private void TargetClosestNode(Vector3 pos)
{
OpponentPathNode curNode = _targetNode;
TargetNode(OpponentController.GetClosestNode(pos));
_currentPath = null;
if (curNode == _targetNode) //if the closest node is the one we've failed to get to
{
// if we've failed to get to the target twice we're really stuck, teleport straight to node :)
Teleport(_targetNode);
return;
}
GameConsole.WriteEvent("ClosestNode");
_nbrFails++;
}
//public static OpponentPathNode GetClosestRaceNode(Vector3 currentPosition)
//{
// float leastDistance = int.MaxValue;
// OpponentPathNode leastDistantNode = null;
// foreach (OpponentPathNode node in Nodes)
// {
// float thisDistance = Vector3.Distance(currentPosition, node.Position);
// if (thisDistance < leastDistance)
// {
// if (node.Paths.Exists(a => a.Type == PathType.Race))
// {
// leastDistance = thisDistance;
// leastDistantNode = node;
// }
// }
// }
// return leastDistantNode;
//}
public static OpponentPath GetClosestPath(Vector3 point)
{
float closestDist = float.MaxValue;
OpponentPath closestPath = null;
foreach (OpponentPathNode node in Nodes)
{
foreach (OpponentPath path in node.Paths)
{
Vector3 closestPoint = Helpers.GetClosestPointOnLine(path.Start.Position, path.End.Position, point);
float dist = Vector3.Distance(point, closestPoint);
if (dist < closestDist)
{
closestPath = path;
closestDist = dist;
}
}
}
return(closestPath);
}
private void TargetClosestNode(Vector3 pos)
{
OpponentPathNode curNode = _targetNode;
TargetNode(OpponentController.GetClosestNode(pos));
_currentPath = null;
if (curNode == _targetNode) //if the closest node is the one we've failed to get to
{
// if we've failed to get to the target twice we're really stuck, teleport straight to node :)
Teleport(_targetNode);
return;
}
GameConsole.WriteEvent("ClosestNode");
_nbrFails++;
}
public virtual void Update()
{
if (!_raceStarted) return;
Vector3 pos = Vehicle.Position;
bool isBraking = false;
if (IsDead || _state == CpuDriverState.Sleeping)
{
Vehicle.Chassis.Brake(0);
Vehicle.Chassis.Steer(0);
return;
}
if (DistanceFromPlayer > _catchupDistance)
{
_catchupDistance = Engine.Random.Next(MIN_CATCHUP_DISTANCE, MAX_CATCHUP_DISTANCE);
Teleport(OpponentController.GetNodeCloseToPlayer());
}
// check position
if (Helpers.HasTimePassed(1.5f, _lastPositionTime))
{
float distFromLastPosition = Vector3.Distance(_lastPosition, pos);
if (distFromLastPosition < 2 && Vehicle.Chassis.Speed < 3)
{
Escape(); //were stuck, try and escape
}
LogPosition(pos);
}
if (Vehicle.Chassis.Actor.GlobalPose.Up.Y < 0.002f && Vehicle.Chassis.Speed < 5 && !InPlayersView)
{
Vehicle.Chassis.Reset();
return;
}
// check for state change
if (_nextDirectionChangeTime < Engine.TotalSeconds)
{
if (_isReversing)
{
_isReversing = false;
LogPosition(pos);
}
}
float distanceFromNode=0;
if (_state == CpuDriverState.Racing) distanceFromNode = Vector3.Distance(pos, _targetNode.Position);
else if (_state == CpuDriverState.ReturningToTrack) distanceFromNode = Vector3.Distance(pos, _closestPointOnPath);
// if we've been trying to get to the same target for 20 seconds, get a new one
if (_state != CpuDriverState.Attacking && Helpers.HasTimePassed(20, _lastTargetChangeTime))
{
if (_lastDistance <= distanceFromNode) //only get another node if were not getting closer
{
TargetClosestNode(pos);
return;
}
}
if (_state == CpuDriverState.Racing)
