void CreateRandomAvoidsSet()
{
cout << "Generating avoids" << endl;
int counter = 0;
int* output_seq_of_locations = (int*)malloc(100 * sizeof(int));
int outsize;
int numRobots = WORKSPACE_INFO->numOfRobots;
avoidsArr = (AvoidPositions*)malloc((numRobots - 1) * sizeof(AvoidPositions));
sizeof_avoids = 0;
while (counter < (numRobots - 1))
{
int st = GetStartLocation(counter);
int g = GetEndLocation(counter);
cout << st << endl;
cout << g << endl;
output_seq_of_locations = (int*)malloc(1000 * sizeof(int));
GenerateMotionPlanFor(*WORKSPACE_INFO, st, g, WORKSPACE_INFO->obstacles.locations, WORKSPACE_INFO->obstacles.size, avoidsArr, sizeof_avoids, output_seq_of_locations, &outsize);
cout << "Trajectory Length = " << outsize << endl;
cout << "Trajectory: " << endl;
for (int count = 0; count < outsize; count++)
{
cout << output_seq_of_locations[count] << " ";
}
cout << endl;
avoidsArr[counter].size = outsize;
for (int i = 0; i < outsize; i++)
{
avoidsArr[counter].PositionsOccupied[i] = output_seq_of_locations[i];
}
sizeof_avoids++;
counter++;
}
cout << "------------" << endl;
}
//=================================================================================================
cstring Quest_Orcs::FormatString(const string& str)
{
if(str == "target_loc")
return GetTargetLocationName();
else if(str == "target_dir")
return GetTargetLocationDir();
else if(str == "naszego_miasta")
return LocationHelper::IsCity(GetStartLocation()) ? game->txQuest[72] : game->txQuest[73];
else
{
assert(0);
return nullptr;
}
}
//=================================================================================================
void Quest_SpreadNews::Start()
{
type = QuestType::Mayor;
quest_id = Q_SPREAD_NEWS;
start_loc = W.GetCurrentLocationIndex();
Vec2 pos = GetStartLocation().pos;
bool sorted = false;
const vector<Location*>& locations = W.GetLocations();
for(uint i = 0, count = locations.size(); i < count; ++i)
{
if(!locations[i] || locations[i]->type != L_CITY)
break;
if(i == start_loc)
continue;
Location& loc = *locations[i];
float dist = Vec2::Distance(pos, loc.pos);
bool ok = false;
if(entries.size() < 5)
ok = true;
else
{
if(!sorted)
{
std::sort(entries.begin(), entries.end(), SortEntries);
sorted = true;
}
if(entries.back().dist > dist)
{
ok = true;
sorted = false;
entries.pop_back();
}
}
if(ok)
{
Entry& e = Add1(entries);
e.location = i;
e.given = false;
e.dist = dist;
}
}
}
int main()
{
int count;
int* output_seq_of_locations = (int*)malloc(100 * sizeof(int));
int output_size = 0;
srand(time(NULL));
//Initialize the workspace
WORKSPACE_INFO = ParseWorkspaceConfig("C:\\Workspace\\Drona\\Src\\Workspaces\\Exp1\\Workspace.xml");
int exp = 3;
cout << "--------------------------------" << endl;
cout << "Num Robots: " << WORKSPACE_INFO->numOfRobots << endl;
CreateRandomAvoidsSet();
exp = 5;
while (exp > 0)
{
cout << "Experiment " << exp << endl;
int st = GetStartLocation(WORKSPACE_INFO->numOfRobots - 1);
int g = GetEndLocation(WORKSPACE_INFO->numOfRobots -1);
cout << st << endl;
cout << g << endl;
output_seq_of_locations = (int*)malloc(1000 * sizeof(int));
GenerateMotionPlanFor(*WORKSPACE_INFO, st, g, WORKSPACE_INFO->obstacles.locations, WORKSPACE_INFO->obstacles.size, avoidsArr, sizeof_avoids, output_seq_of_locations, &output_size);
