private Path recursiveTraceBack(RectangleNode goalNode, Path l)
{
if (goalNode.getParent() == null)
{
l.AddNewPoint(goalNode.getState().point);
return(l);
}
else
{
this.recursiveTraceBack(goalNode.getParent(), l);
l.AddNewPoint(goalNode.getState().point);
if (goalNode.getParent().getParent() != null)
{
if (goalNode.getParent().getState().getVelocityX() != goalNode.getState().getVelocityX() && goalNode.getParent().getState().getPosY() >= goalNode.getState().getPosY())
{
goalNode.getParent().getState().point.TurningPoint = true;
}
}
return(l);
}
}
public override Boolean validate(RectangleNode newnode, RectangleNode oldnode, InfoDomain domain, Graph graph)
{
State newstate = newnode.getState();
State oldstate = oldnode.getState();
// The 3rd and 4th action were already verified
if (newnode.getState().getAction() == 3 || newnode.getState().getAction() == 4)
{
return(true);
}
if (outsideOfMap(newstate))
{
return(false);
}
else
{
if (isVerticalMovement(oldstate, newstate) || newstate.getAction() == 2) //se foi gap nao fazer isto
{
if (thereIsWallBetweenV(newstate, oldstate, domain))
{
return(false);
}
else
{
return(true);
}
}
else
{
if (thereIsWallBetweenH(newstate, oldstate, domain))
{
if (emptyBottom)
{
oldnode._busyActions[3] = false;
emptyBottom = false;
if (newstate.getVelocityX() == 0)
{
oldnode._busyMorphLeft = false;
}
else
{
oldnode._busyMorphRight = false;
}
//may need to put a turning point.
}
if (canPassOver(newstate, oldstate, domain))
{
oldnode._busyActions[4] = false;
if (newstate.getVelocityX() == 0)
{
oldnode._busyTiltLeft = false;
}
else
{
oldnode._busyTiltRight = false;
}
//may need to put a turning point.
}
if ((!oldnode._busyActions[3] || !oldnode._busyActions[4]))
{
if (!graph.NonBusyNodes.Contains(oldnode))
{
graph.NonBusyNodes.Add(oldnode);
}
}
return(false);
}
else
{
return(true);
}
}
}
}
public override RectangleNode apply(RectangleNode Xinit, InfoDomain _domain, Graph graph)
{
bool newState = false;
RectangleActions rAction = new RectangleActions();
int action = 0;
State s = null;
while (!newState)
{
if (Xinit.allActionsBusy())
{
graph.NonBusyNodes.Remove(Xinit);
return(null);
}
action = rAction.getRandomAction();
switch (action)
{
case 0: //MOVE_LEFT
if (!Xinit._busyActions[0])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() - 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 0; // 0 means going left
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 0, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
s.point.Size = s.getSizeOfAgent();
int halfwidth = getWidth(s.getSizeOfAgent()) / 2;
int halfheight = s.getSizeOfAgent() / 2;
if (s.getPosX() + MINSIZE / 2 <= Xinit.getState().CurrentPlatform.minWidth())
{
if ((!Xinit.getState().SpecialMoveL) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
//when it's gap it just needs to keep on going, but for the planning sake
//we moved it's position to next platform's begining
s.setPosX(s.getPosX() - gapInfo[0] - halfwidth);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
Xinit.getState().SpecialMoveL = true;
s.setPosX(s.CurrentPlatform.maxWidth() - halfwidth);
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.Size = s.getSizeOfAgent();
s.point.x = s.getPosX();
}
else
{
if (Xinit.getState().SpecialMoveL)
{
gapInfo = gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max);
int gapsize = (int)gapInfo[3];
if (gapsize <= NORMALSIZE)
{
s.setSizeOfAgent(getHeight(gapsize - 16));
if (gapsize < MINSIZE)
{
s.setSizeOfAgent(MAXSIZE);
}
}
else
{
s.setSizeOfAgent(NORMALSIZE);
}
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, NORMALSIZE);
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Xinit.getState().CurrentPlatform.minWidth() - gapsize / 2;
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.FallGap = true;
}
else
{
s.point.x = Xinit.getState().CurrentPlatform.minWidth() - halfwidth;
s.setPosX(s.point.x);
s.setSizeOfAgent(possibleHeight(s, _domain));
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(Xinit.getState().CurrentPlatform.maxHeight() - halfheight); //so distanceForMomentum is correct
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
int distance = distanceForMomentum(s, _domain);
s.point.DistanceMomentum = distance;
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, distance);
