void doWaitOrders() {
if (!unit.getMover().hasFoundPost) {
post = unit.getPos();
}
unit.idle();
// let allies pass
unit.getMover().separate();
// return to post if disturbed
if (post != null && getPostDistance() > FREE_MOVE_RADIUS) {
stateMachine.pushState(RETURN_POST);
stateMachine.pushState(WAIT, DISTURB_DURATION);
}
// attack nearby enemies
if (unit.arming.scanning()) {
stateMachine.pushState(RETURN_POST);
stateMachine.pushState(AUTO_ATTACK, new ArrayList<>());
}
// attack back an attacker
// note that attackers are also registered on nearby allies for support
if (isAttacked()) {
stateMachine.pushState(RETURN_POST);
stateMachine.pushState(ATTACK_BACK);
}
}
@Override
public FSM parseToFSM() {
boolean first = true;
FSM tmp = null;
boolean isSimple = true;
for (Expression e : this.disj) {
if (first) {
tmp = e.parseToFSM();
first = false;
if (e.getType() != RegularExpressionParser.Literal) isSimple = false;
} else if (e.getType() == RegularExpressionParser.Literal && isSimple) {
IntDomain dom = tmp.initState.transitions.iterator().next().domain;
int val = Integer.parseInt(((Literal) e).lit);
tmp.initState.transitions.iterator().next().domain = dom.union(val);
} else {
tmp = tmp.union(e.parseToFSM());
isSimple = false;
}
}
return tmp;
}
void doReturnPost() {
if (getPostDistance() < POST_TOLERANCE) {
stateMachine.popState();
} else if (isAttacked()) {
stateMachine.pushState(ATTACK_BACK);
} else {
unit.getMover().separate();
unit.getMover().seek(post);
}
}
void doMoveAttack() {
post = unit.getPos();
if (!unit.getMover().hasDestination()) {
stateMachine.popState();
} else {
if (unit.arming.scanning()) {
stateMachine.pushState(AUTO_ATTACK, new ArrayList<>());
} else {
unit.getMover().followPath();
}
}
}
void doAttackBack() {
if (!isAttacked() || getAggressionPlaceDistance() > PURSUE_RADIUS) {
stateMachine.popState();
} else if (unit.arming.acquiring()) {
unit.arming.attack();
} else if (unit.arming.scanning()) {
unit.getMover().seek(unit.arming.getNearestScanned().getMover());
} else if (getValidNearest(getAttackers()) != null) {
unit.getMover().seek(getValidNearest(getAttackers()).getMover());
} else {
stateMachine.popState();
}
}
void doAutoAttack(ArrayList<Unit> enemies) {
if (isAttacked()) {
stateMachine.pushState(ATTACK_BACK);
} else if (getPostDistance() > PURSUE_RADIUS) {
stateMachine.popState();
} else if (unit.arming.acquiring()) {
unit.arming.attack();
} else if (unit.arming.scanning()) {
unit.getMover().seek(unit.arming.getNearestScanned().getMover());
} else if (getValidNearest(enemies) != null) {
unit.getMover().seek(getValidNearest(enemies).getMover());
} else {
stateMachine.popState();
}
}
public void update() {
// TODO moche
filterAttackers();
unit.getMover().tryHold = false;
neighbors = getNeighbors();
stateMachine.update();
}
void doMove() {
post = unit.getPos();
if (!unit.getMover().hasDestination()) {
stateMachine.popState();
} else {
unit.getMover().followPath();
}
}
@Override
public FSM parseToFSM() {
FSM c = new FSM();
FSMState fin = new FSMState();
c.initState = new FSMState();
c.allStates.add(c.initState);
c.allStates.add(fin);
c.finalStates.add(fin);
int val = Integer.parseInt(lit);
IntervalDomain dom = new IntervalDomain(val, val);
c.initState.addTransition(new FSMTransition(dom, fin));
return c;
}
public void visit(FSM fsm) {
Set<Edge> visited = new HashSet<Edge>();
Node startNode = fsm.getStartNode();
for (Edge e : startNode.getSucc()) {
Vector<Edge> path = new Vector<Edge>();
path.add(e);
paths.add(path);
visited.add(e);
}
visit(visited);
}
void doWait(double duration) {
// let allies pass
unit.getMover().separate();
if (disturbTime == 0) {
disturbTime = System.currentTimeMillis();
} else if (disturbTime + duration < System.currentTimeMillis()) {
disturbTime = 0;
stateMachine.popState();
}
}
void doAttack(Unit u) {
if (u.destroyed()) {
post = unit.getPos();
stateMachine.popState();
} else if (unit.arming.acquiring(u)) {
unit.arming.attack(u);
unit.getMover().setDestinationReached();
} else if (!unit.getMover().hasDestination()) {
unit.getMover().seek(u.getMover());
} else {
unit.getMover().followPath(u.getMover());
}
}
public void orderHold() {
abandonAll();
stateMachine.pushState(HOLD);
}
public void orderAttack(Unit enemy) {
abandonAll();
stateMachine.pushState(WAIT_ORDERS);
stateMachine.pushState(ATTACK, enemy);
}
public void orderMoveAttack() {
abandonAll();
stateMachine.pushState(WAIT_ORDERS);
stateMachine.pushState(MOVE_ATTACK);
stateMachine.pushState(STOP);
}
public void orderMove() {
abandonAll();
stateMachine.pushState(WAIT_ORDERS);
stateMachine.pushState(MOVE);
stateMachine.pushState(STOP);
}
public TacticalAI(Unit unit) {
this.unit = unit;
stateMachine = new FSM(this);
stateMachine.pushState(WAIT_ORDERS);
}
public void abandonAll() {
post = null;
aggressionPlace = null;
aggressions.clear();
stateMachine.popAll();
}
void doStop() {
if (unit.getMover().velocity.equals(Point3D.ORIGIN)) {
stateMachine.popState();
}
}