{
//if (_currentPath != null)
//{
// GameConsole.WriteLine("Limits " + _currentPath.Number + ", " + _currentPath.MinSpeedAtEnd + ", " + _maxSpeedAtEndOfPath);
//}
if (_currentPath != null && Vehicle.Chassis.Speed > _maxSpeedAtEndOfPath)
{
float distToBrake = Vehicle.Chassis.Speed * 0.45f + ((Vehicle.Chassis.Speed - _maxSpeedAtEndOfPath) * 1.4f);
//GameConsole.WriteLine("brake: " + (int)distToBrake + ", " + (int)distanceFromNode);
//Matrix mat = Matrix.CreateTranslation(0, 0, distToBrake) * Vehicle.Chassis.Actor.GlobalPose;
if (distToBrake >= distanceFromNode)
{
Vehicle.Chassis.Brake(1);
isBraking = true;
}
}
if (_currentPath != null)
{
_closestPointOnPath = Helpers.GetClosestPointOnLine(_currentPath.Start.Position, _currentPath.End.Position, pos);
_closestPointOnPath.Y = pos.Y; //ignore Y
if (Vector3.Distance(_closestPointOnPath, pos) > _currentPath.Width)
{
SetState(CpuDriverState.ReturningToTrack);
}
}
// now see if we're at the target ignoring height (if we jump over it for example)
distanceFromNode = Vector2.Distance(new Vector2(pos.X, pos.Z), new Vector2(_targetNode.Position.X, _targetNode.Position.Z));
if (distanceFromNode < 11 && pos.Y >= _targetNode.Position.Y)
{
_nbrFails = 0; //reset fail counter
if (_currentPath != null)
{
if (Vehicle.Chassis.Speed < _currentPath.MinSpeedAtEnd)
{
Vehicle.Chassis.Boost();
}
}
_currentPath = _nextPath;
if (_currentPath != null && _currentPath.Type == PathType.Cheat)
{
Teleport(_currentPath.End);
SetState(CpuDriverState.Racing);
return;
}
if (_nextPath == null) // the node didnt have any start paths
{
TargetClosestNode(pos);
}
else
{
TargetNode(_currentPath.End);
}
if (_currentPath == null && _nextPath == null)
{
Teleport(); //if the node we've just got to doesnt have any outgoing paths, teleport randomly
}
}
}
else if (_state == CpuDriverState.ReturningToTrack)
{
_closestPointOnPath = Helpers.GetClosestPointOnLine(_currentPath.Start.Position, _currentPath.End.Position, pos);
GameConsole.WriteLine("dist from track", Vector3.Distance(_closestPointOnPath, pos));
if (Vector3.Distance(_closestPointOnPath, pos) > GIVEUP_DISTANCE_FROM_TRACK)
{
TargetClosestNode(pos);
return;
}
_closestPointOnPath.Y = pos.Y; //ignore Y
float dist = Vector3.Distance(_closestPointOnPath, pos);
if (dist < _currentPath.Width)
{
_state = CpuDriverState.Racing;
}
else if (dist < _currentPath.Width * 1.5f)
{
_closestPointOnPath = Vector3.Lerp(_currentPath.End.Position, _closestPointOnPath, dist / (_currentPath.Width * 1.5f));
}
//Engine.DebugRenderer.AddCube(Matrix.CreateTranslation(_closestPointOnPath), Color.Blue);
}
else if (_state == CpuDriverState.Attacking)
{
if (DistanceFromPlayer > GIVEUP_ATTACK_DISTANCE)
TargetClosestNode(pos);
}
Vector3 towardsNode = Vector3.Zero;
if (_state == CpuDriverState.Racing)
{
towardsNode = _targetNode.Position - pos;
}
else if (_state == CpuDriverState.Attacking)
{
towardsNode = Race.Current.PlayerVehicle.Position - pos;
}
else if (_state == CpuDriverState.ReturningToTrack)
{
towardsNode = _closestPointOnPath - pos;
}
GameConsole.WriteLine("state: " + _state);
float angle = Helpers.GetSignedAngleBetweenVectors(Vehicle.Chassis.Actor.GlobalOrientation.Forward, towardsNode, true);
angle *= 1.5f;
if (angle > 1) angle = 1;
else if (angle < -1) angle = -1;
if (Math.Abs(angle) > 0.003f) Vehicle.Chassis.Steer(angle);
if (!isBraking)
