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UAVAI.cpp
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#include "UAVAI.h"
UAVAI::UAVAI()
{
tmpPath.reserve(600);
minPath.reserve(600);
tmpGoodsPath.reserve(600);
minGoodsPath.reserve(600);
tmpUavScope_1.reserve(11);
tmpUavMoveScope_2.reserve(11);
tmpUavMoveScope_3.reserve(11);
MOVE_DIRECTION_DELTA.resize(10);
MOVE_DIRECTION_DELTA = { Point3(-1,-1,0), Point3(-1,0,0), Point3(-1,1,0),
Point3(0,-1,0), Point3(0,1,0), Point3(1,-1,0),
Point3(1,0,0), Point3(1,1,0), Point3(0,0,-1),
Point3(0,0,1) };
}
UAVAI::~UAVAI()
{
map = NULL;
match = NULL;
plan = NULL;
}
void UAVAI::initPtr(MAP_INFO *_map, MATCH_STATUS *_match, FLY_PLANE *_flayPlane)
{
map = _map;
match = _match;
plan = _flayPlane;
isInitPtr = true;
UAVNum = match->nUavWeNum;
UAVAliveNum = match->nUavWeNum;
// init uav data
for (int i = 0; i < MAX_UAV_NUM; i++)
{
match->astWeUav[i].nGoodsTarget = -1;
match->astWeUav[i].nPath.reserve(MAX_PATH_LENGTH);
match->astWeUav[i].nLastPosMapMark = AREA_OBJ::IS_NULL;
match->astWeUav[i].nCurrentPathIndex = -1;
match->astWeUav[i].nAttackTarget = -1;
match->astEnemyUav[i].nIsEnemy = true;
}
goodsStatus.resize(MAX_GOODS_NUM);
for (int i = 0; i < MAX_GOODS_NUM; i++)
{
goodsStatus[i].nIsRejectUav.resize(MAX_UAV_NUM);
goodsStatus[i].nPath.reserve(600);
}
uavNo.reserve(10);
initUavInfo();
CHEAPEST_UAV_INDEX = 0;
MOST_EXPENSIVE_UAV_INDEX = 0;
for (int i = 1; i < map->nUavPriceNum; i++)
{
if (map->astUavPrice[i].nValue < map->astUavPrice[CHEAPEST_UAV_INDEX].nValue)
CHEAPEST_UAV_INDEX = i;
if (map->astUavPrice[i].nValue > map->astUavPrice[MOST_EXPENSIVE_UAV_INDEX].nValue)
MOST_EXPENSIVE_UAV_INDEX = i;
}
MAX_ALIVE_UAV_NUM = map->nMapX / 2;
MAX_ATTACKER_UAV_NUM = 1;
}
void UAVAI::initMap()
{
Point3 _p1, _p2;
// init mapArray
pathMap.resize(map->nMapX);
for (int i = 0; i < map->nMapX; i++)
{
pathMap[i].resize(map->nMapY);
for (int j = 0; j < map->nMapY; j++)
{
pathMap[i][j].resize(map->nMapZ);
pathMap[i][j].assign(map->nMapZ, AREA_OBJ::IS_NULL);
}
}
// init fog in the mapArray
for (int i = 0; i < map->nFogNum; i++)
{
_p1.setPoint(map->astFog[i].nX, map->astFog[i].nY, map->astFog[i].nB);
_p2 = _p1 + Point3(map->astFog[i].nL - 1, map->astFog[i].nW - 1, 0);
_p2.z = map->astFog[i].nT;
fillArea(pathMap, _p1, _p2, AREA_OBJ::IS_FOG);
}
// init building in the mapArray
for (int i = 0; i < map->nBuildingNum; i++)
{
if (map->astBuilding[i].nH > MAX_PATH_HEIGHT)
MAX_PATH_HEIGHT = map->astBuilding[i].nH;
_p1.setPoint(map->astBuilding[i].nX, map->astBuilding[i].nY, 0);
_p2 = _p1 + Point3(map->astBuilding[i].nL - 1, map->astBuilding[i].nW - 1, map->astBuilding[i].nH - 1);
fillArea(pathMap, _p1, _p2, AREA_OBJ::IS_BUILDING);
}
statusMap = pathMap;
restoredMap = pathMap;
