//---------------------------- Activate ---------------------------------------
//-----------------------------------------------------------------------------
void Goal_NegotiateDoor::Activate()
{
m_iStatus = active;
//if this goal is reactivated then there may be some existing subgoals that
//must be removed
RemoveAllSubgoals();
//get the position of the closest navigable switch
Vector2D posSw = m_pOwner->GetWorld()->GetPosOfClosestSwitch(m_pOwner->Pos(),
m_PathEdge.DoorID());
//because goals are *pushed* onto the front of the subgoal list they must
//be added in reverse order.
//first the goal to traverse the edge that passes through the door
AddSubgoal(new Goal_TraverseEdge(m_pOwner, m_PathEdge, m_bLastEdgeInPath));
//next, the goal that will move the bot to the beginning of the edge that
//passes through the door
AddSubgoal(new Goal_MoveToPosition(m_pOwner, m_PathEdge.Source()));
//finally, the Goal that will direct the bot to the location of the switch
AddSubgoal(new Goal_MoveToPosition(m_pOwner, posSw));
}
//------------------------------ Activate -------------------------------------
//-----------------------------------------------------------------------------
void Goal_FollowPath::Activate()
{
m_iStatus = active;
//get a reference to the next edge
PathEdge edge = m_Path.front();
//remove the edge from the path
m_Path.pop_front();
//some edges specify that the bot should use a specific behavior when
//following them. This switch statement queries the edge behavior flag and
//adds the appropriate goals/s to the subgoal list.
switch(edge.Behavior())
{
case NavGraphEdge::normal:
{
AddSubgoal(new Goal_TraverseEdge(m_pOwner, edge, m_Path.empty()));
}
break;
case NavGraphEdge::goes_through_door:
{
//also add a goal that is able to handle opening the door
AddSubgoal(new Goal_NegotiateDoor(m_pOwner, edge, m_Path.empty()));
}
break;
case NavGraphEdge::jump:
{
//add subgoal to jump along the edge
}
break;
case NavGraphEdge::grapple:
{
//add subgoal to grapple along the edge
}
break;
default:
throw std::runtime_error("<Goal_FollowPath::Activate>: Unrecognized edge type");
}
}
//---------------------------- HandleMessage ----------------------------------
//-----------------------------------------------------------------------------
bool Goal_Explore::HandleMessage(const Telegram& msg)
{
//first, pass the message down the goal hierarchy
bool bHandled = ForwardMessageToFrontMostSubgoal(msg);
//if the msg was not handled, test to see if this goal can handle it
if (bHandled == false)
{
switch(msg.Msg)
{
case Msg_PathReady:
//clear any existing goals
RemoveAllSubgoals();
AddSubgoal(new Goal_FollowPath(m_pOwner,
m_pOwner->GetPathPlanner()->GetPath()));
return true; //msg handled
case Msg_NoPathAvailable:
m_iStatus = failed;
return true; //msg handled
default: return false;
}
}
//handled by subgoals
return true;
}
//------------------------------ Activate -------------------------------------
//-----------------------------------------------------------------------------
void Goal_InstallBomb::Activate()
{
m_iStatus = active;
//if this goal is reactivated then there may be some existing subgoals that
//must be removed
RemoveAllSubgoals();
if (!m_bDestinationIsSet)
{
//grab a random location
//m_CurrentDestination = m_pOwner->GetOwner()->GetCloseWallPos(m_pOwner->Center());
m_CurrentDestination = m_pOwner->GetOwner()->GetMap()->GetRandomNodeLocation();
m_bDestinationIsSet = true;
}
//and request a path to that position
m_pOwner->GetPathPlanner()->RequestPathToPosition(m_CurrentDestination);
//the bot may have to wait a few update cycles before a path is calculated
//so for appearances sake it simple ARRIVES at the destination until a path
//has been found
AddSubgoal(new Goal_SeekToPosition(m_pOwner, m_CurrentDestination));
}
//------------------------------- Activate ------------------------------------
//-----------------------------------------------------------------------------
void Goal_AttackTarget::Activate()
{
m_iStatus = active;
//if this goal is reactivated then there may be some existing subgoals that
//must be removed
RemoveAllSubgoals();
//it is possible for a bot's target to die whilst this goal is active so we
//must test to make sure the bot always has an active target
if (!m_pOwner->GetTargetSys()->isTargetPresent())
{
m_iStatus = completed;
return;
}
//if the bot is able to shoot the target (there is LOS between bot and
//target), then select a tactic to follow while shooting
if (m_pOwner->GetTargetSys()->isTargetShootable())
{
//if the bot has space to strafe then do so
Vector2D dummy;
if (m_pOwner->canStepLeft(dummy) || m_pOwner->canStepRight(dummy))
{
AddSubgoal(new Goal_DodgeSideToSide(m_pOwner));
}
//if not able to strafe, head directly at the target's position
else
{
AddSubgoal(new Goal_SeekToPosition(m_pOwner, m_pOwner->GetTargetBot()->Pos()));
}
}
//if the target is not visible, go hunt it.
