protected override void ProcessDataInstance(IChannel ch, ref VBuffer <Float> feat, Float label, Float weight)
{
base.ProcessDataInstance(ch, ref feat, label, weight);
// compute the update and update if needed
Float output = CurrentMargin(ref feat);
Double loss = LossFunction.Loss(output, label);
// REVIEW: Should this be biasUpdate != 0?
// This loss does not incorporate L2 if present, but the chance of that addition to the loss
// exactly cancelling out loss is remote.
if (loss != 0 || Args.L2RegularizerWeight > 0)
{
// If doing lazy weights, we need to update the totalWeights and totalBias before updating weights/bias
if (Args.DoLazyUpdates && Args.Averaged && NumNoUpdates > 0 && TotalMultipliers * Args.AveragedTolerance <= PendingMultipliers)
{
VectorUtils.AddMult(ref Weights, NumNoUpdates * WeightsScale, ref TotalWeights);
TotalBias += Bias * NumNoUpdates * WeightsScale;
NumWeightUpdates += NumNoUpdates;
NumNoUpdates = 0;
TotalMultipliers += PendingMultipliers;
PendingMultipliers = 0;
}
#if OLD_TRACING // REVIEW: How should this be ported?
// If doing debugging and have L2 regularization, adjust the loss to account for that component.
if (DebugLevel > 2 && _args.l2RegularizerWeight != 0)
{
loss += _args.l2RegularizerWeight * VectorUtils.NormSquared(_weights) * _weightsScale * _weightsScale;
}
#endif
// Make final adjustments to update parameters.
Float rate = Args.LearningRate;
if (Args.DecreaseLearningRate)
{
rate /= MathUtils.Sqrt((Float)NumWeightUpdates + NumNoUpdates + 1);
}
Float biasUpdate = -rate *LossFunction.Derivative(output, label);
// Perform the update to weights and bias.
VectorUtils.AddMult(ref feat, biasUpdate / WeightsScale, ref Weights);
WeightsScale *= 1 - 2 * Args.L2RegularizerWeight; // L2 regularization.
ScaleWeightsIfNeeded();
Bias += biasUpdate;
PendingMultipliers += Math.Abs(biasUpdate);
#if OLD_TRACING // REVIEW: How should this be ported?
if (DebugLevel > 2)
{ // sanity check: did loss for the example decrease?
Double newLoss = _lossFunction.Loss(CurrentMargin(instance), instance.Label);
if (_args.l2RegularizerWeight != 0)
{
newLoss += _args.l2RegularizerWeight * VectorUtils.NormSquared(_weights) * _weightsScale * _weightsScale;
}
if (newLoss - loss > 0 && (newLoss - loss > 0.01 || _args.l2RegularizerWeight == 0))
{
Host.StdErr.WriteLine("Loss increased (unexpected): Old value: {0}, new value: {1}", loss, newLoss);
Host.StdErr.WriteLine("Offending instance #{0}: {1}", _numIterExamples, instance);
}
}
#endif
}
// Add to averaged weights and increment the count.
if (Args.Averaged)
{
if (!Args.DoLazyUpdates)
{
IncrementAverageNonLazy();
}
else
{
NumNoUpdates++;
}
// Reset the weights to averages if needed.
if (Args.ResetWeightsAfterXExamples > 0 &&
NumIterExamples % Args.ResetWeightsAfterXExamples.Value == 0)
{
// #if OLD_TRACING // REVIEW: How should this be ported?
Console.WriteLine();
// #endif
ch.Info("Resetting weights to average weights");
VectorUtils.ScaleInto(ref TotalWeights, 1 / (Float)NumWeightUpdates, ref Weights);
WeightsScale = 1;
Bias = TotalBias / (Float)NumWeightUpdates;
}
}
#if OLD_TRACING // REVIEW: How should this be ported?
if (DebugLevel > 3)
{
// Output the weights.
Host.StdOut.Write("Weights after the instance are: ");
foreach (var iv in _weights.Items(all: true))
{
Host.StdOut.Write('\t');
Host.StdOut.Write(iv.Value * _weightsScale);
}
Host.StdOut.WriteLine();
Host.StdOut.WriteLine();
}
#endif
}
/// <inheritdoc/>
protected override void TrainWithoutLock(IProgressChannelProvider progress, FloatLabelCursor.Factory cursorFactory, IRandom rand,
IdToIdxLookup idToIdx, int numThreads, DualsTableBase duals, Float[] biasReg, Float[] invariants, Float lambdaNInv,
VBuffer <Float>[] weights, Float[] biasUnreg, VBuffer <Float>[] l1IntermediateWeights, Float[] l1IntermediateBias, Float[] featureNormSquared)
{
Contracts.AssertValueOrNull(progress);
Contracts.Assert(_args.L1Threshold.HasValue);
Contracts.AssertValueOrNull(idToIdx);
Contracts.AssertValueOrNull(invariants);
Contracts.AssertValueOrNull(featureNormSquared);
int weightArraySize = WeightArraySize;
Contracts.Assert(weightArraySize == _numClasses);
Contracts.Assert(Utils.Size(weights) == weightArraySize);
Contracts.Assert(Utils.Size(biasReg) == weightArraySize);
Contracts.Assert(Utils.Size(biasUnreg) == weightArraySize);
int maxUpdateTrials = 2 * numThreads;
var l1Threshold = _args.L1Threshold.Value;
bool l1ThresholdZero = l1Threshold == 0;
var lr = _args.BiasLearningRate * _args.L2Const.Value;
var pch = progress != null?progress.StartProgressChannel("Dual update") : null;
using (pch)
using (var cursor = _args.Shuffle ? cursorFactory.Create(rand) : cursorFactory.Create())
{
long rowCount = 0;
if (pch != null)
{
pch.SetHeader(new ProgressHeader("examples"), e => e.SetProgress(0, rowCount));
}
Func <UInt128, long> getIndexFromId = GetIndexFromIdGetter(idToIdx);
while (cursor.MoveNext())
{
long idx = getIndexFromId(cursor.Id);
long dualIndexInitPos = idx * weightArraySize;
var features = cursor.Features;
var label = (int)cursor.Label;
Float invariant;
Float normSquared;
if (invariants != null)
{
invariant = invariants[idx];
Contracts.AssertValue(featureNormSquared);
normSquared = featureNormSquared[idx];
}
else
{
normSquared = VectorUtils.NormSquared(features);
if (_args.BiasLearningRate == 0)
{
normSquared += 1;
}
invariant = _loss.ComputeDualUpdateInvariant(2 * normSquared * lambdaNInv * GetInstanceWeight(cursor));
}
// The output for the label class using current weights and bias.
var labelOutput = WDot(ref features, ref weights[label], biasReg[label] + biasUnreg[label]);
var instanceWeight = GetInstanceWeight(cursor);
// This will be the new dual variable corresponding to the label class.
Float labelDual = 0;
// This will be used to update the weights and regularized bias corresponding to the label class.
Float labelPrimalUpdate = 0;
// This will be used to update the unregularized bias corresponding to the label class.
Float labelAdjustment = 0;
// Iterates through all classes.
for (int iClass = 0; iClass < _numClasses; iClass++)
{
// Skip the dual/weights/bias update for label class. Will be taken care of at the end.
if (iClass == label)
{
continue;
}
// Loop trials for compare-and-swap updates of duals.
// In general, concurrent update conflict to the same dual variable is rare
// if data is shuffled.
for (int numTrials = 0; numTrials < maxUpdateTrials; numTrials++)
{
long dualIndex = iClass + dualIndexInitPos;
var dual = duals[dualIndex];
var output = labelOutput + labelPrimalUpdate * normSquared - WDot(ref features, ref weights[iClass], biasReg[iClass] + biasUnreg[iClass]);
var dualUpdate = _loss.DualUpdate(output, 1, dual, invariant, numThreads);
// The successive over-relaxation apporach to adjust the sum of dual variables (biasReg) to zero.