if (MAX_PATH_HEIGHT < map->nHLow)
MAX_PATH_HEIGHT = map->nHLow;
MAX_PATH_HEIGHT += 3;
if (MAX_PATH_HEIGHT > map->nHHigh)
MAX_PATH_HEIGHT = map->nHHigh;
}
void UAVAI::setInitUavTarget()
{
// 设置初始目标点
Point3 _center, _tP;
_center.setPoint(map->nMapX / 2, map->nMapY / 2, (map->nHLow + map->nHHigh) / 2);
while (getMapValue(statusMap, _center) <= -4)
{
_center.z += 1;
if (_center.z >= map->nHHigh)
break;
}
while (getMapValue(statusMap, _center) <= -4)
{
_center.x += 1;
if (_center.x >= map->nMapX - 1)
break;
}
match->astWeUav[0].nTarget = _center;
getPath(match->astWeUav[0]);
match->astWeUav[0].nAction = UAV_ACTION::UAV_MOVING;
int _tmp = 0;
for (int i = match->nUavWeNum - 1; i >= 0; i--)
{
match->astWeUav[i].nPathLength = map->nHLow + _tmp;
match->astWeUav[i].nPath = match->astWeUav[0].nPath;
match->astWeUav[i].nPath.resize(match->astWeUav[i].nPathLength);
match->astWeUav[i].nIsGetPath = true;
match->astWeUav[i].nAction = UAV_ACTION::UAV_MOVING;
match->astWeUav[i].nTarget = match->astWeUav[i].nPath[match->astWeUav[i].nPathLength - 1];
_tmp++;
}
for (int i = 0; i < match->nUavWeNum; i++)
{
if (!strcmp(match->astWeUav[i].szType, map->astUavPrice[CHEAPEST_UAV_INDEX].szType))
{
match->astWeUav[i].nAction = UAV_ACTION::UAV_ATTACK;
UAVAttackerNum++;
break;
}
}
}
void UAVAI::getNextAction()
{
UAVValues = 0;
// 重置UAV移动Flag（isMoving正在进行移动操作；isMoved移动完成）
resetUavMovedFlag();
// 更新停机坪状态
updateHomeStatus();
// 初始化UAV价值（如果有新买的UAV）
initUavInfo();
// 初始化UAV上次位置
if (match->nTime == 1)
{
initUavLastPos();
enemyParkingPos = match->astEnemyUav[0].nPos;
enemyParkingPos.z = 0;
}
// 在statusMap标记敌方UAV
for (int i = 0; i < match->nUavEnemyNum; i++)
{
if (match->astEnemyUav[i].nStatus == UAV_STATUS::UAV_FOG)
continue;
setMapValue(statusMap, match->astEnemyUav[i].nPos, match->astEnemyUav[i].nNO + 1000);
}
// 检查UAV存活
UAVNum = match->nUavWeNum;
for (int i = 0; i < match->nUavWeNum; i++)
{
if (match->astWeUav[i].nIsCrash)
continue;
if (match->astWeUav[i].nStatus == UAV_STATUS::UAV_CRASH)
{
match->astWeUav[i].nIsCrash = true;
setMapValue(statusMap, match->astWeUav[i].nPos, match->astWeUav[i].nLastPosMapMark);
continue;
}
}
// 检查Attacker
UAVAttackerNum = 0;
for (int i = 0; i < match->nUavWeNum; i++)
{
if (match->astWeUav[i].nIsCrash)
continue;
if (match->astWeUav[i].nAction == UAV_ACTION::UAV_ATTACK)
UAVAttackerNum++;
}
setAttackTarget();
updateAttackTarget();
// 更新GOODS运送路径（从start到end的路径）
updateGoodsDeliveryingPath();
// 搜寻货物
searchGoods();
updateChargingFlag();
if (map->nHomeStatus == HOME_STATUS::HS_TAKEOFF)
changeUavAction(UAV_ACTION::UAV_GO_CHARGING, UAV_ACTION::UAV_GO_CHARGING_S);
else
changeUavAction(UAV_ACTION::UAV_GO_CHARGING_S, UAV_ACTION::UAV_GO_CHARGING);
// 根据ACTION决定移动优先级
money = match->nWeValue;