cout << "Trajectory Length = " << output_size << endl;
cout << "Trajectory: " << endl;
for (count = 0; count < output_size; count++)
{
cout << output_seq_of_locations[count] << " ";
}
cout << endl;
free(output_seq_of_locations);
exp--;
cout << "--------------------------------" << endl;
}
return 0;
}
//=================================================================================================
void Quest_Orcs::SetProgress(int prog2)
{
switch(prog2)
{
case Progress::TalkedWithGuard:
{
if(prog != Progress::None)
return;
if(QM.RemoveQuestRumor(R_ORCS))
game->gui->journal->AddRumor(Format(game->txQuest[189], GetStartLocationName()));
QM.quest_orcs2->orcs_state = Quest_Orcs2::State::GuardTalked;
}
break;
case Progress::NotAccepted:
{
if(QM.RemoveQuestRumor(R_ORCS))
game->gui->journal->AddRumor(Format(game->txQuest[190], GetStartLocationName()));
// mark guard to remove
Unit*& u = QM.quest_orcs2->guard;
if(u)
{
u->auto_talk = AutoTalkMode::No;
u->temporary = true;
u = nullptr;
}
QM.quest_orcs2->orcs_state = Quest_Orcs2::State::GuardTalked;
}
break;
case Progress::Started:
{
OnStart(game->txQuest[191]);
// remove rumor from pool
QM.RemoveQuestRumor(R_ORCS);
// mark guard to remove
Unit*& u = QM.quest_orcs2->guard;
if(u)
{
u->auto_talk = AutoTalkMode::No;
u->temporary = true;
u = nullptr;
}
// generate location
Location& tl = *W.CreateLocation(L_DUNGEON, GetStartLocation().pos, 64.f, HUMAN_FORT, SG_ORCS, false);
tl.SetKnown();
tl.st = 8;
tl.active_quest = this;
target_loc = tl.index;
location_event_handler = this;
at_level = tl.GetLastLevel();
dungeon_levels = at_level + 1;
levels_cleared = 0;
whole_location_event_handler = true;
item_to_give[0] = Item::Get("q_orkowie_klucz");
spawn_item = Quest_Event::Item_GiveSpawned2;
unit_to_spawn = UnitData::Get("q_orkowie_gorush");
spawn_unit_room = RoomTarget::Prison;
unit_dont_attack = true;
unit_to_spawn2 = g_spawn_groups[SG_ORCS].GetSpawnLeader(10);
unit_spawn_level2 = -3;
QM.quest_orcs2->orcs_state = Quest_Orcs2::State::Accepted;
// questowe rzeczy
msgs.push_back(Format(game->txQuest[192], GetStartLocationName(), W.GetDate()));
msgs.push_back(Format(game->txQuest[193], GetStartLocationName(), GetTargetLocationName(), GetTargetLocationDir()));
}
break;
case Progress::ClearedLocation:
// oczyszczono lokacjê
{
OnUpdate(Format(game->txQuest[194], GetTargetLocationName(), GetStartLocationName()));
}
break;
case Progress::Finished:
// ukoñczono - nagroda
{
state = Quest::Completed;
Team.AddReward(4000, 12000);
OnUpdate(game->txQuest[195]);
W.AddNews(Format(game->txQuest[196], GetTargetLocationName(), GetStartLocationName()));
if(QM.quest_orcs2->orcs_state == Quest_Orcs2::State::OrcJoined)
{
QM.quest_orcs2->orcs_state = Quest_Orcs2::State::CompletedJoined;
QM.quest_orcs2->days = Random(30, 60);
GetTargetLocation().active_quest = nullptr;
target_loc = -1;
}
else
QM.quest_orcs2->orcs_state = Quest_Orcs2::State::Completed;
}
break;
}
prog = prog2;
}
//=================================================================================================
void Quest_Goblins::SetProgress(int prog2)
{
prog = prog2;
switch(prog2)
{
case Progress::NotAccepted:
// nie zaakceptowano
{
if(QM.RemoveQuestRumor(R_GOBLINS))
game->gui->journal->AddRumor(Format(game->txQuest[211], GetStartLocationName()));
}
break;
