/// <summary>
/// This is where the guts of it all goes down.
///
/// Remember that because of the nature of C#, items within a collection
/// CANNOT BE PASSED BY REFERENCE! Thus, if you are making an alteration to any
/// set within a method where the set is passed by reference (ref), you will
/// need to assign the FuzzySet to a variable, pass that variable, and then set
/// the oiginal FuzzySet within the Collection to the altered variable.
/// A little bit of frigging around, but it works.
/// </summary>
public override void CalculateFuzzyLogic()
{
//Get the vars for this Simulator - dont alter this!
_lander = ((LanderSim)Globals.Simulator).SpaceShip;
//Assign the sets to variables
FuzzySet tResult = new FuzzySet(ThrottleOutputs["ThrottleResult"]);
//Clear the ThrottleResult Set so that we can repopulate it with new data
tResult.Clear();
tResult.SetRangeWithPoints(0, 100);
//WRITE YOUR RULES LIKE THIS....
//(dont forget to pass the
//accumulator variable by reference, and also pass the Rule itself
//Hot Tip: COMMENT YOUR RULES SO YOU KNOW WHAT THEY DO!
// Rule 0: IF Height is High THEN Throttle -> Soft
//RuleSets["Rule0"] = Rule.IS(_lander.Y, HeightSets["high"], ref tResult, ThrottleSets["soft"],RuleSets["Rule0"]);
/*
*
* Rules go here....
*
*
*/
//reassign the variables to the sets
ThrottleOutputs["ThrottleResult"] = new FuzzySet(tResult);
if (!Manual)
{
//THIS IS THE THROTTLE VALUE SET BY PRESSING THE BUTTONS
_lander.Throttle = throttle;
//Limit Throttle (incase of ridiculous values)
if (_lander.Throttle < 0)
_lander.Throttle = 0;
if (_lander.Throttle > 100)
_lander.Throttle = 100;
//IF YOU ARE WRITING RULES FOR THE SIDE-THRUST,
// You will need to defuzzify into _lander.Left and _lander.Right
// Otherwise, leave these here to control your lander with the function buttons
_lander.Left = throttleL;
_lander.Right = throttleR;
}
else
{
//THIS IS THE THROTTLE VALUE DEFUZZIFIED BY THE RULESETS
_lander.Throttle = Operations.DeFuzzifyCOG(ThrottleOutputs["ThrottleResult"]);
}
//Save the state of the Lander - dont alter this
((LanderSim) (Globals.Simulator)).SpaceShip = _lander;
}
public LanderController()
{
//Obtain the variables affected by processing for this simulator (MoonLander)
_lander = ((LanderSim) Globals.Simulator).SpaceShip;
}
public void InitSpaceShip()
{
SpaceShip = new SimVars.MoonLanderVars();
#region Set up the initial state of the MoonLander's physics
SpaceShip.X = 250;
SpaceShip.Y = 4000; // spaceship location (init y=4,000m)
SpaceShip.XVel = 0;
SpaceShip.YVel = 0; // spaceship x and y velosity
SpaceShip.LandingVelX = SimVars.MoonLanderVars.LANDING_X_BASE * 3;
SpaceShip.LandingVelY = SimVars.MoonLanderVars.LANDING_Y_BASE * 3;
SpaceShip.Variability = 0; // 0 = none 0.01 = pluss or -1%
SpaceShip.Fuel = 8845 / 7; // 0-8,845 kg of Fuel mainly burned.
SpaceShip.SafeX = 250; // safe to land here
SpaceShip.SafeXWidth = 10001; // width 10000=no rocks
if (Difficulty == SimDifficultyEnum.Easy)
{
}
if (Difficulty == SimDifficultyEnum.Medium)
{
SpaceShip.Y = 4250 + new Random().Next(250);
SpaceShip.LandingVelX = SimVars.MoonLanderVars.LANDING_X_BASE * 2;
SpaceShip.LandingVelY = SimVars.MoonLanderVars.LANDING_Y_BASE * 2;
SpaceShip.Variability = 0.02; // 0 = none 0.01 = pluss or -1%
SpaceShip.Fuel = 8845 / 7;
}
if (Difficulty == SimDifficultyEnum.Hard)
{
SpaceShip.Y = 4250 + new Random().Next(250);
SpaceShip.LandingVelX = SimVars.MoonLanderVars.LANDING_X_BASE * 2;
SpaceShip.LandingVelY = SimVars.MoonLanderVars.LANDING_Y_BASE * 2;
SpaceShip.Variability = 0.05; // 0 = none 0.01 = pluss or -1%
SpaceShip.Fuel = 8845 / 8;
SpaceShip.XVel = SpaceShip.LandingVelX + 0.1 + new Random().Next(20) / 20.0;
}
if (Difficulty == SimDifficultyEnum.VeryHard)
{
SpaceShip.Y = 4200 + new Random().Next(300);
SpaceShip.X = 290 + new Random().Next(50);
SpaceShip.LandingVelX = SimVars.MoonLanderVars.LANDING_X_BASE;
SpaceShip.LandingVelY = SimVars.MoonLanderVars.LANDING_Y_BASE + SimVars.MoonLanderVars.MOON_GRAVITY / 4;
SpaceShip.Variability = 0.05; // 0 = none 0.01 = pluss or -1%
SpaceShip.Fuel = 8845 / 8;
SpaceShip.XVel = 0.1 + new Random().Next(20) / 20.0;
SpaceShip.SafeX = 100 + new Random().Next(160); // safe to land here
SpaceShip.SafeXWidth = 60; // width 10000=no rocks
}
SpaceShip.Right = 0;
SpaceShip.Left = 0; // spaceship right and left (RCS) thruster status 0-5 (Hundred newtons)
SpaceShip.Throttle = 20; // throtle setting 0-100 (0,10-60 or 90)
SpaceShip.DownForce = 0; // main thruster status 0, 5-44 (thousand newtons)
SpaceShip.RightForce = 0; // main thruster status 0-5 (Hundred newtons)
SpaceShip.LeftForce = 0; // main thruster status 0-5 (Hundred newtons)
SpaceShip.MaxFuelIn1Sec = 8845 / 15 / 60.0; // about 9.82
SpaceShip.Mass = 5655 + SpaceShip.Fuel; // 5655 + Fuel
SpaceShip.Boom = false;
SpaceShip.Landed = false;
#endregion
State = SimulatorStateEnum.Initialised;
}