moveAllUavByAction(UAV_ACTION::UAV_DELIVERYING, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_CATCHING, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_MOVING, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_ATTACK, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_GO_CHARGING, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_GO_CHARGING_S, UAVNum);
moveAllUavByAction(UAV_ACTION::UAV_STANDBY, UAVNum);
updateChargingFlag();
updatePowerInfo();
UAVAliveNum = 0;
for (int i = 0; i < match->nUavWeNum; i++)
{
if (match->astWeUav[i].nIsCrash)
continue;
UAVValues += match->astWeUav[i].nValue;
copyUav(match->astWeUav[i], plan->astUav[UAVAliveNum]);
UAVAliveNum++;
}
cout << "Available money: " << money << " " << "Uav values: " << UAVValues << endl;
cout << "Value Counts: " << money + UAVValues << endl;
plan->nUavNum = UAVAliveNum;
buyNewUav();
// 清除敌方UAV标记
for (int i = 0; i < match->nUavEnemyNum; i++)
{
if (match->astEnemyUav[i].nStatus == UAV_STATUS::UAV_FOG)
continue;
setMapValue(statusMap, match->astEnemyUav[i].nPos, AREA_OBJ::IS_NULL);
}
}
void UAVAI::initUavLastPos()
{
for (int i = 0; i < MAX_UAV_NUM; i++)
{
match->astWeUav[i].nLastPos = match->astWeUav[0].nPos;
}
}
void UAVAI::copyUav(const UAV & _src, UAV & _dst)
{
_dst.nNO = _src.nNO;
strcpy(_dst.szType, _src.szType);
_dst.nPos = _src.nPos;
_dst.nLoadWeight = _src.nLoadWeight;
_dst.nStatus = _src.nStatus;
_dst.nGoodsNo = _src.nGoodsNo;
_dst.nRemainPower = _src.nRemainPower;
}
int UAVAI::getMapValue(const vector<vector<vector<int>>>& _array, const Point3 & _p)
{
return _array[_p.x][_p.y][_p.z];
}
void UAVAI::setMapValue(vector<vector<vector<int>>>& _array, const Point3 & _p, int _v)
{
_array[_p.x][_p.y][_p.z] = _v;
}
void UAVAI::fillArea(vector<vector<vector<int>>>& _Array, const Point3 & _p1, const Point3 & _p2, int _fill)
{
for (int i = _p1.x; i <= _p2.x; i++)
for (int j = _p1.y; j <= _p2.y; j++)
for (int k = _p1.z; k <= _p2.z; k++)
_Array[i][j][k] = _fill;
}
void UAVAI::resetUavMovedFlag()
{
for (int i = 0; i < match->nUavWeNum; i++)
{
match->astWeUav[i].nIsMoving = false;
match->astWeUav[i].nIsMoved = false;
match->astWeUav[i].nIsPositionChanged = false;
}
}
void UAVAI::moving(UAV & _uav)
{
int _moveAction = -1;
Point3 _tmpPoint_1;
_uav.nIsMoving = true;
// 如果UAV在充电不移动
if (_uav.nIsUavCharging && !_uav.nIsFullPower && _uav.nAction != UAV_ACTION::UAV_ATTACK)
{
updateWeUavMark(_uav);
return;
}
// 如果UAV待机或者没有有效路径，检查周围环境
if (!_uav.nIsGetPath)
{
environmentAware(_uav);
updateWeUavMark(_uav);
return;
}
// 如果UAV回停机坪充电或者等待回停机坪
if (_uav.nAction == UAV_ACTION::UAV_GO_CHARGING || _uav.nAction == UAV_ACTION::UAV_GO_CHARGING_S)
{
// 如果停机坪是起飞状态，进行环境感知，防止撞机
if (map->nHomeStatus == HOME_STATUS::HS_TAKEOFF)
{
