private List<RobotBase> GeneratePursuers(HomeworkTwo.Point point, Workspace traversabilityMap,
Workspace visibilityMap, List<Node> groundPatrolPath)
{
Workspace airWorkspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { };
airWorkspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> airPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
return new List<RobotBase>() { new GroundPursuer(GroundPursuerPatrol.TheInstance,
point, // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .6f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(1, 1), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
groundPatrolPath, // patrol path
traversabilityMap, // traversability map
visibilityMap),// visibility map
new AerialPursuer(AerialPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,15), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .75f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
airPatrolPath, // patrol path
airWorkspace, // traversability map
airWorkspace) }; // visibility map
}
private List<Target> GenerateTargets(HomeworkTwo.Point point, Workspace traversabilityMap, Workspace visibilityMap)
{
// Create our agents
return new List<Target>() { new Target(TargetPatrol.TheInstance,
point, // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .7f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(1.0, 1.0), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
new List<Node>(), // patrol path
traversabilityMap, // traversability map
visibilityMap)}; // visibility map
}
private Vector2 ConvertPointToVector2(HomeworkTwo.Point point)
{
return new Vector2(point.X * (GraphicsDevice.Viewport.Width / X_RANGE),
point.Y * (GraphicsDevice.Viewport.Height / Y_RANGE));
}
