private void ExponentialInfluence(PotentielMapCell cell, NavigationCell navCell)
{
float influence = 0;
for (int iNeighbour = 0; iNeighbour < navCell.Neighbours.Length; iNeighbour++)
{
var nextNavCell = navCell.Neighbours[iNeighbour];
if (navCell.Neighbours[iNeighbour] == null || !navCell.CanNavigateToNeighbour[iNeighbour])
{
continue;
}
var nextCell = m_grid[nextNavCell.Index];
float dist = Vector2.Distance(nextNavCell.Position, navCell.Position) / m_navManager.Parameters.GridSpacing;
float costFactor = 1 / (1 + cell.CostValue); costFactor = LBE.MathHelper.Clamp(0, 1, costFactor);
float cellInfluence = nextCell.Value * (float)Math.Exp(-dist * m_influenceDecay * (1 + cell.CostValue));
if (cellInfluence > Math.Abs(influence))
{
influence = cellInfluence;
}
}
cell.Influence = LBE.MathHelper.Clamp(-1, 1, influence);
}
private void LinearInfluence(float linearDecay, PotentielMapCell cell, NavigationCell navCell)
{
float influence = float.NegativeInfinity;
for (int iNeighbour = 0; iNeighbour < navCell.Neighbours.Length; iNeighbour++)
{
var nextNavCell = navCell.Neighbours[iNeighbour];
if (navCell.Neighbours[iNeighbour] == null || !navCell.CanNavigateToNeighbour[iNeighbour])
{
continue;
}
var nextCell = m_grid[nextNavCell.Index];
//Linear approx. of distance, that is exact for distSq = 1 or distSq = 2
float distSq = Vector2.DistanceSquared(nextNavCell.Position, navCell.Position) / (m_navManager.Parameters.GridSpacing * m_navManager.Parameters.GridSpacing);
float sq2minusOne = 1.414213f - 1;
float fastDist = (1 - sq2minusOne) + sq2minusOne * distSq;
float cellInfluence = nextCell.Value - linearDecay * (1 + cell.CostValue) * fastDist * fastDist;
influence = Math.Max(influence, cellInfluence);
}
cell.Influence = LBE.MathHelper.Clamp(m_linearParameters.MinValue, 1, influence);
}
public void Init()
{
m_paramAsset = Engine.AssetManager.GetAsset <NavigationParameters>("Game/Navigation.lua::Navigation");
m_potentialMaps = new Dictionary <string, PotentialMap>();
m_mapDebugIndex = 0;
m_debugIndexPlusCtrl = new KeyControl(Keys.PageDown);
m_debugIndexMinusCtrl = new KeyControl(Keys.PageUp);
Vector2 arenaSize = Game.Arena.Description.Size;
if (arenaSize == Vector2.Zero)
{
arenaSize = new Vector2(1280, 720);
}
int nPointX = (int)(arenaSize.X / Parameters.GridSpacing);
int nPointY = (int)(arenaSize.Y / Parameters.GridSpacing);
m_navigationGridOrigin = new Vector2(
-nPointX * Parameters.GridSpacing * 0.5f,
-nPointY * Parameters.GridSpacing * 0.5f);
//Create the grid
m_navigationGrid = new Grid <NavigationCell>(nPointX, nPointY);
//Initialise data points
for (int i = 0; i < m_navigationGrid.Width; i++)
{
for (int j = 0; j < m_navigationGrid.Height; j++)
{
Point index = new Point(i, j);
m_navigationGrid[index] = new NavigationCell();
m_navigationGrid[index].Index = index;
m_navigationGrid[index].Position = new Vector2(
m_navigationGridOrigin.X + i * Parameters.GridSpacing,
m_navigationGridOrigin.Y + j * Parameters.GridSpacing);
m_navigationGrid[index].CanSeePlayer = new bool[4];
}
}
//Initialise neighbours in a second pass
for (int i = 0; i < m_navigationGrid.Width; i++)
{
for (int j = 0; j < m_navigationGrid.Height; j++)
{
Point index = new Point(i, j);
List <NavigationCell> neighbours = new List <NavigationCell>(8);
foreach (var p in index.Neighbours())
{
if (m_navigationGrid.TestBounds(p))
{
neighbours.Add(m_navigationGrid[p]);
}
else
{
neighbours.Add(null);
}
}
m_navigationGrid[index].Neighbours = neighbours.ToArray();
m_navigationGrid[index].CanNavigateToNeighbour = new bool[8];
}
}
var ballMap = new PotentialMap(Game.GameManager.Navigation, PotentialMapType.Linear);
m_ballSource = new PotentialMapInfluencePoint();
m_ballSource.Radius = 60;
m_ballSource.Value = 1;
ballMap.Sources.Add(m_ballSource);
ballMap.UpdateFrequency = PotentialMapUpdateFrequency.Fast;
Game.GameManager.Navigation.PotentialMaps.Add("BallMap", ballMap);
m_shootLeftPlayerCosts = new PotentialMapInfluencePoint[2];
m_shootLeftPlayerCosts[0] = new PotentialMapInfluencePoint();
m_shootLeftPlayerCosts[1] = new PotentialMapInfluencePoint();
m_shootRightPlayerCosts = new PotentialMapInfluencePoint[2];
m_shootRightPlayerCosts[0] = new PotentialMapInfluencePoint();
m_shootRightPlayerCosts[1] = new PotentialMapInfluencePoint();
foreach (var playerCost in m_shootLeftPlayerCosts)
{
playerCost.Value = Engine.Debug.EditSingle("PlayerValue", 3);
playerCost.Radius = Engine.Debug.EditSingle("PlayerCostRadius", 350);
playerCost.Attenuation = 0;
}
foreach (var playerCost in m_shootRightPlayerCosts)
{
playerCost.Value = Engine.Debug.EditSingle("PlayerValue", 3);
playerCost.Radius = Engine.Debug.EditSingle("PlayerCostRadius", 350);
playerCost.Attenuation = 0;
}
var shootLeftMap = new PotentialMap(Game.GameManager.Navigation, PotentialMapType.Linear);
shootLeftMap.Sources.Add(new CanShootLeftPotentialSource());
shootLeftMap.Costs.Add(m_shootLeftPlayerCosts[0]);
shootLeftMap.Costs.Add(m_shootLeftPlayerCosts[1]);
shootLeftMap.LinearParameters.SpatialDecay = 0.01f;
shootLeftMap.LinearParameters.MinValue = -10;
shootLeftMap.UpdateFrequency = PotentialMapUpdateFrequency.Fast;
Game.GameManager.Navigation.PotentialMaps.Add("ShootLeft", shootLeftMap);
var shootRightMap = new PotentialMap(Game.GameManager.Navigation, PotentialMapType.Linear);
shootRightMap.Sources.Add(new CanShootRightPotentialSource());
shootRightMap.Costs.Add(m_shootRightPlayerCosts[0]);
shootRightMap.Costs.Add(m_shootRightPlayerCosts[1]);
shootRightMap.LinearParameters.SpatialDecay = 0.01f;
shootRightMap.LinearParameters.MinValue = -10;
shootRightMap.UpdateFrequency = PotentialMapUpdateFrequency.Fast;
Game.GameManager.Navigation.PotentialMaps.Add("ShootRight", shootRightMap);
}