case Progress::Started:
// zaakceptowano
{
OnStart(game->txQuest[212]);
// usuñ plotkê
QM.RemoveQuestRumor(R_GOBLINS);
// dodaj lokalizacje
target_loc = W.GetNearestLocation(GetStartLocation().pos, 1 << L_FOREST, true);
Location& target = GetTargetLocation();
target.SetKnown();
target.reset = true;
target.active_quest = this;
target.st = 7;
spawn_item = Quest_Event::Item_OnGround;
item_to_give[0] = Item::Get("q_gobliny_luk");
// questowe rzeczy
msgs.push_back(Format(game->txQuest[217], GetStartLocationName(), W.GetDate()));
msgs.push_back(Format(game->txQuest[218], GetTargetLocationName(), GetTargetLocationDir()));
// encounter
Encounter* e = W.AddEncounter(enc);
e->check_func = CzyMajaStaryLuk;
e->dialog = GameDialog::TryGet("q_goblins_encounter");
e->dont_attack = true;
e->group = SG_GOBLINS;
e->location_event_handler = nullptr;
e->pos = GetStartLocation().pos;
e->quest = static_cast<Quest*>(this);
e->chance = 10000;
e->range = 32.f;
e->text = game->txQuest[219];
e->timed = false;
e->st = 6;
}
break;
case Progress::BowStolen:
// gobliny ukrad³y ³uk
{
Team.RemoveQuestItem(Item::Get("q_gobliny_luk"));
OnUpdate(game->txQuest[220]);
W.RemoveEncounter(enc);
enc = -1;
GetTargetLocation().active_quest = nullptr;
W.AddNews(game->txQuest[221]);
Team.AddExp(1000);
}
break;
case Progress::TalkedAboutStolenBow:
// poinformowano o kradzie¿y
{
state = Quest::Failed;
OnUpdate(game->txQuest[222]);
goblins_state = State::Counting;
days = Random(15, 30);
}
break;
case Progress::InfoAboutGoblinBase:
// pos³aniec dostarczy³ info o bazie goblinów
{
state = Quest::Started;
target_loc = W.GetRandomSpawnLocation(GetStartLocation().pos, SG_GOBLINS);
Location& target = GetTargetLocation();
target.state = LS_KNOWN;
target.st = 10;
target.reset = true;
target.active_quest = this;
done = false;
spawn_item = Quest_Event::Item_GiveSpawned;
unit_to_spawn = g_spawn_groups[SG_GOBLINS].GetSpawnLeader(11);
unit_spawn_level = -3;
item_to_give[0] = Item::Get("q_gobliny_luk");
at_level = target.GetLastLevel();
OnUpdate(Format(game->txQuest[223], target.name.c_str(), GetTargetLocationDir(), GetStartLocationName()));
goblins_state = State::MessengerTalked;
}
break;
case Progress::GivenBow:
// oddano ³uk
{
state = Quest::Completed;
const Item* item = Item::Get("q_gobliny_luk");
DialogContext::current->pc->unit->RemoveItem(item, 1);
DialogContext::current->talker->AddItem(item, 1, true);
Team.AddReward(500, 2500);
OnUpdate(game->txQuest[224]);
goblins_state = State::GivenBow;
GetTargetLocation().active_quest = nullptr;
target_loc = -1;
W.AddNews(game->txQuest[225]);
}
break;
case Progress::DidntTalkedAboutBow:
// nie chcia³eœ powiedzieæ o ³uku
{
OnUpdate(game->txQuest[226]);
goblins_state = State::MageTalkedStart;
}
break;
case Progress::TalkedAboutBow:
// powiedzia³eœ o ³uku
{
state = Quest::Started;
OnUpdate(game->txQuest[227]);
goblins_state = State::MageTalked;
}
break;
case Progress::PayedAndTalkedAboutBow:
// zap³aci³eœ i powiedzia³eœ o ³uku
{
DialogContext::current->pc->unit->ModGold(-100);
state = Quest::Started;
OnUpdate(game->txQuest[228]);
goblins_state = State::MageTalked;
}
break;
case Progress::TalkedWithInnkeeper:
// pogadano z karczmarzem
{
goblins_state = State::KnownLocation;
Location& target = *W.CreateLocation(L_DUNGEON, W.GetWorldPos(), 128.f, THRONE_FORT, SG_GOBLINS, false);