else
{
AddSubgoal(new Goal_HuntTarget(m_pOwner));
}
}
void GoalFollowPath::Activate(const UpdateArgs& args)
{
status = Active;
// get a reference to the next edge
PathEdge edge = path.front();
// remove the edge from the path
path.pop_front();
// add a TIKI_NEW subgoal to traverse an edge, if we loop, don't arrive
AddSubgoal(TIKI_NEW GoalTraverseEdge(owner, edge, path.empty()));
}
//------------------------------- Activate ------------------------------------
//-----------------------------------------------------------------------------
void Goal_GetItem::Activate()
{
m_iStatus = active;
m_pGiverTrigger = 0;
//request a path to the item
m_pOwner->GetPathPlanner()->RequestPathToItem(m_iItemToGet);
//the bot may have to wait a few update cycles before a path is calculated
//so for appearances sake it just wanders
AddSubgoal(new Goal_Wander(m_pOwner));
}
//------------------------------- Activate ------------------------------------
//-----------------------------------------------------------------------------
void Goal_GoToGrave::Activate()
{
m_iStatus = active;
m_pGiverTrigger = 0;
//request a path to the grave
m_pOwner->GetPathPlanner()->RequestPathToPosition(m_grave->Position);
//the bot may have to wait a few update cycles before a path is calculated
//so for appearances sake it just wanders
AddSubgoal(new Goal_Wander(m_pOwner));
}
//---------------------------- Initialize -------------------------------------
//-----------------------------------------------------------------------------
void Goal_HuntTarget::Activate()
{
m_iStatus = active;
//if this goal is reactivated then there may be some existing subgoals that
//must be removed
RemoveAllSubgoals();
//it is possible for the target to die whilst this goal is active so we
//must test to make sure the bot always has an active target
if (m_pOwner->GetTargetSys()->isTargetPresent())
{
//grab a local copy of the last recorded position (LRP) of the target
const Vector2D lrp = m_pOwner->GetTargetSys()->GetLastRecordedPosition();
//if the bot has reached the LRP and it still hasn't found the target
//it starts to search by using the explore goal to move to random
//map locations
if (lrp.isZero() || m_pOwner->isAtPosition(lrp))
{
AddSubgoal(new Goal_Explore(m_pOwner));
}
//else move to the LRP
else
{
AddSubgoal(new Goal_MoveToPosition(m_pOwner, lrp));
}
}
//if their is no active target then this goal can be removed from the queue
else
{
m_iStatus = completed;
}
}
//------------------------------- Activate ------------------------------------
//-----------------------------------------------------------------------------
void Goal_MoveToPosition::Activate()
{
m_iStatus = active;
//make sure the subgoal list is clear.
RemoveAllSubgoals();
//requests a path to the target position from the path planner. Because, for
//demonstration purposes, the Raven path planner uses time-slicing when
//processing the path requests the bot may have to wait a few update cycles
//before a path is calculated. Consequently, for appearances sake, it just
//seeks directly to the target position whilst it's awaiting notification
//that the path planning request has succeeded/failed
if (m_pOwner->GetPathPlanner()->RequestPathToPosition(m_vDestination))
{
AddSubgoal(new Goal_SeekToPosition(m_pOwner, m_vDestination));
}
}
//---------------------------- HandleMessage ----------------------------------
//-----------------------------------------------------------------------------
bool Goal_GetItem::HandleMessage(const Telegram& msg)
{
//first, pass the message down the goal hierarchy
bool bHandled = ForwardMessageToFrontMostSubgoal(msg);
//if the msg was not handled, test to see if this goal can handle it
if (bHandled == false)
{
switch(msg.Msg)
{
case Msg_PathReady:
//clear any existing goals
RemoveAllSubgoals();
AddSubgoal(new Goal_FollowPath(m_pOwner,
m_pOwner->GetPathPlanner()->GetPath()));
//get the pointer to the item
m_pGiverTrigger = static_cast<Raven_Map::TriggerType*>(msg.ExtraInfo);
return true; //msg handled
case Msg_NoPathAvailable:
m_iStatus = failed;
return true; //msg handled
default: return false;
}
}
//handled by subgoals
return true;
}