if(environmentAware(_uav) == -1)
updateWeUavMark(_uav);
return;
}
}
else
{
// 其他状态的飞机如果在停机坪要起飞但停机坪状态为降落，等待降落
if (map->nHomeStatus == HOME_STATUS::HS_LANDING && _uav.nPos == map->nParkingPos)
{
updateWeUavMark(_uav);
return;
}
}
_uav.nCurrentPathIndex++;
// 检测path
if (_uav.nCurrentPathIndex < _uav.nPathLength - 1)
{
// 移动前进行环境感知
_moveAction = environmentAware(_uav);
switch (_moveAction)
{
case MOVE_ACTION::M_NORMAL:
{
// move to next position
_uav.nPos = _uav.nPath[_uav.nCurrentPathIndex];
break;
}
case MOVE_ACTION::M_STANDBY:
{
_uav.nCurrentPathIndex--;
break;
}
case MOVE_ACTION::M_NEWPATH:
default:
break;
}
// 如果在抓取GOODS状态，检测GOODS
if (_uav.nAction == UAV_ACTION::UAV_CATCHING)
{
for (int i = 0; i < match->nGoodsNum; i++)
{
if (match->astGoods[i].nNO == _uav.nGoodsTarget)
{
_tmpPoint_1 = match->astGoods[i].nStartPos;
_tmpPoint_1.z = map->nHLow - 1;
if (match->astGoods[i].nState != 0 ||
(getMapValue(statusMap, _tmpPoint_1) >= 1000 && _uav.nPos.z >= map->nHLow) ||
match->astGoods[i].nLeftTime < _uav.nPathLength - _uav.nCurrentPathIndex)
{
goodsStatus[match->astGoods[i].nNO].nIsRejectUav[_uav.nNO] = true;
_tmpPoint_1.z = map->nHLow + 2;
clearUavPath(_uav);
_uav.nTarget = _tmpPoint_1;
getPath(_uav);
updateWeUavMark(_uav);
return;
}
break;
}
}
}
}
// 最后一步
else if (_uav.nCurrentPathIndex == _uav.nPathLength - 1)
{
// 可能会锁死
if (getMapValue(statusMap, _uav.nPath[_uav.nCurrentPathIndex]) >= 0)
{
environmentAware(_uav);
updateWeUavMark(_uav);
return;
}
_uav.nPos = _uav.nPath[_uav.nCurrentPathIndex];
// 如果是抓取状态，抓取货物
if (_uav.nAction == UAV_ACTION::UAV_CATCHING)
{
int _goodsNo;
for (int i = 0; i < match->nGoodsNum; i++)
{
_goodsNo = match->astGoods[i].nNO;
if (_goodsNo == _uav.nGoodsTarget)
{
match->astGoods[i].nState = 1;
_uav.nCurrentPathIndex = -1;
if (goodsStatus[_goodsNo].nPathLength > 0)
{
_uav.nPath.swap(goodsStatus[_goodsNo].nPath);
_uav.nPathLength = goodsStatus[_goodsNo].nPathLength;
_uav.nTarget = match->astGoods[i].nEndPos;
}
else
{
clearUavPath(_uav);
_uav.nTarget = match->astGoods[i].nEndPos;
getPath(_uav);
}
_uav.nGoodsNo = _uav.nGoodsTarget;
_uav.nLoadGoodsWeight = match->astGoods[i].nWeight;
_uav.nAction = UAV_ACTION::UAV_DELIVERYING;
break;
}
}
}
// 如果是运送状态，放置货物
else if (_uav.nAction == UAV_ACTION::UAV_DELIVERYING)
{
_uav.nRemainPower -= _uav.nLoadGoodsWeight;
clearUavPath(_uav);
_uav.nTarget.setPoint(_uav.nPos);
_uav.nTarget.z = MAX_PATH_HEIGHT;
getPath(_uav);
_uav.nAction = UAV_ACTION::UAV_MOVING;
for (int i = 0; i < MAX_GOODS_NUM; i++)
{
goodsStatus[i].nIsRejectUav[_uav.nNO] = false;
}
}
// 如果是充电，更新充电flag
else if (_uav.nAction == UAV_ACTION::UAV_GO_CHARGING)
{
_uav.nIsUavCharging = true;
_uav.nIsFullPower = false;
clearUavPath(_uav);
}
else
{
clearUavPath(_uav);
}
}
else
{
