public void SetBlocked(SimRoute StuckAt)
{
BlockTowardsVector(StuckAt._EndNode.SimPosition);
Vector3d pos = Mover.GlobalPosition;
if (StuckAt.BlockedPoint(GetGlobal(pos)))
{
StuckAt.ReWeight(1.1f);
Debug("BLOCKED: " + StuckAt);
}
else
{
SimRoute StuckAt2 = OuterRoute.WhichRoute(GetGlobal(pos));
if (StuckAt2 == null)
{
StuckAt.ReWeight(1.3f);
//OuterRoute.ReWeight(1.2f);
Debug("INACESSABLE: " + StuckAt);
StuckAt.Passable = false;
}
else
{
StuckAt2.ReWeight(1.1f);
Debug("ROUTE BLOCKED: " + StuckAt2);
StuckAt2.BlockedPoint(GetGlobal(pos));
StuckAt2.Passable = false;
StuckAt2.Reverse.Passable = false;
}
}
// SimPathStore.Instance.RemoveArc(StuckAt);
///SimPathStore.Instance.RemoveArc(StuckAt.Reverse);
STATE = SimMoverState.BLOCKED;
}
public void SetBlocked(SimRoute StuckAt)
{
BlockTowardsVector(StuckAt._EndNode.SimPosition);
Vector3d pos = Mover.GlobalPosition;
if (StuckAt.BlockedPoint(GetGlobal(pos)))
{
StuckAt.ReWeight(1.1f);
Debug("BLOCKED: " + StuckAt);
}
else
{
SimRoute StuckAt2 = OuterRoute.WhichRoute(GetGlobal(pos));
if (StuckAt2 == null)
{
StuckAt.ReWeight(1.3f);
//OuterRoute.ReWeight(1.2f);
Debug("INACESSABLE: " + StuckAt);
StuckAt.Passable = false;
}
else
{
StuckAt2.ReWeight(1.1f);
Debug("ROUTE BLOCKED: " + StuckAt2);
StuckAt2.BlockedPoint(GetGlobal(pos));
StuckAt2.Passable = false;
StuckAt2.Reverse.Passable = false;
}
}
// SimPathStore.Instance.RemoveArc(StuckAt);
///SimPathStore.Instance.RemoveArc(StuckAt.Reverse);
STATE = SimMoverState.BLOCKED;
}
public override SimMoverState Goto()
{
STATE = SimMoverState.MOVING;
int CanSkip = 0;
int Skipped = 0;
int tried = 0;
SimRoute prev = null;
for (int cI = CurrentRouteIndex; cI < Routes.Count; cI++)
{
CurrentRouteIndex = cI;
if (cI > 0)
{
prev = Routes[cI - 1];
}
SimRoute route = Routes[cI];
if (route.IsBlocked)
{
STATE = SimMoverState.BLOCKED;
continue;
}
tried++;
// TRY
STATE = FollowRoute(route);
double distance = Mover.Distance(FinalPosition);
if (STATE == SimMoverState.BLOCKED)
{
Mover.StopMoving();
// SetBlocked(route);
if (distance < FinalDistance)
{
return(SimMoverState.COMPLETE);
}
//CreateSurroundWaypoints();
route.ReWeight(1.1f);
route.BumpyCount++;
if (CanSkip > 0)
{
CanSkip--;
Skipped++;
continue;
}
if (route.BumpyCount > 0 && Skipped == 0)
{
SetBlocked(route);
// if (prev!=null) if (FollowRoute(prev.Reverse) == SimMoverState.COMPLETE)
// {
// return SimMoverState.TRYAGAIN;
// }
}
return(STATE);
}
if (STATE == SimMoverState.PAUSED)
{
if (distance < FinalDistance)
{
return(SimMoverState.COMPLETE);
}
return(SimMoverState.TRYAGAIN);
}
if (STATE == SimMoverState.COMPLETE)
{
// if made it here then the prev was very good
if (prev != null)
{
prev.ReWeight(0.8f);
}
}
if (distance < FinalDistance)
{
return(SimMoverState.COMPLETE);
}
}
if (STATE != SimMoverState.COMPLETE)
{
if (tried == 0)
{
return(SimMoverState.TRYAGAIN);
}
return(STATE);
}
OuterRoute.ReWeight(0.7f); // Reward
//TODO Mover.PathStore.AddArc(OuterRoute);
STATE = SimMoverState.COMPLETE;
return(STATE);
}
