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.cleanPlanRectangle(obstaclesInfo, Diamonds, area, rectangleInfo.Height / 2, 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 && !gameOver)
{
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);
}
}
public PathPlan joinPlans(PathPlan plan1, PathPlan plan2)
{
List <Point> newPoints = new List <Point>();
newPoints.AddRange(plan1.getPathPoints());
newPoints.AddRange(plan2.getPathPoints());
PathPlan newPlan = new PathPlan(cutPlan, plan1.totalCollectibles, newPoints, utils);
return(newPlan);
}
/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** PLAN ***/
/*** ***/
/********************************************************************************************/
/********************************************************************************************/
//used when trying to recover a plan where the agent is not on a platform and state of the plan
public PathPlan joinPlans(PathPlan correction, PathPlan original, Point connectionPoint)
{
List <Point> points = original.getPathPoints();
int i;
for (i = 0; i < points.Count; i++)
{
if (points[i].getPosX() == connectionPoint.getPosX() && points[i].getPosY() == connectionPoint.getPosY() &&
points[i].getUncaughtColl().Count == connectionPoint.getUncaughtColl().Count)
{
break;
}
}
for (int j = i; j < points.Count; j++)
{
correction.addPoint(points[j]);
}
return(correction);
}