clearUavPath(_uav);
}
// 更新UAV在statusMap中的标记
if (_moveAction != MOVE_ACTION::M_NEWPATH)
{
updateWeUavMark(_uav);
}
}
void UAVAI::moveAllUavByAction(UAV_ACTION _action, int &_uavNum)
{
for (int i = 0; i < _uavNum; i++)
{
if (match->astWeUav[i].nIsCrash)
continue;
if (match->astWeUav[i].nIsMoved)
continue;
if (match->astWeUav[i].nAction == _action)
moving(match->astWeUav[i]);
else
continue;
}
}
// 检查停机坪上方的状态
// 如果有充电状态的飞机，则为降落状态；如果有其他状态的飞机，则为起飞状态；
// 如果两者都没有，则是FREE状态；如果有敌方UAV，则为堵塞状态（未做）
void UAVAI::updateHomeStatus()
{
Point3 _tmpPoint = map->nParkingPos;
int _tmpMark;
UAV *_pUav = NULL;
for (int i = 1; i <= MAX_PATH_HEIGHT; i++)
{
_tmpPoint.z = i;
_tmpMark = getMapValue(statusMap, _tmpPoint);
if (_tmpMark != AREA_OBJ::IS_NULL && _tmpMark != AREA_OBJ::IS_FOG)
{
if (_tmpMark < 1000)
{
_pUav = &(match->astWeUav[_tmpMark]);
if (_pUav->nAction == UAV_ACTION::UAV_GO_CHARGING)
{
map->nHomeStatus = HOME_STATUS::HS_LANDING;
return;
}
else if (_pUav->nAction == UAV_ACTION::UAV_STANDBY)
{
continue;
}
else
{
map->nHomeStatus = HOME_STATUS::HS_TAKEOFF;
return;
}
}
}
}
map->nHomeStatus = HOME_STATUS::HS_FREE;
}
void UAVAI::updateWeUavMark(UAV & _uav)
{
_uav.nIsMoved = true;
// 如果位置变化了，则更新
if (_uav.nPos != _uav.nLastPos)
{
_uav.nMovedFeature = _uav.nPos + _uav.nLastPos;
_uav.nIsPositionChanged = true;
int _tmpMark = getMapValue(statusMap, _uav.nLastPos);
if (_tmpMark == _uav.nNO)
{
_tmpMark = getMapValue(restoredMap, _uav.nLastPos);
setMapValue(statusMap, _uav.nLastPos, _tmpMark);
}
setMapValue(statusMap, _uav.nPos, _uav.nNO);
_uav.nLastPos = _uav.nPos;
}
else
{
_uav.nMovedFeature.setPoint(0, 0, 0);
_uav.nIsPositionChanged = false;
}
_uav.nIsMoving = false;
_uav.nIsMoved = true;
setMapValue(statusMap, map->nParkingPos, -1);
}
void UAVAI::changeUavAction(UAV_ACTION _from, UAV_ACTION _to)
{
for (int i = 0; i < match->nUavWeNum; i++)
{
if (match->astWeUav[i].nIsCrash)
continue;
if (match->astWeUav[i].nAction == _from)
match->astWeUav[i].nAction = _to;
}
}
bool UAVAI::isPathCross(const UAV & _dodgeUav, const Point3 & _uavPos, const Point3 & _uavNextPos)
{
if (_uavPos + _uavNextPos == _dodgeUav.nMovedFeature)
return true;
else
return false;
}
bool UAVAI::isPathCross(const Point3 & _pA1, const Point3 & _pA2, const Point3 & _pB1, const Point3 & _pB2)
{
if (_pA1 + _pA2 == _pB1 + _pB2)
return true;
else
return false;
}
template<typename T>
int UAVAI::isUavInArea(const Point3 & _p, vector<int>& _uavNo, T &_area)
{
_uavNo.resize(0);
_area.resize(0);
int _No = -1;
int _num = 0;
getUavMoveScope(_p, _area);
typename T::iterator _it;
for (_it = _area.begin(); _it != _area.end(); _it++)
{
_No = getMapValue(statusMap, (*_it));
if (_No >= 0)
{
_uavNo.push_back(_No);
_num++;
}
}
return _num;
}