{
if (_state == CpuDriverState.ReturningToTrack)
{
if (Math.Abs(angle) > 0.3f)
{
float speed = 20; // 20 + ((1 - Math.Abs(angle)) * 30);
if (Vehicle.Chassis.Speed > speed)
Vehicle.Chassis.Brake(1);
else
Vehicle.Chassis.Accelerate(0.4f);
GameConsole.WriteLine("rtt", angle);
GameConsole.WriteLine("rttspeed", speed);
}
else
Vehicle.Chassis.Accelerate(0.5f);
}
else
{
if (Math.Abs(angle) > 0.7f)
Vehicle.Chassis.Accelerate(0.5f); //if were turning hard, go easy on the gas pedal
else
Vehicle.Chassis.Accelerate(1.0f);
}
}
_lastDistance = distanceFromNode;
if (_isReversing)
{
Vehicle.Chassis.Brake(0.3f);
Vehicle.Chassis.Steer(_reverseTurning);
}
if (Vehicle.Chassis.Motor.Gearbox.CurrentGear == 0)
Vehicle.Chassis.Motor.Gearbox.CurrentGear = 1;
//Engine.DebugRenderer.AddWireframeCube(Matrix.CreateScale(2) * Matrix.CreateTranslation(_targetNode.Position), Color.Green);
}
public virtual void Update()
{
if (!_raceStarted)
{
return;
}
Vector3 pos = Vehicle.Position;
bool isBraking = false;
if (IsDead || _state == CpuDriverState.Sleeping)
{
Vehicle.Chassis.Brake(0);
Vehicle.Chassis.Steer(0);
return;
}
if (DistanceFromPlayer > _catchupDistance)
{
_catchupDistance = GameEngine.Random.Next(MIN_CATCHUP_DISTANCE, MAX_CATCHUP_DISTANCE);
Teleport(OpponentController.GetNodeCloseToPlayer());
}
// check position
if (Helpers.HasTimePassed(1.5f, _lastPositionTime))
{
float distFromLastPosition = Vector3.Distance(_lastPosition, pos);
if (distFromLastPosition < 2 && Vehicle.Chassis.Speed < 3)
{
Escape(); //were stuck, try and escape
}
LogPosition(pos);
}
if (Vehicle.Chassis.Actor.GlobalPose.Up.Y < 0.002f && Vehicle.Chassis.Speed < 5 && !InPlayersView)
{
Vehicle.Chassis.Reset();
return;
}
// check for state change
if (_nextDirectionChangeTime < GameEngine.TotalSeconds)
{
if (_isReversing)
{
_isReversing = false;
LogPosition(pos);
}
}
float distanceFromNode = 0;
if (_state == CpuDriverState.Racing)
{
distanceFromNode = Vector3.Distance(pos, _targetNode.Position);
}
else if (_state == CpuDriverState.ReturningToTrack)
{
distanceFromNode = Vector3.Distance(pos, _closestPointOnPath);
}
// if we've been trying to get to the same target for 20 seconds, get a new one
if (_state != CpuDriverState.Attacking && Helpers.HasTimePassed(20, _lastTargetChangeTime))
{
if (_lastDistance <= distanceFromNode) //only get another node if were not getting closer
{
TargetClosestNode(pos);
return;
}
}
if (_state == CpuDriverState.Racing)
{
//if (_currentPath != null)
//{
// GameConsole.WriteLine("Limits " + _currentPath.Number + ", " + _currentPath.MinSpeedAtEnd + ", " + _maxSpeedAtEndOfPath);
//}
if (_currentPath != null && Vehicle.Chassis.Speed > _maxSpeedAtEndOfPath)
{
float distToBrake = Vehicle.Chassis.Speed * 0.45f + ((Vehicle.Chassis.Speed - _maxSpeedAtEndOfPath) * 1.4f);
//GameConsole.WriteLine("brake: " + (int)distToBrake + ", " + (int)distanceFromNode);
//Matrix mat = Matrix.CreateTranslation(0, 0, distToBrake) * Vehicle.Chassis.Actor.GlobalPose;
if (distToBrake >= distanceFromNode)
{
Vehicle.Chassis.Brake(1);
isBraking = true;
}
}
if (_currentPath != null)
{
_closestPointOnPath = Helpers.GetClosestPointOnLine(_currentPath.Start.Position, _currentPath.End.Position, pos);
_closestPointOnPath.Y = pos.Y; //ignore Y
if (Vector3.Distance(_closestPointOnPath, pos) > _currentPath.Width)
{
SetState(CpuDriverState.ReturningToTrack);
