformsInfo[(temp * 4) - 1] = sPI[(temp * 4) - 1];
temp++;
}
}
else
{
rectanglePlatformsInfo[0] = sPI[0];
rectanglePlatformsInfo[1] = sPI[1];
rectanglePlatformsInfo[2] = sPI[2];
rectanglePlatformsInfo[3] = sPI[3];
}
// circlePlatformsInfo[] Description
//
// Index - Information
//
// If (Number of Circle Platforms > 0)
// [0; (numCirclePlatforms * 4) - 1] - Circle Platforms' info [X,Y,H,W]
// Else
// 0 - 0
// 1 - 0
// 2 - 0
// 3 - 0
if (numbersInfo[2] > 0)
{
circlePlatformsInfo = new float[numbersInfo[2] * 4];
}
else
{
circlePlatformsInfo = new float[4];
}
temp = 1;
if (nI[2] > 0)
{
while (temp <= nI[2])
{
circlePlatformsInfo[(temp * 4) - 4] = cPI[(temp * 4) - 4];
circlePlatformsInfo[(temp * 4) - 3] = cPI[(temp * 4) - 3];
circlePlatformsInfo[(temp * 4) - 2] = cPI[(temp * 4) - 2];
circlePlatformsInfo[(temp * 4) - 1] = cPI[(temp * 4) - 1];
temp++;
}
}
else
{
circlePlatformsInfo[0] = cPI[0];
circlePlatformsInfo[1] = cPI[1];
circlePlatformsInfo[2] = cPI[2];
circlePlatformsInfo[3] = cPI[3];
}
//Collectibles' To Catch Coordinates (X,Y)
//
// [0; (numCollectibles * 2) - 1] - Collectibles' Coordinates (X,Y)
collectiblesInfo = new float[numbersInfo[3] * 2];
temp = 1;
while (temp <= nI[3])
{
collectiblesInfo[(temp * 2) - 2] = colI[(temp * 2) - 2];
collectiblesInfo[(temp * 2) - 1] = colI[(temp * 2) - 1];
temp++;
}
this.Model = new WorldModel(nI, sI, cI, oI, sPI, cPI, colI, area);
this.CurrentRectangle = this.Model.Character;
this.CurrentRectangle.heigth = sI[4];
this.PdA = new ProblemDectectionAlgorithm(this.Model);
this.PdA.GeneratePoints();
this.PdA.GenerateConnections();
this.DMP = new DecisionMakingProcess(this.Model);
DebugSensorsInfo();
}