bool UAVAI::isUavInArea(const Point3 &_p, int & _ignoredNo, CHECK_OPT _opt)
{
tmpUavScope_1.resize(0);
int _tmpMark = -1;
getUavMoveScope(_p, tmpUavScope_1);
for (int i = 0; i<int(tmpUavScope_1.size()); i++)
{
_tmpMark = getMapValue(statusMap, tmpUavScope_1[i]);
if (_tmpMark >= 0)
{
if (_tmpMark == _ignoredNo)
continue;
if (_opt == CHECK_OPT::CO_ALL)
return true;
if (_opt == CHECK_OPT::CO_ENEMY && _tmpMark >= 1000)
return true;
if (_opt == CHECK_OPT::CO_ALLY && _tmpMark < 1000)
return true;
}
}
return false;
}
int UAVAI::fixStaticDodgeArea(list<Point3>& _area, UAV & _dodgeUav, UAV &_uav, const Point3 & _center)
{
list<Point3>::iterator it;
if (_dodgeUav.nIsEnemy)
{
for (it = _area.begin(); it != _area.end();)
{
if (getDistanceInScope(_dodgeUav.nPos, (*it)) <= 2)
it = _area.erase(it);
else
++it;
}
return 1;
}
else
{
int _dCurPathIdx = _dodgeUav.nCurrentPathIndex;
if ((!_dodgeUav.nIsMoving && !_dodgeUav.nIsMoved))
{
if (_dodgeUav.nIsGetPath)
{
if (_dCurPathIdx + 1 <= _dodgeUav.nPathLength - 1)
{
if (_dodgeUav.nPath[_dCurPathIdx + 1] == _center)
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 1;
}
else
{
return 0;
}
}
else
{
return 0;
}
}
else
{
return 0;
}
}
else if ((_dodgeUav.nIsMoving && !_dodgeUav.nIsMoved))
{
if (_dodgeUav.nIsGetPath)
{
if (_dodgeUav.nPath[_dCurPathIdx] == _center)
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 1;
}
else
{
return 0;
}
}
else
{
return 0;
}
}
else if (!_dodgeUav.nIsMoving && _dodgeUav.nIsMoved)
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 0;
}
else
{
for (int i = 0; i < 100; i++)
cout << "ERROR in move flag! : Static" << endl;
return 0;
}
return 0;
}
}
int UAVAI::fixDynamicDodgeArea(list<Point3>& _area, UAV & _dodgeUav, UAV & _uav, const Point3 & _center)
{
list<Point3>::iterator it;
if (_dodgeUav.nIsEnemy)
{
for (it = _area.begin(); it != _area.end();)
{
if (getDistanceInScope(_dodgeUav.nPos, (*it)) <= 2)
it = _area.erase(it);
else
++it;
}
return 1;
}
else
{
int _dCurPathIdx = _dodgeUav.nCurrentPathIndex;
int _cCurPathIdx = _uav.nCurrentPathIndex;
if (!_dodgeUav.nIsMoving && !_dodgeUav.nIsMoved)
{
if (_dodgeUav.nIsGetPath)
{
if (_dCurPathIdx + 1 <= _dodgeUav.nPathLength - 1)
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
if (_dodgeUav.nPath[_dCurPathIdx + 1] == _center)
{
return 1;
}
else
{
return 0;
}
}
}
else
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 0;
}
}
else if (_dodgeUav.nIsMoving && !_dodgeUav.nIsMoved)
{
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 0;
}
else if (!_dodgeUav.nIsMoving && _dodgeUav.nIsMoved)
{
if (_dodgeUav.nIsPositionChanged)
{
if (isPathCross(_dodgeUav, _uav.nPos, _uav.nPath[_cCurPathIdx]))
{
removePointInDodgeArea(_area, _uav.nPath[_cCurPathIdx]);
removePointInDodgeArea(_area, _dodgeUav.nPos);
