private Moves HoldGround()
{
Moves move = Moves.NO_ACTION;
// bananas
if (this.agentStatus.MOVING_LEFT > Utils.Quantifier.NONE)
{
move = Moves.ROLL_RIGHT;
}
else if (this.agentStatus.MOVING_RIGHT > Utils.Quantifier.NONE)
{
move = Moves.ROLL_LEFT;
}
Log.LogInformation("HOLD_GROUND");
Log.LogInformation(this.agentStatus.ToString());
Log.LogInformation(move.ToString());
return(move);
}
//TODO If near Obstacle, but still below, doesnt jump
private Moves JumpOnto(ObstacleRepresentation obstacle)
{
Moves move = Moves.NO_ACTION;
Status statusCircle = new Status();
statusCircle.Update(this.circleInfo, this.rectangleInfo, obstacle, AgentType.Circle);
Utils.Quantifier Distance_From_Obstacle;
Moves Roll_To_Obstacle;
Moves Roll_Away_From_Obstacle;
Utils.Direction Direction_To_Get_To_Obstacle;
if (statusCircle.LEFT_FROM_TARGET == Utils.Quantifier.NONE) //Circle is on the obstacle's right side
{
Distance_From_Obstacle = statusCircle.RIGHT_FROM_TARGET;
Roll_To_Obstacle = Moves.ROLL_LEFT;
Roll_Away_From_Obstacle = Moves.ROLL_RIGHT;
Direction_To_Get_To_Obstacle = Utils.Direction.LEFT;
}
else if (statusCircle.RIGHT_FROM_TARGET == Utils.Quantifier.NONE)//Circle is on the obstacle's left side
{
Distance_From_Obstacle = statusCircle.LEFT_FROM_TARGET;
Roll_To_Obstacle = Moves.ROLL_RIGHT;
Roll_Away_From_Obstacle = Moves.ROLL_LEFT;
Direction_To_Get_To_Obstacle = Utils.Direction.RIGHT;
}
else //Circle is vertically aligned with obstacle
{
Distance_From_Obstacle = Utils.Quantifier.NONE;
Roll_To_Obstacle = Moves.NO_ACTION;
Roll_Away_From_Obstacle = Moves.NO_ACTION;
Direction_To_Get_To_Obstacle = Utils.Direction.RIGHT; //Default, not gonna be used
}
if (statusCircle.MOVING_TOWARDS_TARGET == Utils.Quantifier.NONE) //When circle is not moving towards the target
{
if (statusCircle.NEAR_TARGET)
{
if (statusCircle.ABOVE_TARGET == Utils.Quantifier.SLIGHTLY) //Already Above target
{
move = Moves.NO_ACTION;
}
else //Has to roll away from target to gain speed to jump
{
if (Distance_From_Obstacle == Utils.Quantifier.NONE) //Is directly below target
{
//TODO CIRCLE MUST FIND A WAY TO TRY TO POSITION HIMSELF TO JUMP
move = Moves.NO_ACTION; //TODO PROVISIONAL
}
else
{
move = Roll_Away_From_Obstacle;
}
}
}
else //Circle has to start moving in the obstacle's direction, because is far away
{
move = Roll_To_Obstacle;
}
}
else //When the circle is moving towards the target
{
if (Distance_From_Obstacle == Utils.Quantifier.SLIGHTLY) //when the circle has to jump now
{
move = Moves.JUMP;
}
else if (Distance_From_Obstacle > Utils.Quantifier.A_BIT) //When the circle is very far away, and has to go fast
{
move = Roll(Direction_To_Get_To_Obstacle, Utils.Quantifier.A_BIT);
}
else if (Distance_From_Obstacle > Utils.Quantifier.SLIGHTLY) //When the circle is almost in the jumping spot
{
move = Roll(Direction_To_Get_To_Obstacle, Utils.Quantifier.SLIGHTLY);
}
else //When an error occurs
{
move = Moves.NO_ACTION;
}
}
Log.LogInformation("JUMP_ONTO");
Log.LogInformation(statusCircle.ToString());
Log.LogInformation(move.ToString());
return(move);
}