// get vacuum's next move
Action Agent::GetAction( Percept p )
{
// on home node
if ( p.home )
{
if ( first )
{
x = 0;
y = 0;
room[x][y].type = OPEN;
room[x][y].dist = 0;
room[x][y].hits = 1;
first = false;
return FORWARD;
}
if ( retreating ) return SHUTOFF;
}
// if returning home...
if ( retreating )
{
// orient if not facing right direction
return OrientAndMoveTo( GetRetreatOrient() );
}
// otherwise...
if ( p.bump )
{
room[x + GetFaceX()][y + GetFaceY()].type = WALL;
return FindBestNode();
}
else
{
if ( turned || sucked ) return FindBestNode();
// last action was a move; update position and node
room[x += GetFaceX()][y += GetFaceY()].type = OPEN;
room[x][y].hits++;
UpdateDist( x, y );
// clean this potentially new node if dirty
if ( p.dirt )
{
sucked = true;
score += 20;
ticker = 0;
if ( score >= RETREAT_SCORE ) retreating = true;
return SUCK;
}
return FindBestNode();
}
}
bool CAIGoalFlee::IsGoalInProgress()
{
// Initionally skip super::IsGoalInProgress().
// Allow AI to flee to invalid nodes when necessary.
if( !CAIGoalUseSmartObject::IsGoalInProgress() )
{
return false;
}
// Do not check node validity until AI has finished transitioning.
if( m_pAI->GetAnimationContext()->IsTransitioning() )
{
return true;
}
if( m_pAI->HasTarget( kTarget_All ) )
{
// Node's status is OK from threat.
uint32 dwNodeStatus = kNodeStatus_Disabled |
kNodeStatus_LockedByOther |
kNodeStatus_ThreatInsideRadius;
// Leave a damaged node only if there is some other node to goto.
SAIWORLDSTATE_PROP* pProp = m_pAI->GetAIWorldState()->GetWSProp( kWSK_AtNode, m_pAI->m_hObject );
if( pProp &&
( pProp->hWSValue == m_hNode ) &&
FindBestNode( kNode_Ambush ) )
{
dwNodeStatus |= kNodeStatus_Damaged;
}
AINodeSmartObject* pNode = (AINodeSmartObject*)g_pLTServer->HandleToObject( m_hNode );
if( pNode && pNode->IsNodeValid( m_pAI, m_pAI->GetPosition(), m_pAI->GetAIBlackBoard()->GetBBTargetObject(), kThreatPos_TargetPos, dwNodeStatus ) )
{
return true;
}
}
// Goal is no longer in progress.
return false;
}
void CAIGoalUseSmartObject::CalculateGoalRelevance()
{
// Goal is in progress.
if( IsGoalInProgress() )
{
m_fGoalRelevance = m_pGoalRecord->fIntrinsicRelevance;
return;
}
// Goal is relevant if we know of available nodes.
m_hNodeBest = FindBestNode( m_pGoalRecord->eNodeType );
if( m_hNodeBest )
{
m_fGoalRelevance = m_pGoalRecord->fIntrinsicRelevance;
return;
}
m_fGoalRelevance = 0.f;
}