return 1;
}
else
{
return 0;
}
}
else
{
return 0;
}
}
else
{
for (int i = 0; i < 100; i++)
cout << "ERROR in move flag! : dynamic" << endl;
return 0;
}
return 0;
}
}
void UAVAI::removePointInDodgeArea(list<Point3>& _area, const Point3 & _removedPoint)
{
list<Point3>::iterator it;
for (it = _area.begin(); it != _area.end();)
{
if (*(it) == _removedPoint)
{
it = _area.erase(it);
return;
}
else
++it;
}
}
void UAVAI::doubleCheckDodgeArea(list<Point3>& _area, int &_ignoredNo, CHECK_OPT _opt)
{
list<Point3>::iterator it;
for (it = _area.begin(); it != _area.end();)
{
if (isUavInArea(*(it), _ignoredNo, _opt))
it = _area.erase(it);
else
++it;
}
}
Point3 UAVAI::getBestDodgePositon(list<Point3>& _area, UAV & _uav)
{
Point3 _tmpPoint;
int _minDistance = 999999;
int _tmpDistance = -1;
list<Point3>::iterator it;
for (it = _area.begin(); it != _area.end(); it++)
{
_tmpDistance = getHorizontalDistance(_uav.nTarget, *it);
if (_minDistance > _tmpDistance)
{
_minDistance = _tmpDistance;
_tmpPoint = *it;
}
}
return _tmpPoint;
}
bool UAVAI::isPositionInMap(const Point3 & _p)
{
if (_p.x < 0 || _p.x > map->nMapX - 1)
return false;
if (_p.y < 0 || _p.y > map->nMapY - 1)
return false;
if (_p.z < 0 || _p.z > map->nMapZ - 1)
return false;
return true;
}
int UAVAI::getDistanceInScope(const Point3 & _p1, const Point3 & _p2)
{
// 高度权值为2
return int(pow(_p1.x - _p2.x, 2)) + int(pow(_p1.y - _p2.y, 2)) + int(abs(_p1.z - _p2.z) * 2);
}
int UAVAI::getHorizontalDistance(const Point3 & _p1, const Point3 & _p2)
{
return int(pow(_p1.x - _p2.x, 2)) + int(pow(_p1.y - _p2.y, 2));
}
void UAVAI::uavDodgeAndGetNewPath(UAV & _uav, Point3 & _dodgePosition)
{
_uav.nPos = _dodgePosition;
_uav.nCurrentPathIndex = -1;
_uav.nPath.resize(0);
_uav.nPathLength = 0;
getPath(_uav.nPos, _uav.nTarget, _uav.nPath, _uav.nPathLength);
_uav.nFrom = _uav.nPos;
updateWeUavMark(_uav);
}
UAV * UAVAI::getUavPtrByNo(int _No)
{
if (_No == 999)
return nullptr;
if (_No >= 1000)
{
_No %= 1000;
for (int i = 0; i < match->nUavEnemyNum; i++)
if (_No == match->astEnemyUav[i].nNO)
return &(match->astEnemyUav[i]);
}
else
{
return &(match->astWeUav[_No]);
}
return nullptr;
}
// @ only check the position is null or not
template<typename T>
void UAVAI::getUavMoveScope(const Point3 & _center, T& _scope)
{
if (!_scope.empty())
_scope.resize(0);
int _tmpMark;
int _startIndex;
int _endIndex = MOVE_DIRECTION_NUM;
if (_center.z < map->nHLow)
{
_startIndex = 8;
}
else if (_center.z <= map->nHHigh - 1)
{
_startIndex = 0;
}
else
{
_startIndex = 0;
_endIndex -= 1;
}
for (int i = _startIndex; i < _endIndex; i++)
{
tmpPoint_1 = _center + MOVE_DIRECTION_DELTA[i];
if (!isPositionInMap(tmpPoint_1))
continue;
_tmpMark = getMapValue(statusMap, tmpPoint_1);
