SteeringEnvironment.h

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/*
 *  SteeringEnvironment.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 4/12/11.
 *  Copyright 2011 University of Denver. All rights reserved.
 *
 */
 
#ifndef STEERINGENVIRONMENT_H
#define STEERINGENVIRONMENT_H
 
#include "SearchEnvironment.h"
#include "UnitSimulation.h"
#include "FPUtil.h"
 
struct steeringState {
public:
        float x, y;
        float v;
        float heading;
};
 
static bool operator==(const steeringState &l1, const steeringState &l2)
{
        return ((fequal(l1.x, l2.x)) &&
                        (fequal(l1.y, l2.y)) &&
                        (fequal(l1.v, l2.v)) &&
                        (fequal(l1.heading, l2.heading)));
}
 
//struct steeringAction {
//public:
//      steeringAction(float xVel=0.0f, float yVel=0.0f, float hVel=0.0f) :dx(xVel), dy(yVel), dh(hVel) {}
//      float dx, dy, dh;
//};
// state
 
struct steeringAction {
public:
        steeringAction(float d_v=0.0f, float d_h=0.0f) :dv(d_v), dh(d_h) {}
        float dv, dh;
};
 
extern float maxSpeed;
extern float worldRadius;
 
class SteeringEnvironment : public SearchEnvironment<steeringState, steeringAction>
{
public:
        SteeringEnvironment() {  }
        virtual void GetSuccessors(const steeringState &nodeID, std::vector<steeringState> &neighbors) const;
        virtual void GetActions(const steeringState &nodeID, std::vector<steeringAction> &actions) const;
        //virtual int GetNumSuccessors(const steeringState &stateID) const;
        virtual steeringAction GetAction(const steeringState &s1, const steeringState &s2) const;
        virtual void ApplyAction(steeringState &s, steeringAction a) const;
        
        virtual void GetNextState(const steeringState &, steeringAction , steeringState &) const;
        
        virtual bool InvertAction(steeringAction &a) const;     
        
        virtual double HCost(const steeringState &node1, const steeringState &node2) const;
        
        virtual double HCost(const steeringState &node) const
        { assert(bValidSearchGoal); return HCost(node, searchGoal); }
        
        virtual double GCost(const steeringState &node1, const steeringState &node2) const;
        virtual double GCost(const steeringState &node, const steeringAction &act) const;
        virtual bool GoalTest(const steeringState &node, const steeringState &goal) const;
        
        virtual bool GoalTest(const steeringState &node) const
        { return bValidSearchGoal&&(node == searchGoal); }
        
        virtual uint64_t GetStateHash(const steeringState &node) const;
        virtual uint64_t GetActionHash(steeringAction act) const;
        
        //virtual double GetPathLength(std::vector<steeringState> &neighbors);
        
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const steeringState&) const;
        virtual void OpenGLDraw(const steeringState&, const steeringState&, float) const;
        virtual void OpenGLDraw(const steeringState&, const steeringAction&) const;
private:
};
 
typedef UnitSimulation<steeringState, steeringAction, SteeringEnvironment> UnitSteeringSimulation;
 
#endif