// Reference to details: http://stat.rutgers.edu/home/tzhang/papers/ml02_dual.pdf, pp. 16-17.
var adjustment = l1ThresholdZero ? lr * biasReg[iClass] : lr * l1IntermediateBias[iClass];
dualUpdate -= adjustment;
bool success = false;
duals.ApplyAt(dualIndex, (long index, ref Float value) =>
{
success = Interlocked.CompareExchange(ref value, dual + dualUpdate, dual) == dual;
});
if (success)
{
// Note: dualConstraint[iClass] = lambdaNInv * (sum of duals[iClass])
var primalUpdate = dualUpdate * lambdaNInv * instanceWeight;
labelDual -= dual + dualUpdate;
labelPrimalUpdate += primalUpdate;
biasUnreg[iClass] += adjustment * lambdaNInv * instanceWeight;
labelAdjustment -= adjustment;
if (l1ThresholdZero)
{
VectorUtils.AddMult(ref features, weights[iClass].Values, -primalUpdate);
biasReg[iClass] -= primalUpdate;
}
else
{
//Iterative shrinkage-thresholding (aka. soft-thresholding)
//Update v=denseWeights as if there's no L1
//Thresholding: if |v[j]| < threshold, turn off weights[j]
//If not, shrink: w[j] = v[i] - sign(v[j]) * threshold
l1IntermediateBias[iClass] -= primalUpdate;
if (_args.BiasLearningRate == 0)
{
biasReg[iClass] = Math.Abs(l1IntermediateBias[iClass]) - l1Threshold > 0.0
? l1IntermediateBias[iClass] - Math.Sign(l1IntermediateBias[iClass]) * l1Threshold
: 0;
}
if (features.IsDense)
{
SseUtils.SdcaL1UpdateDense(-primalUpdate, features.Length, features.Values, l1Threshold, l1IntermediateWeights[iClass].Values, weights[iClass].Values);
}
else if (features.Count > 0)
{
SseUtils.SdcaL1UpdateSparse(-primalUpdate, features.Length, features.Values, features.Indices, features.Count, l1Threshold, l1IntermediateWeights[iClass].Values, weights[iClass].Values);
}
}
break;
}
}
}
// Updating with label class weights and dual variable.
duals[label + dualIndexInitPos] = labelDual;
biasUnreg[label] += labelAdjustment * lambdaNInv * instanceWeight;
if (l1ThresholdZero)
{
VectorUtils.AddMult(ref features, weights[label].Values, labelPrimalUpdate);
biasReg[label] += labelPrimalUpdate;
}
else
{
l1IntermediateBias[label] += labelPrimalUpdate;
var intermediateBias = l1IntermediateBias[label];
biasReg[label] = Math.Abs(intermediateBias) - l1Threshold > 0.0
? intermediateBias - Math.Sign(intermediateBias) * l1Threshold
: 0;
if (features.IsDense)
{
SseUtils.SdcaL1UpdateDense(labelPrimalUpdate, features.Length, features.Values, l1Threshold, l1IntermediateWeights[label].Values, weights[label].Values);
}
else if (features.Count > 0)
{
SseUtils.SdcaL1UpdateSparse(labelPrimalUpdate, features.Length, features.Values, features.Indices, features.Count, l1Threshold, l1IntermediateWeights[label].Values, weights[label].Values);
}
}
rowCount++;
}
}
}
/// <inheritdoc/>
private protected override bool CheckConvergence(
IProgressChannel pch,
int iter,
FloatLabelCursor.Factory cursorFactory,
DualsTableBase duals,
IdToIdxLookup idToIdx,
VBuffer <float>[] weights,
VBuffer <float>[] bestWeights,
float[] biasUnreg,
float[] bestBiasUnreg,
float[] biasReg,
float[] bestBiasReg,
long count,
Double[] metrics,
ref Double bestPrimalLoss,
ref int bestIter)
{
Contracts.AssertValue(weights);
Contracts.AssertValue(duals);
int numClasses = weights.Length;
Contracts.Assert(duals.Length >= numClasses * count);
Contracts.AssertValueOrNull(idToIdx);
Contracts.Assert(Utils.Size(weights) == numClasses);
Contracts.Assert(Utils.Size(biasReg) == numClasses);
Contracts.Assert(Utils.Size(biasUnreg) == numClasses);
Contracts.Assert(Utils.Size(metrics) == 6);
var reportedValues = new Double?[metrics.Length + 1];
reportedValues[metrics.Length] = iter;
var lossSum = new CompensatedSum();
var dualLossSum = new CompensatedSum();
int numFeatures = weights[0].Length;
using (var cursor = cursorFactory.Create())
{
long row = 0;
Func <DataViewRowId, long, long> getIndexFromIdAndRow = GetIndexFromIdAndRowGetter(idToIdx, biasReg.Length);
// Iterates through data to compute loss function.
while (cursor.MoveNext())
{
Host.CheckAlive();
var instanceWeight = GetInstanceWeight(cursor);
var features = cursor.Features;
var label = (int)cursor.Label;
var labelOutput = WDot(in features, in weights[label], biasReg[label] + biasUnreg[label]);
Double subLoss = 0;
Double subDualLoss = 0;
long idx = getIndexFromIdAndRow(cursor.Id, row);
long dualIndex = idx * numClasses;
for (int iClass = 0; iClass < numClasses; iClass++)
{
if (iClass == label)
{
dualIndex++;
continue;
}
var currentClassOutput = WDot(in features, in weights[iClass], biasReg[iClass] + biasUnreg[iClass]);
subLoss += _loss.Loss(labelOutput - currentClassOutput, 1);
Contracts.Assert(dualIndex == iClass + idx * numClasses);
var dual = duals[dualIndex++];
subDualLoss += _loss.DualLoss(1, dual);
}
lossSum.Add(subLoss * instanceWeight);
dualLossSum.Add(subDualLoss * instanceWeight);
row++;
}
Host.Assert(idToIdx == null || row * numClasses == duals.Length);
}
Contracts.Assert(SdcaTrainerOptions.L2Regularization.HasValue);
Contracts.Assert(SdcaTrainerOptions.L1Regularization.HasValue);
Double l2Const = SdcaTrainerOptions.L2Regularization.Value;
Double l1Threshold = SdcaTrainerOptions.L1Regularization.Value;
Double weightsL1Norm = 0;
Double weightsL2NormSquared = 0;
Double biasRegularizationAdjustment = 0;
for (int iClass = 0; iClass < numClasses; iClass++)
{
weightsL1Norm += VectorUtils.L1Norm(in weights[iClass]) + Math.Abs(biasReg[iClass]);
weightsL2NormSquared += VectorUtils.NormSquared(weights[iClass]) + biasReg[iClass] * biasReg[iClass];
biasRegularizationAdjustment += biasReg[iClass] * biasUnreg[iClass];
}
Double l1Regularizer = SdcaTrainerOptions.L1Regularization.Value * l2Const * weightsL1Norm;
var l2Regularizer = l2Const * weightsL2NormSquared * 0.5;
var newLoss = lossSum.Sum / count + l2Regularizer + l1Regularizer;
var newDualLoss = dualLossSum.Sum / count - l2Regularizer - l2Const * biasRegularizationAdjustment;
var dualityGap = newLoss - newDualLoss;
metrics[(int)MetricKind.Loss] = newLoss;
metrics[(int)MetricKind.DualLoss] = newDualLoss;
metrics[(int)MetricKind.DualityGap] = dualityGap;
metrics[(int)MetricKind.BiasUnreg] = biasUnreg[0];
metrics[(int)MetricKind.BiasReg] = biasReg[0];
metrics[(int)MetricKind.L1Sparsity] = SdcaTrainerOptions.L1Regularization == 0 ? 1 : weights.Sum(
weight => weight.GetValues().Count(w => w != 0)) / (numClasses * numFeatures);
bool converged = dualityGap / newLoss < SdcaTrainerOptions.ConvergenceTolerance;
if (metrics[(int)MetricKind.Loss] < bestPrimalLoss)
{
for (int iClass = 0; iClass < numClasses; iClass++)
{
// Maintain a copy of weights and bias with best primal loss thus far.
// This is some extra work and uses extra memory, but it seems worth doing it.
// REVIEW: Sparsify bestWeights?