if (_tmpMark == AREA_OBJ::IS_BUILDING)
continue;
_scope.push_back(tmpPoint_1);
}
}
int UAVAI::environmentAware(UAV & _uav)
{
int _uavNum = 0;
int _isDodge = 0;
UAV *_pEnemyUav = NULL;
UAV *_pAllyUav = NULL;
Point3 _tmpPoint;
list<Point3> _dodgePosition;
_dodgePosition.resize(0);
// uav without valid path
if (!_uav.nIsGetPath || _uav.nAction == UAV_ACTION::UAV_GO_CHARGING_S)
{
_uavNum = isUavInArea(_uav.nPos, uavNo, _dodgePosition);
for (int i = 0; i < _uavNum; i++)
{
// if there is enemy uav exist
if (uavNo[i] >= 1000)
{
_pEnemyUav = getUavPtrByNo(uavNo[i]);
_isDodge += fixStaticDodgeArea(_dodgePosition, *_pEnemyUav, _uav, _uav.nPos);
}
else
{
_pAllyUav = getUavPtrByNo(uavNo[i]);
if (!_pAllyUav->nIsGetPath || _uav.nAction == UAV_ACTION::UAV_GO_CHARGING_S)
removePointInDodgeArea(_dodgePosition, _pAllyUav->nPos);
else
_isDodge += fixStaticDodgeArea(_dodgePosition, *_pAllyUav, _uav, _uav.nPos);
}
}
if (_uav.nPos.x == map->nParkingPos.x && _uav.nPos.y == map->nParkingPos.y &&_uav.nPos.z != 0)
_isDodge += 1;
// move
if (_isDodge > 0)
{
doubleCheckDodgeArea(_dodgePosition, _uav.nNO, CHECK_OPT::CO_ENEMY);
if (!_dodgePosition.empty())
{
if (_uav.nAction == UAV_ACTION::UAV_GO_CHARGING_S)
{
uavDodgeAndGetNewPath(_uav, *(_dodgePosition.begin()));
return -2;
}
else
{
_uav.nPos = *(_dodgePosition.begin());
}
}
else
{
return -1;
}
}
return -1;
}
// next step map mark
int _tmpMark = getMapValue(statusMap, _uav.nPath[_uav.nCurrentPathIndex]);
// if is enemy
if (_tmpMark >= 1000)
{
_uavNum = isUavInArea(_uav.nPos, uavNo, _dodgePosition);
for (int i = 0; i < _uavNum; i++)
{
if (uavNo[i] == _uav.nNO)
continue;
// if there is enemy uav exist
if (uavNo[i] >= 1000)
{
if (_uav.nAction == UAV_ACTION::UAV_ATTACK)
continue;
_pEnemyUav = getUavPtrByNo(uavNo[i]);
_isDodge += fixDynamicDodgeArea(_dodgePosition, *_pEnemyUav, _uav, _uav.nPos);
}
else
{
_pAllyUav = getUavPtrByNo(uavNo[i]);
if (!_pAllyUav->nIsGetPath || _uav.nAction == UAV_ACTION::UAV_GO_CHARGING_S)
removePointInDodgeArea(_dodgePosition, _pAllyUav->nPos);
else
_isDodge += fixDynamicDodgeArea(_dodgePosition, *_pAllyUav, _uav, _uav.nPos);
}
}
doubleCheckDodgeArea(_dodgePosition, _uav.nNO, CHECK_OPT::CO_ENEMY);
if (!_dodgePosition.empty())
{
_tmpPoint = getBestDodgePositon(_dodgePosition, _uav);
uavDodgeAndGetNewPath(_uav, _tmpPoint);
return MOVE_ACTION::M_NEWPATH;
}
else
{
return MOVE_ACTION::M_STANDBY;
}
}
// if is ally
else if (_tmpMark >= 0)
{
bool _isDodgeFlag = false;
_pAllyUav = &(match->astWeUav[_tmpMark]);
if (!_pAllyUav->nIsMoving && !_pAllyUav->nIsMoved)
{
moving(*_pAllyUav);
_tmpMark = getMapValue(statusMap, _uav.nPath[_uav.nCurrentPathIndex]);
if (_tmpMark == AREA_OBJ::IS_NULL || _tmpMark == AREA_OBJ::IS_FOG)
return MOVE_ACTION::M_NORMAL;