private PathWaypoint generateIdlePath(SortedVector2List <Platform> platforms, CollidableObj obj, AI ai, int jumpStrength, int xVelocity, float gravity, PathWaypoint curWapoint = null)
{
ConnectivityNode curNode = null;
if (curWapoint != null && !(connectivityGraph.ContainsKey((int)curWapoint.position.X) && connectivityGraph[(int)curWapoint.position.X].ContainsKey((int)curWapoint.position.Y)))
{
curWapoint = null;
}
if (curWapoint != null)
{
curNode = connectivityGraph[(int)curWapoint.position.X][(int)curWapoint.position.Y];
}
if (curNode == null)
{
List <Vector2> res = getClosestNodeKeyForPosition(platforms, obj, obj.Position, obj.Position, gravity, xVelocity, jumpStrength);
if (res == null)
{
return(null);
}
foreach (Vector2 v in res)
{
if (ai.inBoundingBox(v))
{
return(new PathWaypoint(v, null, PathType.Free));
}
}
}
List <PathWaypoint> waypoints = new List <PathWaypoint> {
new PathWaypoint(new Vector2(obj.Position.X, obj.getBot()), null, PathType.Free)
};
if (curNode != null)
{
foreach (ConnectivityPath path in curNode.connections)
{
if (ai.inBoundingBox(path.endNode.position))
{
bool jumpPath = path.jumpPath && path.jumpableStrengths[jumpStrength] && path.minXVel(jumpStrength, 0.15f) <= xVelocity;
bool straightPath = path.straightPath && path.minXVel(0, 0.15f) <= xVelocity;
if (straightPath)
{
waypoints.Add(new PathWaypoint(path.endNode.position, null, PathType.Straight));
}
if (jumpPath)
{
waypoints.Add(new PathWaypoint(path.endNode.position, null, PathType.Jump));
}
}
}
}
return(waypoints[new Random().Next(waypoints.Count)]);
}
private List <Vector2> getClosestNodeKeyForPosition(SortedVector2List <Platform> platforms, CollidableObj obj, Vector2 pos, Vector2 goal, float gravity, int xVelocity, int?jumpStrength = null)
{
if (connectivityGraph.Count == 0)
{
return(null);
}
int maxSearchRange = MAX_NODE_SEARCH_RANGE;
if (jumpStrength != null)
{
maxSearchRange = (int)(Math.Pow((int)jumpStrength, 2) / gravity) / 2;
}
Vector2 ret = new Vector2(0, 1);
int begin = 0;
int end = connectivityGraph.Count;
while (!(pos.X <= connectivityGraph.Keys[begin + (end - begin) / 2] && pos.X >= connectivityGraph.Keys[begin + (end - begin) / 2 - 1] ||
pos.X >= connectivityGraph.Keys[begin + (end - begin) / 2] && pos.X <= connectivityGraph.Keys[begin + (end - begin) / 2 + 1]))
{
if (pos.X > connectivityGraph.Keys[begin + (end - begin) / 2])
{
begin = begin + (end - begin) / 2 + 1;
}
else
{
end = begin + (end - begin) / 2;
}
}
int i;
if (pos.X < connectivityGraph.Keys[begin + (end - begin) / 2])
{
if (Math.Abs(pos.X - connectivityGraph.Keys[begin + (end - begin) / 2]) < Math.Abs(pos.X - connectivityGraph.Keys[begin + (end - begin) / 2 - 1]))
{
i = begin + (end - begin) / 2;
}
else
{
i = begin + (end - begin) / 2 - 1;
}
}
else if (Math.Abs(pos.X - connectivityGraph.Keys[begin + (end - begin) / 2]) < Math.Abs(pos.X - connectivityGraph.Keys[begin + (end - begin) / 2 + 1]))
{
i = begin + (end - begin) / 2;
}
else
{
i = begin + (end - begin) / 2 + 1;
}
ret.X = connectivityGraph.Keys[i];
int prevXIndex = i - 1;
int postXIndex = i + 1;
int lowXBound = (int)(pos.X - Math.Sqrt(maxSearchRange * 2 / gravity) * xVelocity);
int highXBound = (int)(pos.X + Math.Sqrt(maxSearchRange * 2 / gravity) * xVelocity);
MinHeap <Tuple <float, Vector2> > bestNodes = new MinHeap <Tuple <float, Vector2> >(delegate(Tuple <float, Vector2> n1, Tuple <float, Vector2> n2)
{
if (n1.Item1 < n2.Item1)
{
return(-1);
}
else if (n1.Item1 == n2.Item1)
{
return(0);
}
else