weights[iClass].CopyTo(ref bestWeights[iClass]);
bestBiasReg[iClass] = biasReg[iClass];
bestBiasUnreg[iClass] = biasUnreg[iClass];
}
bestPrimalLoss = metrics[(int)MetricKind.Loss];
bestIter = iter;
}
for (int i = 0; i < metrics.Length; i++)
{
reportedValues[i] = metrics[i];
}
if (pch != null)
{
pch.Checkpoint(reportedValues);
}
return(converged);
}
public override void SimulationStep(ushort instanceID, ref CitizenInstance citizenData, ref CitizenInstance.Frame frameData, bool lodPhysics)
{
if (IsCagedAnimal(citizenData))
{
SimulationStepCaged(instanceID, ref citizenData, ref frameData, lodPhysics);
return;
}
else if (LivestockAIDetour.isFreeAnimal(citizenData))
{
SimulationStepWild(instanceID, ref citizenData, ref frameData, lodPhysics);
return;
}
float sqrMagnitude1 = frameData.m_velocity.sqrMagnitude;
if ((double)sqrMagnitude1 > 0.00999999977648258)
{
frameData.m_position += frameData.m_velocity * 0.5f;
}
CitizenInstance.Flags flags1 = CitizenInstance.Flags.None;
if ((int)citizenData.m_targetBuilding != 0)
{
CitizenManager instance = Singleton <CitizenManager> .instance;
CitizenInstance.Flags flags2 = instance.m_instances.m_buffer[(int)citizenData.m_targetBuilding].m_flags;
if ((flags2 & CitizenInstance.Flags.Character) != CitizenInstance.Flags.None)
{
Randomizer randomizer = new Randomizer((int)instanceID);
CitizenInstance.Frame lastFrameData = instance.m_instances.m_buffer[(int)citizenData.m_targetBuilding].GetLastFrameData();
Vector3 vector3 = lastFrameData.m_rotation * new Vector3(0.5f, 0.0f, 0.0f);
if (randomizer.Int32(2U) == 0)
{
vector3 = -vector3;
}
Vector4 vector4 = instance.m_instances.m_buffer[(int)citizenData.m_targetBuilding].m_targetPos + (Vector4)vector3;
if ((double)Vector3.SqrMagnitude(lastFrameData.m_position - frameData.m_position) > 10000.0)
{
citizenData.m_targetBuilding = (ushort)0;
}
else
{
flags1 = flags2 & (CitizenInstance.Flags.Underground | CitizenInstance.Flags.InsideBuilding | CitizenInstance.Flags.Transition);
citizenData.m_targetPos = vector4;
}
}
else
{
citizenData.m_targetBuilding = (ushort)0;
}
}
citizenData.m_flags = citizenData.m_flags & ~(CitizenInstance.Flags.Underground | CitizenInstance.Flags.InsideBuilding | CitizenInstance.Flags.Transition) | flags1;
Vector3 v = (Vector3)citizenData.m_targetPos - frameData.m_position;
float f = lodPhysics || (double)citizenData.m_targetPos.w <= 1.0 / 1000.0 ? v.sqrMagnitude : VectorUtils.LengthSqrXZ(v);
float a = this.m_info.m_walkSpeed;
float b = 2f;
if ((double)f < 1.0)
{
v = Vector3.zero;
}
else
{
float num = Mathf.Sqrt(f);
float maxLength = Mathf.Min(a, num * 0.75f);
v = Quaternion.Inverse(frameData.m_rotation) * v;
if ((double)v.z < (double)Mathf.Abs(v.x))
{
v.x = (double)v.x < 0.0 ? Mathf.Min(-1f, v.x) : Mathf.Max(1f, v.x);
v.z = Mathf.Abs(v.x);
maxLength = Mathf.Min(0.5f, num * 0.1f);
}
v = Vector3.ClampMagnitude(frameData.m_rotation * v, maxLength);
}
Vector3 vector3_1 = v - frameData.m_velocity;
float magnitude = vector3_1.magnitude;
Vector3 vector3_2 = vector3_1 * (b / Mathf.Max(magnitude, b));
frameData.m_velocity += vector3_2;
float sqrMagnitude2 = frameData.m_velocity.sqrMagnitude;
bool flag = !lodPhysics && (double)citizenData.m_targetPos.w > 1.0 / 1000.0 && ((double)sqrMagnitude2 > 0.00999999977648258 || (double)sqrMagnitude1 > 0.00999999977648258);
ushort buildingID = !flag ? (ushort)0 : Singleton <BuildingManager> .instance.GetWalkingBuilding(frameData.m_position + frameData.m_velocity * 0.5f);
if ((double)sqrMagnitude2 > 0.00999999977648258)
{
Vector3 forward = frameData.m_velocity;
if (!lodPhysics)
{
Vector3 pushAmount = Vector3.zero;
float pushDivider = 0.0f;
this.CheckCollisions(instanceID, ref citizenData, frameData.m_position, frameData.m_position + frameData.m_velocity, buildingID, ref pushAmount, ref pushDivider);
if ((double)pushDivider > 0.00999999977648258)
{
pushAmount *= 1f / pushDivider;
pushAmount = Vector3.ClampMagnitude(pushAmount, Mathf.Sqrt(sqrMagnitude2) * 0.5f);
frameData.m_velocity += pushAmount;
forward += pushAmount * 0.25f;
}
}
frameData.m_position += frameData.m_velocity * 0.5f;
if ((double)forward.sqrMagnitude > 0.00999999977648258)
{
frameData.m_rotation = Quaternion.LookRotation(forward);
}
}
if (flag)
{
Vector3 worldPos = frameData.m_position;
float terrainHeight = Singleton <TerrainManager> .instance.SampleDetailHeight(worldPos);
if ((int)buildingID != 0)
{
float num = Singleton <BuildingManager> .instance.m_buildings.m_buffer[(int)buildingID].SampleWalkingHeight(worldPos, terrainHeight);
worldPos.y = worldPos.y + (num - worldPos.y) * Mathf.Min(1f, citizenData.m_targetPos.w * 4f);
frameData.m_position.y = worldPos.y;
}
else if ((double)Mathf.Abs(terrainHeight - worldPos.y) < 2.0)
{
worldPos.y = worldPos.y + (terrainHeight - worldPos.y) * Mathf.Min(1f, citizenData.m_targetPos.w * 4f);
frameData.m_position.y = worldPos.y;
}
}
frameData.m_underground = (citizenData.m_flags & CitizenInstance.Flags.Underground) != CitizenInstance.Flags.None;
frameData.m_insideBuilding = (citizenData.m_flags & CitizenInstance.Flags.InsideBuilding) != CitizenInstance.Flags.None;
frameData.m_transition = (citizenData.m_flags & CitizenInstance.Flags.Transition) != CitizenInstance.Flags.None;
var mRandomEffect = ((PetAI)Convert.ChangeType(this, typeof(PetAI))).m_randomEffect;
if (mRandomEffect == null || Singleton <SimulationManager> .instance.m_randomizer.Int32(40U) != 0)
{
return;
}
InstanceID instance1 = new InstanceID();
instance1.CitizenInstance = instanceID;
EffectInfo.SpawnArea spawnArea = new EffectInfo.SpawnArea(frameData.m_position, Vector3.up, 0.0f);
float num1 = 3.75f;
Singleton <EffectManager> .instance.DispatchEffect(mRandomEffect, instance1, spawnArea, frameData.m_velocity *num1, 0.0f, 1f, Singleton <CitizenManager> .instance.m_audioGroup);
}
IEnumerator CommandPosition(IBDAIControl wingman, PilotCommands command)
{
if (focusIndexes.Count == 0 && !commandSelf)
{
yield break;
}
DisplayScreenMessage(Localizer.Format("#LOC_BDArmory_WingCommander_ScreenMessage"));//"Select target coordinates.\nRight-click to cancel."
if (command == PilotCommands.FlyTo)
{
waitingForFlytoPos = true;
}
else if (command == PilotCommands.Attack)
{
waitingForAttackPos = true;
}
yield return(null);
bool waitingForPos = true;
drawMouseDiamond = true;
while (waitingForPos)
{
if (Input.GetMouseButtonDown(1))
{
break;
}
if (Input.GetMouseButtonDown(0))
{
Vector3 mousePos = new Vector3(Input.mousePosition.x / Screen.width,
Input.mousePosition.y / Screen.height, 0);
Plane surfPlane = new Plane(vessel.upAxis,
vessel.transform.position - (vessel.altitude * vessel.upAxis));
Ray ray = FlightCamera.fetch.mainCamera.ViewportPointToRay(mousePos);
float dist;
if (surfPlane.Raycast(ray, out dist))
{
Vector3 worldPoint = ray.GetPoint(dist);
Vector3d gps = VectorUtils.WorldPositionToGeoCoords(worldPoint, vessel.mainBody);
if (command == PilotCommands.FlyTo)
{
wingman.CommandFlyTo(gps);
}
else if (command == PilotCommands.Attack)
{
wingman.CommandAttack(gps);
}
StartCoroutine(CommandPositionGUIRoutine(wingman, new GPSTargetInfo(gps, command.ToString())));
}
break;
}
yield return(null);
}
waitingForAttackPos = false;
waitingForFlytoPos = false;
drawMouseDiamond = false;
ScreenMessages.RemoveMessage(screenMessage);
}
public static TargetSignatureData GetHeatTarget(Ray ray, float scanRadius, float highpassThreshold, bool allAspect, MissileFire mf = null, bool favorGroundTargets = false)
{
float minMass = 0.05f; //otherwise the RAMs have trouble shooting down incoming missiles
TargetSignatureData finalData = TargetSignatureData.noTarget;
float finalScore = 0;
foreach (Vessel vessel in LoadedVessels)
{
if (!vessel || !vessel.loaded)
{
continue;
}
if (favorGroundTargets && !vessel.LandedOrSplashed) // for AGM heat guidance
{
continue;
}
TargetInfo tInfo = vessel.gameObject.GetComponent <TargetInfo>();
if (mf == null ||
!tInfo ||
!(mf && tInfo.isMissile && tInfo.team != BoolToTeam(mf.team) && (tInfo.MissileBaseModule.MissileState == MissileBase.MissileStates.Boost || tInfo.MissileBaseModule.MissileState == MissileBase.MissileStates.Cruise)))
{
if (vessel.GetTotalMass() < minMass)
{
continue;
}
}
float angle = Vector3.Angle(vessel.CoM - ray.origin, ray.direction);
if (angle < scanRadius)
{
if (RadarUtils.TerrainCheck(ray.origin, vessel.transform.position))
{
continue;
}
if (!allAspect)
{
if (!Misc.Misc.CheckSightLineExactDistance(ray.origin, vessel.CoM + vessel.Velocity(), Vector3.Distance(vessel.CoM, ray.origin), 5, 5))
{
continue;
}
}
float score = GetVesselHeatSignature(vessel) * Mathf.Clamp01(15 / angle);
score *= Mathf.Pow(1400, 2) / Mathf.Clamp((vessel.CoM - ray.origin).sqrMagnitude, 90000, 36000000);
if (vessel.LandedOrSplashed && !favorGroundTargets)
{
score /= 4;
}
score *= Mathf.Clamp(Vector3.Angle(vessel.transform.position - ray.origin, -VectorUtils.GetUpDirection(ray.origin)) / 90, 0.5f, 1.5f);
if (score > finalScore)
{
finalScore = score;
finalData = new TargetSignatureData(vessel, score);
}
}
}
// see if there are flares decoying us:
TargetSignatureData flareData = GetFlareTarget(ray, scanRadius, highpassThreshold, allAspect, finalScore);
if (finalScore < highpassThreshold)
{
finalData = TargetSignatureData.noTarget;
}
// return matching flare
if (!flareData.Equals(TargetSignatureData.noTarget))
{
return(flareData);
}
//else return the target:
return(finalData);
}
private PcaPredictor TrainCore(IChannel ch, RoleMappedData data, int dimension)
{
Host.AssertValue(ch);
ch.AssertValue(data);
if (_rank > dimension)
{
throw ch.Except("Rank ({0}) cannot be larger than the original dimension ({1})", _rank, dimension);
}
int oversampledRank = Math.Min(_rank + _oversampling, dimension);
//exact: (size of the 2 big matrices + other minor allocations) / (2^30)
Double memoryUsageEstimate = 2.0 * dimension * oversampledRank * sizeof(Float) / 1e9;
if (memoryUsageEstimate > 2)
{
ch.Info("Estimate memory usage: {0:G2} GB. If running out of memory, reduce rank and oversampling factor.", memoryUsageEstimate);
}
var y = Zeros(oversampledRank, dimension);
var mean = _center ? VBufferUtils.CreateDense <Float>(dimension) : VBufferUtils.CreateEmpty <Float>(dimension);
var omega = GaussianMatrix(oversampledRank, dimension, _seed);
var cursorFactory = new FeatureFloatVectorCursor.Factory(data, CursOpt.Features | CursOpt.Weight);
long numBad;
Project(Host, cursorFactory, ref mean, omega, y, out numBad);
if (numBad > 0)
{
ch.Warning("Skipped {0} instances with missing features/weights during training", numBad);
}
//Orthonormalize Y in-place using stabilized Gram Schmidt algorithm.
