public void SinglePUpdate(TimeSpan elapsedGameTime)
{
//Plan
if (planRRT && predictor != null && predictor.CharactersReady())
{
controlling = false;
planSolution();
}
else if (getDebugInfo)
{
if (cutplan)
{
debugInfo = RRT.getDebugInfo(T, pathPlan.cleanPlan(obstaclesInfo, Diamonds, area, circleInfo.Radius, true, true)).ToArray();
}
else
{
debugInfo = RRT.getDebugInfo(T, pathPlan.debugCleanPlan()).ToArray();
}
//debugInfo = RRT.getDebugInfo(T, null).ToArray();
getDebugInfo = false;
}
else if (!getDebugInfo)
{
debugInfo = null;
}
//Control - if there is a plan then execute it
if (pathPlan.getPathPoints() != null && pathPlan.getPathPoints().Count != 0 && hasStarted)
{
controlling = true;
planExecution();
}
else if (pathPlan.getTotalCollectibles() != 0 && controlling && pathPlan.getTotalCollectibles() == uncaughtCollectibles.Count)
{
//if currently the number of uncaught collectibles is the same as the one supposed to be at the end of the plan, stop the agent and replan
replan(false);
}
//make sure the agent replans when missing the last action
else if (pathPlan.getPathPoints().Count == 0 && controlling)// && lastAction)
{
lastActionReplan();
}
//if it none of the above work and the too much time has already passed, replan
else if (controlling && (gameTime.ElapsedMilliseconds * 0.001f * gSpeed > pointTimeMargin * gSpeed))
{
replan(true);
}
else if (pathPlan.getPathPoints().Count == 0 && !controlling && !planRRT)
{
planRRT = true;
newPlan = true;
}
}