new void GetNearestWaypoint()
{
WPCurrent = WPTarget;
if (graph != null)
{
WPTarget = graph.GetNearestWaypoint(pos);
}
}
protected void ResetAll()
{
WPCurrent = null;
WPTarget = null;
conn = null;
ConnectionHistory = new List <WPConnection>();;
mind.DecisionQueue = new List <string>();
DecisionTimeoutTimer.Abort();
snoringTimer.Abort();
wakeUpTimer.Abort();
surpriseTimer.Abort();
StuckRunning.Abort();
PrepareJumpTimer.Abort();
LandTimeout.Abort();
LandedTimer.Abort();
DrillSubmergeTimer.Abort();
DrillEmergeTimer.Abort();
DrillWindDownTimer.Abort();
}
void GetNextTargetWaypoint()
{
TrackLastWaypoints();
WPCurrent = WPTarget;
if (WPCurrent != null)
{
//let's build a small collection of potential connections we could form, assign them scores based on how attractive they are, and choose one from
// the most attractive ones at random
int attempt = 10;
List <PotentialConnection> PCs = new List <PotentialConnection>();
List <PotentialConnection> valid = new List <PotentialConnection>();
while (attempt > 0)
{
bool useful = true;
//Create new connection with max score
PotentialConnection PC = new PotentialConnection(WPCurrent.GetRandomNextConnection(), 1000);
foreach (var pc in PCs)
{
if (pc.connection == PC.connection)
{
useful = false; //don't add the same connection to our list twice
break;
}
}
if (useful)
{
foreach (var c in ConnectionHistory)
{
if (c != null)
{
if (c == PC.connection)
{
PC.score -= 400; //heavy score penalty for exactly the same path we just came from
}
//look through our own prev list
foreach (var p in WPCurrent.prev)
{
//ask whether one of the Waypoints here owns the Waypoint described by the Connection History
if (p.wp.ConnectionInNext(c))
{
//Are you the one we're trying to path towards?
if (p.wp == PC.connection.wp)
{
//then subtract score
PC.score -= 200; //we don't super like going back to a Waypoint we've visited in general,
} // but it's not as bad as using the exact same path
break; //If no, that's gucci; and also we can stop asking around, because there's no way someone else owns the same connection.
} // Either way, we're breaking out of here
}
}
}
PCs.Add(PC);
}
attempt--;
}
//sort the list by highest scorers (highest at the end)
PCs.Sort((PC1, PC2) => PC1.score.CompareTo(PC2.score));
int threshold = 100;
int highScore = PCs[PCs.Count - 1].score;
valid.Add(PCs[PCs.Count - 1]);
//starting at one before the end (which has already been added to valid), search through each PC and only add entries to valid that
// are within threshold of the highest scores
for (var i = PCs.Count - 2; i >= 0; i--)
{
if (PCs[i].score + threshold >= highScore)
{
valid.Add(PCs[i]);
}
}
//finally, go through all these valid candidates, and select one at random!
conn = valid[Random.Range(0, valid.Count)].connection;
WPTarget = conn.wp;
}
}