//Ref: https://en.wikipedia.org/wiki/Gram-Schmidt#Algorithm
for (var i = 0; i < oversampledRank; ++i)
{
var v = y[i];
VectorUtils.ScaleBy(ref v, 1 / VectorUtils.Norm(y[i]));
// Make the next vectors in the queue orthogonal to the orthonormalized vectors.
for (var j = i + 1; j < oversampledRank; ++j) //subtract the projection of y[j] on v.
{
VectorUtils.AddMult(ref v, -VectorUtils.DotProduct(ref v, ref y[j]), ref y[j]);
}
}
var q = y; // q in QR decomposition.
var b = omega; // reuse the memory allocated by Omega.
Project(Host, cursorFactory, ref mean, q, b, out numBad);
//Compute B2 = B' * B
var b2 = new Float[oversampledRank * oversampledRank];
for (var i = 0; i < oversampledRank; ++i)
{
for (var j = i; j < oversampledRank; ++j)
{
b2[i * oversampledRank + j] = b2[j * oversampledRank + i] = VectorUtils.DotProduct(ref b[i], ref b[j]);
}
}
Float[] smallEigenvalues;// eigenvectors and eigenvalues of the small matrix B2.
Float[] smallEigenvectors;
EigenUtils.EigenDecomposition(b2, out smallEigenvalues, out smallEigenvectors);
PostProcess(b, smallEigenvalues, smallEigenvectors, dimension, oversampledRank);
return(new PcaPredictor(Host, _rank, b, ref mean));
}
public void Render(GraphicsDevice gd, CommandList cl, SceneContext sc, RenderPasses renderPass, SpriteModelResourceContainer modelResource, ref SpriteModelRenderData renderData)
{
if (renderData.Shared.RenderMode == RenderMode.Glow)
{
renderData.Shared.RenderAmount = GlowBlend(ref renderData.Shared, sc.ViewState);
}
//Don't render if blend is 0 (even if blend were ignored below)
if (renderData.Shared.RenderAmount == 0)
{
return;
}
var blend = renderData.Shared.RenderMode != RenderMode.Normal ? renderData.Shared.RenderAmount : 255;
//TODO: glow sprite visibility testing
var angles = GetSpriteAngles(ref renderData.Shared, modelResource.SpriteModel.SpriteFile.Type, sc.ViewState);
angles = VectorUtils.ToRadians(angles);
var wai = new WorldAndInverse();
var anglesWithoutYaw = angles;
anglesWithoutYaw.Y = 0;
wai.World = Matrix4x4.CreateScale(renderData.Shared.Scale)
* WorldAndInverse.CreateRotationMatrix(anglesWithoutYaw)
* WorldAndInverse.CreateRotationMatrix(new Vector3(0, angles.Y, 0))
* Matrix4x4.CreateTranslation(renderData.Shared.Origin);
wai.InverseWorld = VdUtilities.CalculateInverseTranspose(ref wai.World);
//var wai = new WorldAndInverse(renderData.Origin, angles, renderData.Scale);
sc.UpdateWorldAndInverseBuffer(cl, ref wai);
var alpha = 255;
switch (renderData.Shared.RenderMode)
{
case RenderMode.Normal:
case RenderMode.TransTexture:
case RenderMode.TransAlpha:
alpha = blend;
break;
}
var renderColor = new Vector4(CalculateSpriteColor(ref renderData.Shared, blend), alpha) / 255.0f;
cl.UpdateBuffer(modelResource.RenderColorBuffer, 0, ref renderColor);
renderData.Frame = Math.Clamp((int)renderData.Frame, 0, modelResource.VertexBuffers.Length - 1);
var frameBuffer = modelResource.VertexBuffers[(int)renderData.Frame];
var pipeline = Pipelines[renderData.Shared.RenderMode];
cl.SetVertexBuffer(0, frameBuffer);
cl.SetIndexBuffer(modelResource.IndexBuffer, IndexFormat.UInt16);
cl.SetPipeline(pipeline);
cl.SetGraphicsResourceSet(0, modelResource.ResourceSet);
cl.DrawIndexed((uint)SPRResourceUtils.Indices.Length, 1, 0, 0, 0);
}
public void Set(Vector3Int pos, BaseObject obj)
{
int i = VectorUtils.ToIndex(pos, Dimensions.x, Dimensions.y);
_objects[i] = obj;
}
//=====================================
public void SetPosition(Vector2 pos)
{
myTranform.position = VectorUtils.GetPosition3D(pos);
}
private Vector3 GetSpriteAngles(ref SharedModelRenderData renderData, SpriteType type, IViewState viewState)
{
//Convert parallel sprites to parallel oriented if a roll was specified
if (type == SpriteType.Parallel && renderData.Angles.Z != 0)
{
type = SpriteType.ParallelOriented;
}
Vector3 GetModifiedViewAngles()
{
var angles = viewState.Angles;
//Pitch and roll need to be inverted to operate in the sprite's coordinate system
//Yaw stays the same
angles.X = -angles.X;
angles.Z = -angles.Z;
return angles;
}
switch (type)
{
case SpriteType.FacingUpright:
{
//This is bugged in vanilla since it uses an origin that isn't initialized by sprite models, only other models
var angles = VectorUtils.VectorToAngles(-renderData.Origin);
//No pitch
angles.X = 0;
return angles;
}
case SpriteType.ParallelUpright:
{
var angles = GetModifiedViewAngles();
//No pitch
angles.X = 0;
return angles;
}
case SpriteType.Parallel:
{
return GetModifiedViewAngles();
}
case SpriteType.Oriented:
{
return renderData.Angles;
}
case SpriteType.ParallelOriented:
{
var angles = GetModifiedViewAngles();
//Apply roll
angles.Z -= renderData.Angles.Z;
return angles;
}
default:
{
Logger.Warning($"{nameof(GetSpriteAngles)}: Bad sprite type {type}");
break;
}
}
return new Vector3();
}
// Merges all pieces in a silhouette that have neighboring end points with each other
public void MergeSilhouettePieces(Silhouette silhouette)
{
int threshold = SilhouetteMergingThreshold; // Maximum distance between two piece endpoints
for (int i = 0; i < silhouette.Pieces.Count - 1; i++)
{
for (int j = i + 1; j < silhouette.Pieces.Count; j++)
{
SilhouettePiece sp1 = silhouette.Pieces[i];
SilhouettePiece sp2 = silhouette.Pieces[j];
LinkedListNode <ContourPixel>[] neighbors = VectorUtils.NeighboringStartOrEndPoints(sp1, sp2, threshold);
if (neighbors[1] != null)
{
//Debug.Log("Merging...");
silhouette.Pieces.Remove(sp1);
silhouette.Pieces.Remove(sp2);
SilhouettePiece mergedPiece = new SilhouettePiece();
LinkedListNode <ContourPixel> currentNode;
LinkedListNode <ContourPixel> nodeCopy;
if (neighbors[0].Next == null)
{
//Debug.Log("First piece 1");
currentNode = sp1.Points.First;
while (currentNode.Value != neighbors[0].Value) // Add all points up to first connecting point
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Next;
}
nodeCopy = new LinkedListNode <ContourPixel>(neighbors[0].Value);
mergedPiece.Points.AddLast(nodeCopy); // Add first connecting point
currentNode = currentNode.Next;
nodeCopy = new LinkedListNode <ContourPixel>(neighbors[1].Value);
mergedPiece.Points.AddLast(nodeCopy); // Add second connecting point
if (neighbors[1].Next == null)
{
//Debug.Log("Second piece 1");
currentNode = sp2.Points.Last;
while (currentNode != null) // Add the rest of the points in the other piece
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Previous;
}
}
else // neighbors[1].Previous == null
{
//Debug.Log("Second piece 1");
currentNode = sp2.Points.First;
while (currentNode != null) // Add the rest of the points in the other piece
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Next;
}
}
}
else // (n.previous == null)
{
//Debug.Log("First piece 2");
currentNode = sp1.Points.Last;
while (currentNode.Value != neighbors[0].Value) // Add all points up to first connecting point
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Previous;
}