{
return(1);
}
});
while (true)
{
begin = 0;
end = connectivityGraph[(int)ret.X].Count;
if ((end == 1 || end == 2) && obj.getBot(pos) <= connectivityGraph[(int)ret.X].Keys[0])
{
ret.Y = connectivityGraph[(int)ret.X].Keys[0];
}
else if (end == 2 && obj.getBot(pos) <= connectivityGraph[(int)ret.X].Keys[1])
{
ret.Y = connectivityGraph[(int)ret.X].Keys[1];
}
else
{
while (begin + (end - begin) / 2 != 0 &&
begin + (end - begin) / 2 + 1 != connectivityGraph[(int)ret.X].Count &&
!(obj.getBot(pos) <= connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2] && obj.getBot(pos) >= connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2 - 1] ||
obj.getBot(pos) >= connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2] && obj.getBot(pos) <= connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2 + 1]))
{
if (obj.getBot(pos) > connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2])
{
begin = begin + (end - begin) / 2 + 1;
}
else
{
end = begin + (end - begin) / 2;
}
}
if (begin + (end - begin) / 2 + 1 != connectivityGraph[(int)ret.X].Count)
{
if (obj.getBot(pos) < connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2])
{
ret.Y = connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2];
}
else
{
ret.Y = connectivityGraph[(int)ret.X].Keys[begin + (end - begin) / 2 + 1];
}
}
}
if (ret.Y != 1 &&
straightable(platforms, new Vector2(pos.X, obj.getBot(pos)), ret) &&
straightable(platforms, new Vector2(obj.getLeft(pos), pos.Y), new Vector2(obj.getLeft(pos), ret.Y + (pos.Y - obj.getBot(pos)))) &&
straightable(platforms, new Vector2(obj.getRight(pos), pos.Y), new Vector2(obj.getRight(pos), ret.Y + (pos.Y - obj.getBot(pos)))) &&
straightable(platforms, new Vector2(pos.X, obj.getTop(pos)), new Vector2(ret.X, ret.Y + (obj.getTop(pos) - obj.getBot(pos)))) &&
(obj.getBot(pos) == ret.Y && (straightable(platforms, new Vector2(obj.getLeft(pos), obj.getBot(pos)), ret, true) || straightable(platforms, new Vector2(obj.getRight(pos), obj.getBot(pos)), ret, true)) ||
Math.Sqrt(Math.Abs(obj.getBot(pos) - ret.Y) * 2 / gravity) * xVelocity > Math.Abs(pos.X - ret.X) && Math.Abs(obj.getBot(pos) - ret.Y) < maxSearchRange))
{
bestNodes.add(new Tuple <float, Vector2>((float)Math.Sqrt(Math.Abs(pos.X - ret.Y) * 2 / gravity) + distance(ret, goal), ret));
}
ret.Y = 1;
if (prevXIndex == -1 && (postXIndex == connectivityGraph.Keys.Count || connectivityGraph.Keys[postXIndex] > highXBound) ||
prevXIndex != -1 && connectivityGraph.Keys[prevXIndex] < lowXBound && (postXIndex == connectivityGraph.Keys.Count || connectivityGraph.Keys[postXIndex] > highXBound))
{
if (!bestNodes.empty())
{
List <Vector2> retList = new List <Vector2>();
while (!bestNodes.empty())
{
retList.Add(bestNodes.peek().Item2);
bestNodes.pop();
}
return(retList);
}
else
{
return(null);
}
}
if (prevXIndex == -1 || connectivityGraph.Keys[prevXIndex] < lowXBound)
{
ret.X = connectivityGraph.Keys[postXIndex++];
}
else if (postXIndex == connectivityGraph.Keys.Count || connectivityGraph.Keys[postXIndex] > highXBound)
{
ret.X = connectivityGraph.Keys[prevXIndex--];
}
else if (Math.Abs(pos.X - connectivityGraph.Keys[prevXIndex]) < Math.Abs(pos.X - connectivityGraph.Keys[postXIndex]))
{
ret.X = connectivityGraph.Keys[prevXIndex--];
}
else
{
ret.X = connectivityGraph.Keys[postXIndex++];
}
}
}
private PathWaypoint getPath(SortedVector2List <Platform> platforms, CollidableObj start, CollidableObj end, int jumpStrength, int xVelocity, float gravity, PathWaypoint curWapoint = null)