}
}
// now see if we're at the target ignoring height (if we jump over it for example)
distanceFromNode = Vector2.Distance(new Vector2(pos.X, pos.Z), new Vector2(_targetNode.Position.X, _targetNode.Position.Z));
if (distanceFromNode < 11 && pos.Y >= _targetNode.Position.Y)
{
_nbrFails = 0; //reset fail counter
if (_currentPath != null)
{
if (Vehicle.Chassis.Speed < _currentPath.MinSpeedAtEnd)
{
Vehicle.Chassis.Boost();
}
}
_currentPath = _nextPath;
if (_currentPath != null && _currentPath.Type == PathType.Cheat)
{
Teleport(_currentPath.End);
SetState(CpuDriverState.Racing);
return;
}
if (_nextPath == null) // the node didnt have any start paths
{
TargetClosestNode(pos);
}
else
{
TargetNode(_currentPath.End);
}
if (_currentPath == null && _nextPath == null)
{
Teleport(); //if the node we've just got to doesnt have any outgoing paths, teleport randomly
}
}
}
else if (_state == CpuDriverState.ReturningToTrack)
{
_closestPointOnPath = Helpers.GetClosestPointOnLine(_currentPath.Start.Position, _currentPath.End.Position, pos);
GameConsole.WriteLine("dist from track", Vector3.Distance(_closestPointOnPath, pos));
if (Vector3.Distance(_closestPointOnPath, pos) > GIVEUP_DISTANCE_FROM_TRACK)
{
TargetClosestNode(pos);
return;
}
_closestPointOnPath.Y = pos.Y; //ignore Y
float dist = Vector3.Distance(_closestPointOnPath, pos);
if (dist < _currentPath.Width)
{
_state = CpuDriverState.Racing;
}
else if (dist < _currentPath.Width * 1.5f)
{
_closestPointOnPath = Vector3.Lerp(_currentPath.End.Position, _closestPointOnPath, dist / (_currentPath.Width * 1.5f));
}
//GameEngine.DebugRenderer.AddCube(Matrix.CreateTranslation(_closestPointOnPath), Color.Blue);
}
else if (_state == CpuDriverState.Attacking)
{
if (DistanceFromPlayer > GIVEUP_ATTACK_DISTANCE)
{
TargetClosestNode(pos);
}
}
Vector3 towardsNode = Vector3.Zero;
if (_state == CpuDriverState.Racing)
{
towardsNode = _targetNode.Position - pos;
}
else if (_state == CpuDriverState.Attacking)
{
towardsNode = Race.Current.PlayerVehicle.Position - pos;
}
else if (_state == CpuDriverState.ReturningToTrack)
{
towardsNode = _closestPointOnPath - pos;
}
GameConsole.WriteLine("state: " + _state);
float angle = Helpers.GetSignedAngleBetweenVectors(Vehicle.Chassis.Actor.GlobalOrientation.Forward, towardsNode, true);
angle *= 1.5f;
if (angle > 1)
{
angle = 1;
}
else if (angle < -1)
{
angle = -1;
}
if (Math.Abs(angle) > 0.003f)
{
Vehicle.Chassis.Steer(angle);
}
if (!isBraking)
{
if (_state == CpuDriverState.ReturningToTrack)
{
if (Math.Abs(angle) > 0.3f)
{
float speed = 20; // 20 + ((1 - Math.Abs(angle)) * 30);
if (Vehicle.Chassis.Speed > speed)
{
Vehicle.Chassis.Brake(1);
}
else
{
Vehicle.Chassis.Accelerate(0.4f);
}
GameConsole.WriteLine("rtt", angle);
GameConsole.WriteLine("rttspeed", speed);
}
else
{
Vehicle.Chassis.Accelerate(0.5f);
}
}
else
{
if (Math.Abs(angle) > 0.7f)
{
Vehicle.Chassis.Accelerate(0.5f); //if were turning hard, go easy on the gas pedal
}
else
{
Vehicle.Chassis.Accelerate(1.0f);
}
}
}
_lastDistance = distanceFromNode;
if (_isReversing)
{
Vehicle.Chassis.Brake(0.3f);
Vehicle.Chassis.Steer(_reverseTurning);
}
if (Vehicle.Chassis.Motor.Gearbox.CurrentGear == 0)
{
Vehicle.Chassis.Motor.Gearbox.CurrentGear = 1;
}
//GameEngine.DebugRenderer.AddWireframeCube(Matrix.CreateScale(2) * Matrix.CreateTranslation(_targetNode.Position), Color.Green);
}