nodeCopy = new LinkedListNode <ContourPixel>(neighbors[0].Value);
mergedPiece.Points.AddLast(nodeCopy); // Add first connecting point
currentNode = currentNode.Previous;
nodeCopy = new LinkedListNode <ContourPixel>(neighbors[1].Value);
mergedPiece.Points.AddLast(nodeCopy); // Add second connecting point
if (neighbors[1].Next == null)
{
//Debug.Log("Second piece 2");
currentNode = sp2.Points.Last;
while (currentNode != null) // Add the rest of the points in the other piece
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Previous;
}
}
else // neighbors[1].Previous == null
{
//Debug.Log("Second piece 2");
currentNode = sp2.Points.First;
while (currentNode != null) // Add the rest of the points in the other piece
{
nodeCopy = new LinkedListNode <ContourPixel>(currentNode.Value);
mergedPiece.Points.AddLast(nodeCopy);
currentNode = currentNode.Next;
}
}
}
//Debug.Log("Added");
silhouette.Pieces.Add(mergedPiece);
}
}
}
}
// Takes a contour and draws its silhouette
public Silhouette DrawSilhouette(Contour contour)
{
Silhouette silhouette = new Silhouette(contour.Color);
int pixelCount = 0;
ContourPixel dummyPixel = new ContourPixel
{
IsDummy = true
};
int sX, sY, nX, nY;
ContourPixel startPixel = FindNextStartPixel(contour, dummyPixel);
ContourPixel nextPixel = startPixel;
bool started;
//try
//{
while (startPixel != null && pixelCount != contour.NumberOfPixels)
{
started = false;
// Add the first pixel of the new silhouette piece
SilhouettePiece silhouettePiece = new SilhouettePiece();
silhouettePiece.Points.AddFirst(startPixel);
sX = startPixel.XCoord;
sY = startPixel.YCoord;
nX = startPixel.XCoord;
nY = startPixel.YCoord;
// Check if outside window
//---------------------------------------------------------------------------------------------
if (VectorUtils.AdjustIteration(contour, nX, nY) == "go-left-or-right")
{
//Debug.Log("Over eller under");
if ((contour.Pixels[nX - 1, nY] != null) && !contour.Pixels[nX - 1, nY].Visited)
{
nX = nX - 1;
}
else if ((contour.Pixels[nX + 1, nY] != null) && !contour.Pixels[nX + 1, nY].Visited)
{
nX = nX + 1;
}
}
else if (VectorUtils.AdjustIteration(contour, nX, nY) == "go-up-or-right")
{
//Debug.Log("Venstre");
if ((contour.Pixels[nX, nY + 1] != null) && !contour.Pixels[nX, nY + 1].Visited)
{
nY = nY + 1;
}
else if ((contour.Pixels[nX + 1, nY] != null) && !contour.Pixels[nX + 1, nY].Visited)
{
nX = nX + 1;
}
}
else if (VectorUtils.AdjustIteration(contour, nX, nY) == "go-up-or-left")
{
//Debug.Log("Høyre");
if ((contour.Pixels[nX, nY + 1] != null) && !contour.Pixels[nX, nY + 1].Visited)
{
nY = nY + 1;
}
else if ((contour.Pixels[nX - 1, nY] != null) && !contour.Pixels[nX - 1, nY].Visited)
{
nX = nX - 1;
}
}
//---------------------------------------------------------------------------------------------
while (VectorUtils.MoreToDraw(contour, nX, nY) && (!(nX == sX && nY == sY) || !started))
{
//previousPixel = nextPixel;
nextPixel = StepToNextPixel(contour, nX, nY, nextPixel);
nX = nextPixel.XCoord;
nY = nextPixel.YCoord;
pixelCount++;
silhouettePiece.Points.AddLast(nextPixel);
started = true;
}
startPixel = FindNextStartPixel(contour, startPixel);
silhouette.Pieces.Add(silhouettePiece);
}
/*} catch (Exception e)
* {
* return silhouettes;
* }*/
return(silhouette);
}
private void OnRenderImage(RenderTexture source, RenderTexture destination)
{
#region Disable textures
// Finne mesher
allMeshes = new List <Transform>();
foreach (GameObject go in UnityEngine.SceneManagement.SceneManager.GetActiveScene().GetRootGameObjects())
{
if (go.GetComponent <Transform>().childCount > 0)
{
if (go.GetComponent <Transform>().GetChild(0).GetComponent <Renderer>() != null)
{
for (int i = 0; i < go.GetComponent <Transform>().childCount; i++)
{
allMeshes.Add(go.GetComponent <Transform>().GetChild(i));
}
}
}
}
// Fjerne teksturene
for (int i = 0; i < allMeshes.Count; i++)
{
Material[] materials = allMeshes[i].GetComponent <Renderer>().materials;
for (int j = 0; j < materials.Length; j++)
{
allMeshes[i].GetComponent <Renderer>().materials[j].mainTexture = null;
}
}
#endregion
#region Assigning group colors to meshes
System.Random random = new System.Random();
materialMap = new Dictionary <string, List <Color> >();
// Give every triangle in a mesh a single, random color
for (int i = 0; i < allMeshes.Count; i++)
{
List <Color> colorList = new List <Color>();
Color newColor = VectorUtils.RandomRGB(random);
Material[] materials = allMeshes[i].GetComponent <Renderer>().materials;
String meshName = allMeshes[i].name;
for (int j = 0; j < materials.Length; j++)
{
Color oldColor = materials[j].color; // Original color
colorList.Add(oldColor);
allMeshes[i].GetComponent <Renderer>().materials[j].color = newColor; // Temporary ID color
}
materialMap.Add(meshName, colorList);
}
#endregion
#region Per-Pixel Linked list
GeneratePerPixelLinkedList();
#endregion
#region ID rendering
camA.Render();
if (!runOnceId)
{
idContoursAllLayers = new List <List <Contour> >();
int i = 0;
while (i < NumberOfLayers) // *4
{
Shader.SetGlobalInt("_loopMax", i);
if (SortLayersByDepth)
{
Shader.SetGlobalFloat("_sortLayers", 1);
}
else
{
Shader.SetGlobalFloat("_sortLayers", 0);
}
Graphics.ClearRandomWriteTargets();
Graphics.SetRandomWriteTarget(1, nodeBuffer);
//Graphics.SetRandomWriteTarget(2, head);
RenderTexture renderTex = RenderTexture.GetTemporary(Width, Height, 0, RenderTextureFormat.Default);
Material mat = new Material(Shader.Find("Hidden/VectorShader"));
Graphics.Blit(source, renderTex, mat);
Graphics.Blit(renderTex, destination);
// Copy from RenderTexture to a texture
RenderTexture.active = renderTex;
Texture2D tex2d = new Texture2D(Width, Height, TextureFormat.RGB24, false);
tex2d.ReadPixels(new Rect(0, 0, renderTex.width, renderTex.height), 0, 0);
tex2d.Apply();
Rect rect = new Rect(0, 0, Width, Height);
List <Contour> idContoursCurrentLayer = ExtractLayerContours(tex2d); // EXTRACTING CONTOURS
idContoursAllLayers.Add(idContoursCurrentLayer);
RenderTexture.ReleaseTemporary(renderTex);
//VectorUtils.SaveTextureToFile(tex2d, "idldiTex" + i + ".png");
i += 1; // += 4
}
//Graphics.ClearRandomWriteTargets(); // meg
// Storing textures for viewing
/*for (int j = 0; j < idContoursAllLayers.Count; j++)
* {
* if (idContoursAllLayers[j].Count != 0)
* {
* Texture2D contourTexture = VectorUtils.ContourTexture(idContoursAllLayers[j], Width, Height);
* VectorUtils.SaveTextureToFile(contourTexture, "idTex" + j + ".png");
* }
* }*/
runOnceId = true;
}
#endregion
#region Reset mesh colors
// Reset all mesh colors
for (int i = 0; i < allMeshes.Count; i++)
{
Material[] materials = allMeshes[i].GetComponent <Renderer>().materials;
String meshName = allMeshes[i].name;
List <Color> colorList = materialMap[meshName];
for (int j = 0; j < materials.Length; j++)
{
allMeshes[i].GetComponent <Renderer>().materials[j].color = colorList[j]; // NB: sharedMaterials ruins everything!!