{
Dictionary <Vector2, ConnectivityNodeWrapper> exploredSet = new Dictionary <Vector2, ConnectivityNodeWrapper>();
Dictionary <Vector2, ConnectivityNodeWrapper> openSet = new Dictionary <Vector2, ConnectivityNodeWrapper>();
MinHeap <ConnectivityNodeWrapper> queue = new MinHeap <ConnectivityNodeWrapper>(delegate(ConnectivityNodeWrapper n1, ConnectivityNodeWrapper n2)
{
if (n1.heurisitc < n2.heurisitc)
{
return(-1);
}
else if (n1.heurisitc == n2.heurisitc)
{
return(0);
}
else
{
return(1);
}
});
List <Vector2> res;
ConnectivityNodeWrapper curNode;
if (curWapoint != null && !(connectivityGraph.ContainsKey((int)curWapoint.position.X) && connectivityGraph[(int)curWapoint.position.X].ContainsKey((int)curWapoint.position.Y)))
{
curWapoint = null;
}
if (curWapoint != null)
{
curNode = new ConnectivityNodeWrapper(connectivityGraph[(int)curWapoint.position.X][(int)curWapoint.position.Y], calculateHeuristic(curWapoint.position, end.Position, xVelocity, jumpStrength));
}
else
{
res = getClosestNodeKeyForPosition(platforms, start, start.Position, end.Position, gravity, xVelocity);
if (res == null)
{
return(null);
}
foreach (Vector2 vec in res)
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(connectivityGraph[(int)vec.X][(int)vec.Y], calculateHeuristic(vec, end.Position, xVelocity, jumpStrength));
queue.add(cnw);
openSet.Add(cnw.node.position, cnw);
}
curNode = queue.peek();
queue.pop();
openSet.Remove(curNode.node.position);
}
res = getClosestNodeKeyForPosition(platforms, end, end.Position, end.Position, gravity, xVelocity, jumpStrength);
if (res == null)
{
return(null);
}
ConnectivityNode endNode = connectivityGraph[(int)res[0].X][(int)res[0].Y];
int it = 0;
while (curNode != endNode)
{
foreach (ConnectivityPath path in curNode.node.connections)
{
if (!exploredSet.ContainsKey(path.endNode.position))
{
bool jumpPath = path.jumpPath && path.jumpableStrengths[jumpStrength] && path.minXVel(jumpStrength, gravity) <= xVelocity;
bool straightPath = path.straightPath && (path.minXVel(0, gravity) <= xVelocity || path.walkable);
if (straightPath)
{
float h = calculateHeuristic(path.endNode.position, endNode.position, xVelocity, jumpStrength);
if (!openSet.ContainsKey(path.endNode.position))
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(path.endNode, path.getStraightPathCost(xVelocity, gravity), h, curNode, PathType.Straight);
queue.add(cnw);
openSet.Add(cnw.node.position, cnw);
}
else if (openSet[path.endNode.position].heurisitc > h)
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(path.endNode, path.getStraightPathCost(xVelocity, gravity), h, curNode, PathType.Straight);
queue.add(cnw);
openSet[path.endNode.position] = cnw;
}
}
else if (jumpPath)
{
queue.add(new ConnectivityNodeWrapper(path.endNode, path.jumpCosts[jumpStrength], calculateHeuristic(path.endNode.position, endNode.position, xVelocity, jumpStrength), curNode, PathType.Jump));
}
}
}
exploredSet.Add(curNode.node.position, curNode);
++it;
if (it == 20)
{
return(null);
}
do
{
if (queue.empty())
{
return(null);
}
curNode = queue.peek();
queue.pop();
} while (exploredSet.ContainsKey(curNode.node.position));
}
PathWaypoint pathWaypoint = new PathWaypoint(new Vector2(end.Position.X, end.getBot()), null, PathType.Free);
while (curNode != (object)null)
{
pathWaypoint = new PathWaypoint(curNode.node.position, pathWaypoint, curNode.pathType);
curNode = curNode.parent;
}
if (curWapoint != null)
{
pathWaypoint = pathWaypoint.nextWaypoint;
}
return(pathWaypoint);
}