s.point.DistancePlatform = (int)Math.Max(0, Xinit.getState().CurrentPlatform.minWidth() - s.CurrentPlatform.maxWidth());
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Math.Min((Xinit.getState().CurrentPlatform.minWidth() - halfwidth), (s.CurrentPlatform.maxWidth() - halfwidth));
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.Fall = true;
}
if (s.getSizeOfAgent() != Xinit.getState().getSizeOfAgent())
{
s.point.Morph = true;
}
Xinit.setActionBusy(0);
}
}
else
{
Xinit.setActionBusy(0);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 1: //MOVE_RIGHT
if (!Xinit._busyActions[1])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX() + 32;
newcoordinates[1] = Xinit.getState().getPosY();
newcoordinates[2] = 1; // 1 means going right
newcoordinates[3] = Xinit.getState().getVelocityY();
float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 1, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
s.point.Size = s.getSizeOfAgent();
int halfwidth = getWidth(s.getSizeOfAgent()) / 2;
int halfheight = s.getSizeOfAgent() / 2;
if (s.getPosX() - MINSIZE / 2 >= Xinit.getState().CurrentPlatform.maxWidth())
{
if ((!Xinit.getState().SpecialMoveR) && ((gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max)) != null))
{
//when it's gap it just needs to keep on going, but for the planning sake
//we moved it's position to next platform's begining
s.setPosX(s.getPosX() + gapInfo[0] + halfwidth);
s.point.x = s.getPosX();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
Xinit.getState().SpecialMoveR = true;
s.setPosX(s.CurrentPlatform.minWidth() + halfwidth);
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = s.getPosY();
s.point.x = s.getPosX();
}
else
{
if (Xinit.getState().SpecialMoveR)
{
gapInfo = _domain.AllObstacles.isThereAGap(s, Xinit.getState().CurrentPlatform, min, max);
int gapsize = (int)gapInfo[3];
if (gapsize <= NORMALSIZE)
{
s.setSizeOfAgent(getHeight(gapsize - 16));
if (gapsize < MINSIZE)
{
s.setSizeOfAgent(MAXSIZE);
}
}
else
{
s.setSizeOfAgent(NORMALSIZE);
}
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, NORMALSIZE);
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + gapsize / 2;
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.FallGap = true;
}
else
{
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + halfwidth;
s.setPosX(s.point.x);
s.setSizeOfAgent(possibleHeight(s, _domain));
halfwidth = getWidth(s.getSizeOfAgent()) / 2;
halfheight = s.getSizeOfAgent() / 2;
s.point.x = Xinit.getState().CurrentPlatform.maxWidth() + halfwidth;
s.setPosX(s.point.x);
s.setPosY(Xinit.getState().CurrentPlatform.maxHeight() - halfheight);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
int distance = distanceForMomentum(s, _domain);
s.point.DistanceMomentum = distance;
s.CurrentPlatform = _domain.AllObstacles.getNextPlatformRange(s, distance);
s.point.DistancePlatform = (int)Math.Max(0, s.CurrentPlatform.minWidth() - Xinit.getState().CurrentPlatform.maxWidth());
s.setPosY(s.CurrentPlatform.maxHeight() - halfheight);
s.point.y = Math.Min((Xinit.getState().CurrentPlatform.maxHeight() + NORMALSIZE), s.getPosY());
s.point.x = Math.Max((Xinit.getState().CurrentPlatform.maxWidth() + halfwidth), (s.CurrentPlatform.minWidth() + halfwidth));
s.setPosX(s.point.x);
s.point.Size = s.getSizeOfAgent();
s.point.Fall = true;
}
if (s.getSizeOfAgent() != Xinit.getState().getSizeOfAgent())
{
s.point.Morph = true;
}
Xinit.setActionBusy(1);
}
}
else
{
Xinit.setActionBusy(1);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
}
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 2: //MORPH_UP
if (!Xinit._busyActions[2])
{
float[] newcoordinates = new float[4];
newcoordinates[0] = Xinit.getState().getPosX();
newcoordinates[1] = Xinit.getState().getPosY() + Xinit.getState().getSizeOfAgent() / 2 - MAXSIZE;
newcoordinates[2] = Xinit.getState().getVelocityX();
newcoordinates[3] = Xinit.getState().getVelocityY();
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 2, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(Xinit.getState().getSizeOfAgent());
Xinit.setActionBusy(2);
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
this.caughtCollectible(Xinit.getState(), s);
s.setPosY(Xinit.getState().getPosY());
s.point.y = s.getPosY(); //ok?