}
}
#endregion
#region Per-Pixel Linked list 2
ReleaseBuffers();
GeneratePerPixelLinkedList();
#endregion
#region Rendering final scene
camA.Render();
if (!runOnceFinal)
{
colorContoursAllLayers = new List <List <Contour> >();
int i = 0;
while (i < NumberOfLayers) //*4
{
Shader.SetGlobalInt("_loopMax", i * 4);
if (SortLayersByDepth)
{
Shader.SetGlobalFloat("_sortLayers", 1);
}
else
{
Shader.SetGlobalFloat("_sortLayers", 0);
}
Graphics.ClearRandomWriteTargets();
Graphics.SetRandomWriteTarget(1, nodeBuffer);
//Graphics.SetRandomWriteTarget(2, head);
RenderTexture renderTex = RenderTexture.GetTemporary(Width, Height, 0, RenderTextureFormat.Default);
Material mat = new Material(Shader.Find("Hidden/VectorShader"));
Graphics.Blit(source, renderTex, mat);
Graphics.Blit(renderTex, destination);
// Copy from RenderTexture to a texture
RenderTexture.active = renderTex;
Texture2D tex2d = new Texture2D(Width, Height, TextureFormat.RGB24, false);
tex2d.ReadPixels(new Rect(0, 0, renderTex.width, renderTex.height), 0, 0);
tex2d.Apply();
Rect rect = new Rect(0, 0, Width, Height);
List <Contour> colorContoursCurrentLayer = ExtractLayerContours(tex2d);
colorContoursAllLayers.Add(colorContoursCurrentLayer);
RenderTexture.ReleaseTemporary(renderTex);
//VectorUtils.SaveTextureToFile(tex2d, "ldiTex" + i + ".png");
i += 1;
}
//Graphics.ClearRandomWriteTargets(); // meg
// Storing textures for viewing
/*for (int j = 0; j < colorContoursAllLayers.Count; j++)
* {
* if (colorContoursAllLayers[j].Count != 0)
* {
* Texture2D contourTexture = VectorUtils.ContourTexture(colorContoursAllLayers[j], Width, Height);
* VectorUtils.SaveTextureToFile(contourTexture, "colorTex" + j + ".png");
* }
* }*/
runOnceFinal = true;
#endregion
#region Draw SVG
List <List <ContourGroup> > contourGroupsAllLayers = IdentifyGroups(idContoursAllLayers, colorContoursAllLayers); // IDENTIFY GROUPS
List <Layer> layers = new List <Layer>();
foreach (List <ContourGroup> cGroups in contourGroupsAllLayers) // DRAW SILHOUETTES
{
Layer layer = new Layer();
foreach (ContourGroup cg in cGroups)
{
SilhouetteGroup sg = new SilhouetteGroup();
layer.SilhouetteGroups.Add(DrawSilhouettesForGroup(cg.Contours));
}
layers.Add(layer);
}
layers.Reverse();
SVGProject.SVGWriter writer = new SVGProject.SVGWriter(Width, Height);
writer.WriteSilhouettesToSVG(layers, Height); // WRITING SVG FILE
try
{
// writer.SaveDocument(@"C:\Users\Vidar Hartveit Ure\Desktop\forsok.svg");
// writer.SaveDocument(@"E:\Vidar\Desktop\forsok.svg");
writer.SaveDocument(SVGFilePath);
}
catch (DirectoryNotFoundException e)
{
Debug.Log("Error on file saving: Directory not found!");
QuitApplication();
}
int layerCount = layers.Count;
int groupCount = 0;
int pieceCount = 0;
int silhouetteCount = 0;
int pointCount = 0;
foreach (Layer l in layers)
{
foreach (SilhouetteGroup sg in l.SilhouetteGroups)
{
groupCount++;
foreach (Silhouette s in sg.Silhouettes)
{
silhouetteCount++;
foreach (SilhouettePiece spi in s.Pieces)
{
pieceCount++;
foreach (ContourPixel p in spi.Points)
{
pointCount++;
}
}
}
}
}
Debug.Log("Number of layers: " + layerCount);
Debug.Log("Number of silhouette groups: " + groupCount);
Debug.Log("Number of silhouettes: " + silhouetteCount);
Debug.Log("Number of silhouette pieces: " + pieceCount);
Debug.Log("Number of points: " + pointCount);
//Texture2D silhouetteTexture = LayerTexture(layers[0]);
//SaveTextureToFile(silhouetteTexture, "siltex.png");
QuitApplication();
#endregion
}
}
/// <summary>
/// Return the raw margin from the decision hyperplane
/// </summary>
protected override Float Margin(ref VBuffer <Float> feat)
{
return(Bias + VectorUtils.DotProduct(ref feat, ref Weights) * WeightsScale);
}
public static Vector2 GetStartPoint()
{
ushort buildingZM = AdrController.CurrentConfig.GlobalConfig.AddressingConfig.ZeroMarkBuilding;
if (buildingZM == 0)
{
return(Vector2.zero);
}
else
{
return(BuildingManager.instance.m_buildings.m_buffer[buildingZM].m_flags == Building.Flags.None ? Vector2.zero : VectorUtils.XZ(BuildingManager.instance.m_buildings.m_buffer[buildingZM].m_position));
}
}
/// <summary>
/// Find a flare within acceptable thermal range that will "decoy" for the passed heatsignature
/// </summary>
public static TargetSignatureData GetFlareTarget(Ray ray, float scanRadius, float highpassThreshold, bool allAspect, float heatSignature)
{
TargetSignatureData flareTarget = TargetSignatureData.noTarget;
List <CMFlare> .Enumerator flare = BDArmorySetup.Flares.GetEnumerator();
while (flare.MoveNext())
{
if (!flare.Current)
{
continue;
}
float angle = Vector3.Angle(flare.Current.transform.position - ray.origin, ray.direction);
if (angle < scanRadius)
{
float score = flare.Current.thermal * Mathf.Clamp01(15 / angle);
score *= Mathf.Pow(1400, 2) / Mathf.Clamp((flare.Current.transform.position - ray.origin).sqrMagnitude, 90000, 36000000);
score *= Mathf.Clamp(Vector3.Angle(flare.Current.transform.position - ray.origin, -VectorUtils.GetUpDirection(ray.origin)) / 90, 0.5f, 1.5f);
// check acceptable range:
// flare cannot be too cool, but also not too bright
if ((score > heatSignature * 0.9) && (score < heatSignature * 1.15))
{
flareTarget = new TargetSignatureData(flare.Current, score);
}
}
}
return(flareTarget);
}
public void TessellateConvexContour_GeneratesTriangleFan()
{
// Build a square shape, flag it as convex
var shape = new Shape()
{
Contours = new BezierContour[] {
new BezierContour()
{
Segments = new BezierPathSegment[] {
new BezierPathSegment()
{
P0 = new Vector2(0, 0), P1 = new Vector2(0.25f, 0), P2 = new Vector2(0.75f, 0)
},
new BezierPathSegment()
{
P0 = new Vector2(1, 0), P1 = new Vector2(1, 0.25f), P2 = new Vector2(1, 0.75f)
},
new BezierPathSegment()
{
P0 = new Vector2(1, 1), P1 = new Vector2(0.75f, 1), P2 = new Vector2(0.25f, 1)
},
new BezierPathSegment()
{
P0 = new Vector2(0, 1), P1 = new Vector2(0, 0.75f), P2 = new Vector2(0, 0.25f)
},
},
Closed = true
}
},
Fill = new SolidFill()
{
Color = Color.red
},
IsConvex = true
};
var scene = new Scene()
{
Root = new SceneNode()
{
Shapes = new List <Shape> {
shape
}
}
};
var geoms = VectorUtils.TessellateScene(scene, MakeTessOptions(1000));
Assert.AreEqual(1, geoms.Count);
var geom = geoms[0];
Assert.AreEqual(5, geom.Vertices.Length);
Assert.AreEqual(12, geom.Indices.Length);
Assert.AreEqual(new Vector2(0.5f, 0.5f), geom.Vertices[0]);
Assert.AreEqual(new Vector2(0.0f, 0.0f), geom.Vertices[1]);
Assert.AreEqual(new Vector2(1.0f, 0.0f), geom.Vertices[2]);
Assert.AreEqual(new Vector2(1.0f, 1.0f), geom.Vertices[3]);
Assert.AreEqual(new Vector2(0.0f, 1.0f), geom.Vertices[4]);
Assert.AreEqual(0, geom.Indices[0]);
Assert.AreEqual(1, geom.Indices[1]);
Assert.AreEqual(2, geom.Indices[2]);
Assert.AreEqual(0, geom.Indices[3]);
Assert.AreEqual(2, geom.Indices[4]);
Assert.AreEqual(3, geom.Indices[5]);
Assert.AreEqual(0, geom.Indices[6]);
Assert.AreEqual(3, geom.Indices[7]);
Assert.AreEqual(4, geom.Indices[8]);
Assert.AreEqual(0, geom.Indices[9]);
Assert.AreEqual(4, geom.Indices[10]);
Assert.AreEqual(1, geom.Indices[11]);
}
public Vector3 GetDirection(MissileBase missile, Vector3 targetPosition, Vector3 targetVelocity)
{
//set up
if (_originalDistance == float.MinValue)
{
_startPoint = missile.vessel.CoM;
_originalDistance = Vector3.Distance(targetPosition, missile.vessel.CoM);
}
var surfaceDistanceVector = Vector3
.Project((missile.vessel.CoM - _startPoint), (targetPosition - _startPoint).normalized);
var pendingDistance = _originalDistance - surfaceDistanceVector.magnitude;
if (missile.TimeIndex < 1)
{
return(missile.vessel.CoM + missile.vessel.Velocity() * 10);
}
Vector3 agmTarget;
if (missile.vessel.verticalSpeed > 0 && pendingDistance > _originalDistance * 0.5)
{
missile.debugString.Append($"Ascending");
missile.debugString.Append(Environment.NewLine);
var freeFallTime = CalculateFreeFallTime(missile);
