public void forward()
{
// in forward pass the agent simply behaves in the environment
// create input to brain
int num_eyes = this.eyes.Count;
double[] input_array = new double[num_eyes * 3];
for (int i = 0; i < num_eyes; i++)
{
Eye e = this.eyes[i];
input_array[i * 3] = 1.0;
input_array[i * 3 + 1] = 1.0;
input_array[i * 3 + 2] = 1.0;
if (e.sensed_type != -1)
{
// sensed_type is 0 for wall, 1 for food and 2 for poison.
// lets do a 1-of-k encoding into the input array
input_array[i * 3 + e.sensed_type] = e.sensed_proximity / e.max_range; // normalize to [0,1]
}
}
Volume input = new Volume(num_eyes, 3, 1);
input.w = input_array;
// get action from brain
int actionix = this.brain.forward(input);
int action = this.actions[actionix];
this.actionix = actionix; //back this up
// demultiplex into behavior variables
//this.rot1 = action[0] * 1;
//this.rot2 = action[1] * 1;
SuperHexagon.GetInstance().setMovement(action);
}
public void tick()
{
// tick the environment
this.clock++;
// fix input to all agents based on environment process eyes
this.collpoints = new List <Intersect>();
for (int i = 0, n = this.agents.Count; i < n; i++)
{
Agent a = this.agents[i];
a.angle = SuperHexagon.GetInstance().getPlayerAngle();
if (SuperHexagon.GetInstance().isDead())
{
SuperHexagon.GetInstance().resetState();
}
for (int ei = 0, ne = a.eyes.Count; ei < ne; ei++)
{
Eye e = a.eyes[ei];
Dictionary <int, HyperHexagon.Wall> walls = SuperHexagon.GetInstance().getForeseeableWalls();
try {
e.sensed_proximity = walls[i].distance;
e.sensed_type = 2;//2 for poison
} catch (Exception) {
e.sensed_type = -1;
e.sensed_proximity = e.max_range;
}
// we have a line from p to p->eyep
//Vec eyep = new Vec(a.p.x + e.max_range * Math.Sin(a.angle + e.slot * 60), a.p.y + e.max_range * Math.Cos(a.angle + e.slot * 60));
//Intersect res = this.stuff_collide_(a.p, eyep, true, true);
//if (res.intersect) {
// // eye collided with wall
// e.sensed_proximity = res.up.dist_from(a.p);
// e.sensed_type = res.type;
//} else {
// e.sensed_proximity = e.max_range;
// e.sensed_type = -1;
//}
}
}
// let the agents behave in the world based on their input
for (int i = 0, n = this.agents.Count; i < n; i++)
{
this.agents[i].forward();
}
// apply outputs of agents on evironment
for (int i = 0, n = this.agents.Count; i < n; i++)
{
Agent a = this.agents[i];
//a.oldPosition = a.position; // back up old position
a.oldAngle = a.angle; // and angle
// steer the agent according to outputs of wheel velocities
//Vec v = new Vec(0, a.rad / 2.0);
//v = v.rotate(a.angle + Math.PI / 2);
//Vec w1p = a.p.add(v); // positions of wheel 1 and 2
//Vec w2p = a.p.sub(v);
//Vec vv = a.p.sub(w2p);
//vv = vv.rotate(-a.rot1);
//Vec vv2 = a.p.sub(w1p);
//vv2 = vv2.rotate(a.rot2);
//Vec np = w2p.add(vv);
//np.scale(0.5);
//Vec np2 = w1p.add(vv2);
//np2.scale(0.5);
//a.p = np.add(np2);
//a.angle -= a.rot1;
//if (a.angle < 0)
// a.angle += 2 * Math.PI;
//a.angle += a.rot2;
//if (a.angle > 2 * Math.PI)
// a.angle -= 2 * Math.PI;
// agent is trying to move from p to op. Check walls
//Intersect res = this.stuff_collide_(a.oldPosition, a.position, true, false);
//if (res.intersect) {
// // wall collision! reset position
// a.position = a.oldPosition;
//}
//// handle boundary conditions
//if (a.position.x < 0)
// a.position.x = 0;
//if (a.position.x > this.W)
// a.position.x = this.W;
//if (a.position.y < 0)
// a.position.y = 0;
//if (a.position.y > this.H)
// a.position.y = this.H;
}
// tick all items
//bool update_items = false;
//for (int i = 0, n = this.items.Count; i < n; i++) {
// Item it = this.items[i];
// it.age += 1;
// // see if some agent gets lunch
// for (int j = 0, m = this.agents.Count; j < m; j++) {
// Agent a = this.agents[j];
// double d = a.position.dist_from(it.p);
// if (d < it.rad + a.rad) {
// // wait lets just make sure that this isn't through a wall
// Intersect rescheck = this.stuff_collide_(a.position, it.p, true, false);
// if (!rescheck.intersect) {
// // ding! nom nom nom
// if (it.type == 1)
// a.digestion_signal += 5.0; // mmm delicious apple
// if (it.type == 2)
// a.digestion_signal += -6.0; // ewww poison
// it.cleanup_ = true;
// update_items = true;
// break; // break out of loop, item was consumed
// }
// }
// }
// if (it.age > 5000 && this.clock % 100 == 0 && util.randf(0, 1) < 0.1) {
// it.cleanup_ = true; // replace this one, has been around too long
// update_items = true;
// }
//}
//if (update_items) {
// List<Item> nt = new List<Item>();
// for (int i = 0, n = this.items.Count; i < n; i++) {
// Item it = this.items[i];
// if (!it.cleanup_)
// nt.Add(it);
// }
// this.items = nt; // swap
//}
//if (this.items.Count < 30 && this.clock % 10 == 0 && util.randf(0, 1) < 0.25) {
// double newitx = util.randf(20, this.W - 20);
// double newity = util.randf(20, this.H - 20);
// int newitt = (int)util.randi(1, 3); // food or poison (1 and 2)
// Item newit = new Item(newitx, newity, newitt);
// this.items.Add(newit);
//}
// agents are given the opportunity to learn based on feedback of their action on environment
for (int i = 0, n = this.agents.Count; i < n; i++)
{
this.agents[i].backward();
}
}