target.st = 12;
target.SetKnown();
target.active_quest = this;
target_loc = target.index;
done = false;
unit_to_spawn = UnitData::Get("q_gobliny_szlachcic2");
spawn_unit_room = RoomTarget::Throne;
callback = DodajStraznikow;
unit_dont_attack = true;
unit_auto_talk = true;
unit_event_handler = this;
item_to_give[0] = nullptr;
spawn_item = Quest_Event::Item_DontSpawn;
at_level = target.GetLastLevel();
OnUpdate(Format(game->txQuest[229], target.name.c_str(), GetTargetLocationDir(), GetStartLocationName()));
}
break;
case Progress::KilledBoss:
// zabito szlachcica
{
state = Quest::Completed;
OnUpdate(game->txQuest[230]);
GetTargetLocation().active_quest = nullptr;
QM.EndUniqueQuest();
W.AddNews(game->txQuest[231]);
Team.AddLearningPoint();
Team.AddExp(15000);
}
break;
}
}
//=================================================================================================
void Quest_SpreadNews::SetProgress(int prog2)
{
switch(prog2)
{
case Progress::Started:
// told info to spread by player
{
OnStart(game->txQuest[213]);
QM.quests_timeout2.push_back(this);
prog = Progress::Started;
Location& loc = GetStartLocation();
bool is_city = LocationHelper::IsCity(loc);
msgs.push_back(Format(game->txQuest[3], is_city ? game->txForMayor : game->txForSoltys, loc.name.c_str(), W.GetDate()));
msgs.push_back(Format(game->txQuest[17], Upper(is_city ? game->txForMayor : game->txForSoltys), loc.name.c_str(), FormatString("targets")));
}
break;
case Progress::Deliver:
// player told news to mayor
{
uint count = 0;
for(vector<Entry>::iterator it = entries.begin(), end = entries.end(); it != end; ++it)
{
if(W.GetCurrentLocationIndex() == it->location)
{
it->given = true;
++count;
}
else if(it->given)
++count;
}
Location& loc = *W.GetCurrentLocation();
cstring msg = Format(game->txQuest[18], LocationHelper::IsCity(loc) ? game->txForMayor : game->txForSoltys, loc.name.c_str());
if(count == entries.size())
{
prog = Progress::Deliver;
OnUpdate({ msg, Format(game->txQuest[19], GetStartLocationName()) });
}
else
OnUpdate(msg);
RemoveElementTry(QM.quests_timeout2, static_cast<Quest*>(this));
}
break;
case Progress::Timeout:
// player failed to spread news in time
{
prog = Progress::Timeout;
state = Quest::Failed;
((City&)GetStartLocation()).quest_mayor = CityQuestState::Failed;
OnUpdate(game->txQuest[20]);
}
break;
case Progress::Finished:
// player spread news to all mayors, end of quest
{
prog = Progress::Finished;
state = Quest::Completed;
((City&)GetStartLocation()).quest_mayor = CityQuestState::None;
Team.AddReward(500, 2000);
OnUpdate(game->txQuest[21]);
}
break;
}
}
FVector FNavigationPath::GetPathFindingStartLocation() const
{
return SourceActor != NULL ? (SourceActorAsNavAgent != NULL ? SourceActorAsNavAgent->GetNavAgentLocation() : SourceActor->GetActorLocation()) : GetStartLocation();
}
//=================================================================================================
cstring Quest::GetStartLocationName() const
{
return GetStartLocation().name.c_str();
}
//=================================================================================================
cstring Quest_Dungeon::GetTargetLocationDir() const
{
return GetLocationDirName(GetStartLocation().pos, GetTargetLocation().pos);
}