if (Xinit.getState().sizeOfCaughtCollectible() < s.sizeOfCaughtCollectible())
{
s.point.DiamondAbove = true;
if (Xinit.getState().getAction() == 0)
{
s.point.x -= 32;
s.point.x -= radius;
}
else if (Xinit.getState().getAction() == 1)
{
s.point.x += 32;
s.point.x += radius;
}
}
else
{
continue;
}
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph))
{
newState = true;
}
}
break;
case 3: //MORPH_DOWN
if (!Xinit._busyActions[3])
{
float[] newcoordinates = new float[4];
if (!Xinit._busyMorphLeft)
{
newcoordinates[2] = 0;
Xinit._busyMorphLeft = true;
}
else if (!Xinit._busyMorphRight)
{
newcoordinates[2] = 1;
Xinit._busyMorphRight = true;
}
newcoordinates[3] = Xinit.getState().getVelocityY();
if (newcoordinates[2] == 0)
{
newcoordinates[0] = Xinit.getState().getPosX() - 32;
}
else if (newcoordinates[2] == 1)
{
newcoordinates[0] = Xinit.getState().getPosX() + 32;
}
newcoordinates[1] = Xinit.getState().getPosY() + Xinit.getState().getSizeOfAgent() / 2 - MINSIZE / 2;
//float[] gapInfo;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 3, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(MINSIZE);
s.point.Size = s.getSizeOfAgent();
s.CurrentPlatform = Xinit.getState().CurrentPlatform;
s.point.Morph = true;
this.caughtCollectible(Xinit.getState(), s);
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (Xinit._busyMorphLeft && Xinit._busyMorphRight)
{
Xinit.setActionBusy(3);
}
if (!this.contains(s, graph)) //TODO equals ter em conta o size
{
newState = true;
}
}
break;
case 4: //TILT
if (!Xinit._busyActions[4])
{
int halfwidth = getWidth(Xinit.getState().getSizeOfAgent()) / 2;
float[] newcoordinates = new float[4];
if (!Xinit._busyTiltLeft)
{
Xinit._busyTiltLeft = true;
newcoordinates[2] = 0;
newcoordinates[0] = Xinit.getState().getPosX() - 32 - halfwidth;
}
else if (!Xinit._busyTiltRight)
{
Xinit._busyTiltRight = true;
newcoordinates[2] = 1;
newcoordinates[0] = Xinit.getState().getPosX() + 32 + halfwidth;
}
newcoordinates[3] = Xinit.getState().getVelocityY();
newcoordinates[1] = Xinit.getState().getPosY() - 96;
s = new State(newcoordinates[2], newcoordinates[3], newcoordinates[0], newcoordinates[1], 4, null, Xinit.getState().getAllCaughtCollectibles());
s.setSizeOfAgent(96);
s.point.Size = s.getSizeOfAgent();
s.CurrentPlatform = _domain.AllObstacles.getNextPlatform(s);
s.point.Size = getMaxHeight(s, Xinit.getState(), _domain) - 10;
//Can be wrong if platform is smaller than 96
if (newcoordinates[2] == 0)
{
s.setPosX(s.CurrentPlatform.maxWidth() - s.getSizeOfAgent() / 2); //change if you change the size from 96
}
else
{
s.setPosX(s.CurrentPlatform.minWidth() + s.getSizeOfAgent() / 2); //change if you change the size from 96
}
s.setPosY(s.CurrentPlatform.maxHeight() - s.getSizeOfAgent() / 2);
s.point.Tilt = true;
this.caughtCollectible(Xinit.getState(), s); //TODO ter em conta o start diferente
if (Xinit._busyTiltLeft && Xinit._busyTiltRight)
{
Xinit.setActionBusy(4);
}
s.point.numberOfCollectibles = s.numberOfCollectibles();
if (!this.contains(s, graph)) //TODO equals ter em conta o size
{
newState = true;
}
}
break;
}
}
RectangleNode n = new RectangleNode(s);
return(n);
}