missile.debugString.Append($"freeFallTime: {freeFallTime}");
missile.debugString.Append(Environment.NewLine);
var futureDistanceVector = Vector3
.Project((missile.vessel.GetFuturePosition() - _startPoint), (targetPosition - _startPoint).normalized);
var futureHorizontalSpeed = CalculateFutureHorizontalSpeed(missile);
var horizontalTime = (_originalDistance - futureDistanceVector.magnitude) / futureHorizontalSpeed;
missile.debugString.Append($"horizontalTime: {horizontalTime}");
missile.debugString.Append(Environment.NewLine);
if (freeFallTime >= horizontalTime)
{
missile.debugString.Append($"Free fall achieved:");
missile.debugString.Append(Environment.NewLine);
missile.Throttle = Mathf.Clamp(missile.Throttle - 0.001f, 0.01f, 1f);
}
else
{
missile.debugString.Append($"Free fall not achieved:");
missile.debugString.Append(Environment.NewLine);
missile.Throttle = Mathf.Clamp(missile.Throttle + 0.001f, 0.01f, 1f);
}
Vector3 dToTarget = targetPosition - missile.vessel.CoM;
Vector3 direction = Quaternion.AngleAxis(Mathf.Clamp(missile.maxOffBoresight * 0.9f, 0, missile.BallisticAngle), Vector3.Cross(dToTarget, VectorUtils.GetUpDirection(missile.vessel.CoM))) * dToTarget;
agmTarget = missile.vessel.CoM + direction;
missile.debugString.Append($"Throttle: {missile.Throttle}");
missile.debugString.Append(Environment.NewLine);
}
else
{
missile.debugString.Append($"Descending");
missile.debugString.Append(Environment.NewLine);
agmTarget = MissileGuidance.GetAirToGroundTarget(targetPosition, targetVelocity, missile.vessel, 1.85f);
missile.Throttle = Mathf.Clamp((float)(missile.vessel.atmDensity * 10f), 0.01f, 1f);
}
if (missile is BDModularGuidance)
{
if (missile.vessel.InVacuum())
{
missile.vessel.Autopilot.SetMode(VesselAutopilot.AutopilotMode.Prograde);
agmTarget = missile.vessel.CoM + missile.vessel.Velocity() * 100;
}
else
{
missile.vessel.Autopilot.SetMode(VesselAutopilot.AutopilotMode.StabilityAssist);
}
}
return(agmTarget);
}
private List <Image> CreateSoleLayerImages(TAMImageDiagram diagram, TAMMipmapLevel level)
{
var margin = _configuration.Margin;
var soleImageResolution = _configuration.SoleImagesResolutionPerLevel[level];
var soleImageResolutionWithMargins = (soleImageResolution * (1 + margin * 2)).ToIntVector2();
var marginLength = (soleImageResolutionWithMargins - soleImageResolution) / 2;
var outImages = Enumerable.Range(0, _layersCount)
.Select(c => new Bitmap((int)soleImageResolutionWithMargins.X, (int)soleImageResolutionWithMargins.Y, PixelFormat.Format32bppPArgb))
.ToList();
var occupancyArray = new int[(int)soleImageResolutionWithMargins.X, (int)soleImageResolutionWithMargins.Y];
//Debug.Log($"OutiMages: {outImages[0].Size} || SoleImageResolution {soleImageResolution} Sole with margins {soleImageResolutionWithMargins}");
foreach (var stroke in diagram.Strokes)
{
using (ImageFactory strokeFactory = new ImageFactory(true))
{
var strokeSizeInPixels = VectorUtils.MemberwiseMultiply(
new Vector2(stroke.Length, stroke.Height * _configuration.StrokeHeightMultiplierPerLevel[level]), soleImageResolution.ToFloatVec()).ToIntVector2();
var rotation = Mathf.Rad2Deg * stroke.Rotation;
var rotatedStrokeImage = strokeFactory.Load(_strokeImage)
.Resize(new ResizeLayer(new Size(strokeSizeInPixels.X, strokeSizeInPixels.Y), ResizeMode.Stretch))
.Rotate(rotation).Image;
var imageWithId = AddIdToStrokeImage(rotatedStrokeImage, (uint)stroke.Id);
var position = VectorUtils.MemberwiseMultiply(UvToMarginUv(stroke.Center), soleImageResolutionWithMargins.ToFloatVec()).ToIntVector2();
position -= new IntVector2(rotatedStrokeImage.Width / 2, rotatedStrokeImage.Height / 2);
for (int x = 0; x < imageWithId.Size.Width; x++)
{
for (int y = 0; y < imageWithId.Size.Height; y++)
{
var inImagePosition = position + new IntVector2(x, y);
uint offsetBitX = 0;
uint offsetBitY = 0;
if (inImagePosition.X - marginLength.X / 2 >= soleImageResolution.X || inImagePosition.X - marginLength.X * 1.5 < 0)
{
offsetBitX = 1;
}
if (inImagePosition.Y - marginLength.Y / 2 >= soleImageResolution.Y || inImagePosition.Y - marginLength.Y * 1.5 < 0)
{
offsetBitY = 1;
}
inImagePosition.X = inImagePosition.X % soleImageResolutionWithMargins.X; //probably not needed
inImagePosition.Y = inImagePosition.Y % soleImageResolutionWithMargins.Y;
var strokePixel = imageWithId.GetPixel(x, y);
byte newGColor = (byte)((strokePixel.G | (offsetBitX << 6)) | offsetBitY << 7);
strokePixel = Color.FromArgb(strokePixel.A, strokePixel.R, newGColor, strokePixel.B);
if (strokePixel.A > 0)
{
var layerIndex = 0;
var occupancy = occupancyArray[inImagePosition.X, inImagePosition.Y];
if (occupancy != 0)
{
layerIndex = (occupancy) % _layersCount;
}
occupancyArray[inImagePosition.X, inImagePosition.Y]++;
if (!_configuration.UseSmoothAlpha)
{
var a = strokePixel.A;
if (a > 0)
{
a = 255;
}
strokePixel = Color.FromArgb(a, strokePixel.R, strokePixel.G, strokePixel.B);
}
if (!_configuration.UseDithering)
{
outImages[layerIndex].SetPixel(inImagePosition.X, inImagePosition.Y, strokePixel);
}
else
{
var oldPixel = outImages[layerIndex].GetPixel(inImagePosition.X, inImagePosition.Y);
if (_configuration.UseSmoothAlpha)
{
var oldAlpha = oldPixel.A;
var maxAlpha = Mathf.Max(oldAlpha, strokePixel.A);
strokePixel = Color.FromArgb(maxAlpha, strokePixel.R, strokePixel.G, strokePixel.B);
if (layerIndex != 0)
{
var layer0Pixel = outImages[0].GetPixel(inImagePosition.X, inImagePosition.Y);
var layer0OldAlpha = layer0Pixel.A;
if (layer0OldAlpha < strokePixel.A)
{
var newLayer0Pixel = Color.FromArgb(strokePixel.A, layer0Pixel.R, layer0Pixel.G, layer0Pixel.B);
outImages[0].SetPixel(inImagePosition.X, inImagePosition.Y, newLayer0Pixel);
}
}
}
var ditheringModuler = Mathf.CeilToInt((float)occupancy / _layersCount) + 1;
bool ditherPixelActive = (inImagePosition.X + inImagePosition.Y) % ditheringModuler == 0;
if (ditherPixelActive)
{
outImages[layerIndex].SetPixel(inImagePosition.X, inImagePosition.Y, strokePixel);
}
else
{
var updatedOldPixel = Color.FromArgb(strokePixel.A, oldPixel.R, oldPixel.G, oldPixel.B);
outImages[layerIndex].SetPixel(inImagePosition.X, inImagePosition.Y, updatedOldPixel);
}
}
}
}
}
}
}
return(outImages.Cast <Image>().ToList());
}
private static Float[] Train(IHost host, ColInfo[] infos, Arguments args, IDataView trainingData)
{
Contracts.AssertValue(host, "host");
host.AssertNonEmpty(infos);
var avgDistances = new Float[infos.Length];
const int reservoirSize = 5000;
bool[] activeColumns = new bool[trainingData.Schema.ColumnCount];
for (int i = 0; i < infos.Length; i++)
{
activeColumns[infos[i].Source] = true;
}
var reservoirSamplers = new ReservoirSamplerWithReplacement <VBuffer <Float> > [infos.Length];
using (var cursor = trainingData.GetRowCursor(col => activeColumns[col]))
{
var rng = args.Seed.HasValue ? RandomUtils.Create(args.Seed) : host.Rand;
for (int i = 0; i < infos.Length; i++)
{
if (infos[i].TypeSrc.IsVector)
{
var get = cursor.GetGetter <VBuffer <Float> >(infos[i].Source);
reservoirSamplers[i] = new ReservoirSamplerWithReplacement <VBuffer <Float> >(rng, reservoirSize, get);
}
else
{
var getOne = cursor.GetGetter <Float>(infos[i].Source);
Float val = 0;
ValueGetter <VBuffer <Float> > get =
(ref VBuffer <Float> dst) =>
{
getOne(ref val);
dst = new VBuffer <float>(1, new[] { val });
};
reservoirSamplers[i] = new ReservoirSamplerWithReplacement <VBuffer <Float> >(rng, reservoirSize, get);
}
}
while (cursor.MoveNext())
{
for (int i = 0; i < infos.Length; i++)
{
reservoirSamplers[i].Sample();
}
}
for (int i = 0; i < infos.Length; i++)
{
reservoirSamplers[i].Lock();
}
}
for (int iinfo = 0; iinfo < infos.Length; iinfo++)
{
var instanceCount = reservoirSamplers[iinfo].NumSampled;
// If the number of pairs is at most the maximum reservoir size / 2, we go over all the pairs,
// so we get all the examples. Otherwise, get a sample with replacement.
