root/src/BRAINSFramework/Behaviors/PathFinding/FollowPathBehavior.cs

Show revision log
 
1322
9
9



10
namespace Brains.Framework.Behaviors.PathFinding
10
namespace Brains.Framework.Behaviors.PathFinding



11
{
11
{



12
    public class FollowPathBehavior:BehaviorBase,IActionBehavior
12
    public class FollowPathBehavior:CompositeBehavior,IActionBehavior



13
    {
13
    {



14
        



14
        protected PathFinder pathFinder;
15
        protected PathFinder pathFinder;



15
        protected int currentNode = 0;
16
        protected int currentNode = 0;



16
        protected bool copiedPath = false;
17
        protected bool copiedPath = false;


...
...
173
                                desiredDirection.Normalize();
174
                                desiredDirection.Normalize();



174
                                Owner.DesiredOrientation = desiredDirection;
175
                                Owner.DesiredOrientation = desiredDirection;



175
                                Owner.DesiredPosition = pathNodes[currentNode].nodePosition;
176
                                Owner.DesiredPosition = pathNodes[currentNode].nodePosition;



176
177
                                if (Owner.Locomotion is Locomotion.LocomtionSteering)



178
                                    ((Locomotion.LocomtionSteering)Owner.Locomotion).TurnOnSeek(Owner.DesiredPosition);



177
                            }
179
                            }



178
                            else
180
                            else



179
                            {
181
                            {


...
...
247
                        }
249
                        }



248
                        else
250
                        else



249
                        {
251
                        {



252



250
                            // copying nodes
253
                            // copying nodes



254
                            //if(!StartAtClosetCell)  



251
                            pathNodes = new FollowPathNode[pathFinder.closeList.Count];
255
                            pathNodes = new FollowPathNode[pathFinder.closeList.Count];



252
                            int counter = 0;
256
                            int counter = 0;



253
                            //for (int index = pathFinder.closeList.Count - 1; index >= 0; index--)
257
                            //for (int index = pathFinder.closeList.Count - 1; index >= 0; index--)



254
                            for (int index = 0; index <= pathFinder.closeList.Count - 1; index++)
258
                            for (int index = 0; index <= pathFinder.closeList.Count - 1; index++)



255
                            {
259
                            {



260
                                



256
                                FollowPathNode newNode = new FollowPathNode();
261
                                FollowPathNode newNode = new FollowPathNode();



257
                                Grid grid=PathFinder.Grid;
262
                                Grid grid=PathFinder.Grid;



258
                                GridCell _node =grid.GetCell(pathFinder.closeList[index].X,
263
                                GridCell _node =grid.GetCell(pathFinder.closeList[index].X,


...
...
268
                                counter++;
273
                                counter++;



269
                            }
274
                            }



270
275



276
                            



271
                            copiedPath = true;
277
                            copiedPath = true;



272
278



273
                        }
279
                        }


...
...
288
            base.Update(gameTime);
294
            base.Update(gameTime);



289
        }
295
        }



290
296



297
        private bool NodeMatch(FollowPathNode item, GridCell _aa)



298
        {



299
            if (item.X == _aa.X && item.Y == _aa.Y)



300
            {



301
                return true;



302
            }



303
            return false;



304
        }



305



291
    }
306
    }



292
    public struct FollowPathNode
307
    public struct FollowPathNode



293
    {
308
    {


...
...
300
        public int X;
315
        public int X;



301
        public int Y;
316
        public int Y;



302
    }
317
    }



318



319
    public class PreStoredPath



320
    {



321
        public int FromGrid { get; set; }



322
        public int ToGrid{ get; set; }



323
        public List<StoredPathNode> Nodes{ get; set; }



324
    }



325
    public struct StoredPathNode



326
    {



327
        public Vector2 nodePosition;



328
        public Vector2 nodeDirection;



329
        public Vector2 biNormalStart;



330
        public Vector2 biNormalEnd;



331
        public bool biNormalGenerated;



332
        public bool nodeVisited;



333
        public int X;



334
        public int Y;



335
        



336
    }



303
}
337
}