VBuffer <Float>[] res;
int resLength;
if (instanceCount < reservoirSize && instanceCount * (instanceCount - 1) <= reservoirSize)
{
res = reservoirSamplers[iinfo].GetCache();
resLength = reservoirSamplers[iinfo].Size;
Contracts.Assert(resLength == instanceCount);
}
else
{
res = reservoirSamplers[iinfo].GetSample().ToArray();
resLength = res.Length;
}
// If the dataset contains only one valid Instance, then we can't learn anything anyway, so just return 1.
if (instanceCount <= 1)
{
avgDistances[iinfo] = 1;
}
else
{
Float[] distances;
var sub = args.Column[iinfo].MatrixGenerator;
if (sub == null)
{
sub = args.MatrixGenerator;
}
// create a dummy generator in order to get its type.
// REVIEW this should be refactored. See https://github.com/dotnet/machinelearning/issues/699
var matrixGenerator = sub.CreateComponent(host, 1);
bool gaussian = matrixGenerator is GaussianFourierSampler;
// If the number of pairs is at most the maximum reservoir size / 2, go over all the pairs.
if (resLength < reservoirSize)
{
distances = new Float[instanceCount * (instanceCount - 1) / 2];
int count = 0;
for (int i = 0; i < instanceCount; i++)
{
for (int j = i + 1; j < instanceCount; j++)
{
distances[count++] = gaussian ? VectorUtils.L2DistSquared(ref res[i], ref res[j])
: VectorUtils.L1Distance(ref res[i], ref res[j]);
}
}
host.Assert(count == distances.Length);
}
else
{
distances = new Float[reservoirSize / 2];
for (int i = 0; i < reservoirSize - 1; i += 2)
{
// For Gaussian kernels, we scale by the L2 distance squared, since the kernel function is exp(-gamma ||x-y||^2).
// For Laplacian kernels, we scale by the L1 distance, since the kernel function is exp(-gamma ||x-y||_1).
distances[i / 2] = gaussian ? VectorUtils.L2DistSquared(ref res[i], ref res[i + 1]) :
VectorUtils.L1Distance(ref res[i], ref res[i + 1]);
}
}
// If by chance, in the random permutation all the pairs are the same instance we return 1.
Float median = MathUtils.GetMedianInPlace(distances, distances.Length);
avgDistances[iinfo] = median == 0 ? 1 : median;
}
}
return(avgDistances);
}
private void RenderNotConnectLine(RenderManager.CameraInfo cameraInfo)
{
var bezier = new Bezier3()
{
a = SelectPoint.Position,
b = SelectPoint.Direction,
c = SelectPoint.Direction.Turn90(true),
d = NodeMarkupTool.MouseWorldPosition,
};
Line2.Intersect(VectorUtils.XZ(bezier.a), VectorUtils.XZ(bezier.a + bezier.b), VectorUtils.XZ(bezier.d), VectorUtils.XZ(bezier.d + bezier.c), out _, out float v);
bezier.c = v >= 0 ? bezier.c : -bezier.c;
NetSegment.CalculateMiddlePoints(bezier.a, bezier.b, bezier.d, bezier.c, true, true, out bezier.b, out bezier.c);
NodeMarkupTool.RenderBezier(cameraInfo, bezier, Colors.Hover);
}
public static void Postfix(RenderManager.CameraInfo cameraInfo, ushort vehicleID, Color color)
{
Vehicle vehicleData = Singleton <VehicleManager> .instance.m_vehicles.m_buffer[vehicleID];
VehicleInfo vehicleInfo = vehicleData.Info;
if (vehicleInfo.m_vehicleType != VehicleInfo.VehicleType.Ship && vehicleInfo.m_vehicleType != VehicleInfo.VehicleType.Ferry)
{
return;
}
uint targetFrame = GetTargetFrame(ref vehicleData, vehicleInfo, vehicleID);
Vehicle.Frame frameData = vehicleData.GetFrameData(targetFrame - 16);
Vector3 position = frameData.m_position;
Vector2 xz = VectorUtils.XZ(frameData.m_position);
float y = position.y;
Quaternion rotation = frameData.m_rotation;
Vector3 size = vehicleData.Info.m_generatedInfo.m_size;
Vector2 forwardDir = VectorUtils.XZ(rotation * Vector3.forward).normalized;
Vector2 rightDir = VectorUtils.XZ(rotation * Vector3.right).normalized;
float circleMinY = y - vehicleInfo.m_generatedInfo.m_negativeHeight - 50f;
float circleMaxY = y + vehicleInfo.m_generatedInfo.m_size.y + 50f;
Quad2 passingQuad = new Quad2 {
a = xz - 0.5f * size.z * forwardDir - 0.5f * size.x * rightDir,
b = xz - 0.5f * size.z * forwardDir + 0.5f * size.x * rightDir,
c = xz + 0.75f * size.z * forwardDir + 0.5f * size.x * rightDir,
d = xz + 0.75f * size.z * forwardDir - 0.5f * size.x * rightDir
};
DrawSearchConeQuad(cameraInfo, circleMinY, circleMaxY, passingQuad);
RenderPos(vehicleData.GetTargetPos(0), vehicleInfo, cameraInfo);
RenderPos(vehicleData.GetTargetPos(1), vehicleInfo, cameraInfo);
RenderPos(vehicleData.GetTargetPos(2), vehicleInfo, cameraInfo);
RenderPos(vehicleData.GetTargetPos(3), vehicleInfo, cameraInfo);
float halfWidth = vehicleData.Info.m_generatedInfo.m_size.x / 2;
Quad2 quad01 = GetShipQuad(vehicleData.m_targetPos0, vehicleData.m_targetPos1, halfWidth);
Quad2 quad12 = GetShipQuad(vehicleData.m_targetPos1, vehicleData.m_targetPos2, halfWidth);
Quad2 quad23 = GetShipQuad(vehicleData.m_targetPos2, vehicleData.m_targetPos3, halfWidth);
DrawSearchConeQuad2(cameraInfo, circleMinY, circleMaxY, quad01);
DrawSearchConeQuad2(cameraInfo, circleMinY, circleMaxY, quad12);
DrawSearchConeQuad2(cameraInfo, circleMinY, circleMaxY, quad23);
Vector2 quadMin = Vector2.Min(Vector2.Min(passingQuad.Min(), quad01.Min()), Vector2.Min(quad12.Min(), quad23.Min()));
Vector2 quadMax = Vector2.Max(Vector2.Max(passingQuad.Max(), quad01.Max()), Vector2.Max(quad12.Max(), quad23.Max()));
float yMin = Mathf.Min(Mathf.Min(vehicleData.m_targetPos0.y, vehicleData.m_targetPos1.y),
Mathf.Min(vehicleData.m_targetPos2.y, vehicleData.m_targetPos3.y));
float yMax = Mathf.Max(Mathf.Max(vehicleData.m_targetPos0.y, vehicleData.m_targetPos1.y),
Mathf.Max(vehicleData.m_targetPos2.y, vehicleData.m_targetPos3.y));
int minGridX = Math.Max((int)((quadMin.x - 72f) / 64f + 135f), 0);
int minGridZ = Math.Max((int)((quadMin.y - 72f) / 64f + 135f), 0);
int maxGridX = Math.Min((int)((quadMax.x + 72f) / 64f + 135f), 269);
int maxGridZ = Math.Min((int)((quadMax.y + 72f) / 64f + 135f), 269);
float minY = yMin - vehicleInfo.m_generatedInfo.m_negativeHeight - 2f;
float maxY = yMax + vehicleInfo.m_generatedInfo.m_size.y + 2f;
BuildingManager buildingManager = Singleton <BuildingManager> .instance;
for (int gridZ = minGridZ; gridZ <= maxGridZ; gridZ++)
{
for (int gridX = minGridX; gridX <= maxGridX; gridX++)
{
ushort buildingID = buildingManager.m_buildingGrid[gridZ * 270 + gridX];
while (buildingID != 0)
{
bool overlap01 = buildingManager.m_buildings.m_buffer[buildingID].OverlapQuad(buildingID,
quad01, minY, maxY, ItemClass.CollisionType.Terrain);
bool overlap12 = buildingManager.m_buildings.m_buffer[buildingID].OverlapQuad(buildingID,
quad12, minY, maxY, ItemClass.CollisionType.Terrain);
bool overlap23 = buildingManager.m_buildings.m_buffer[buildingID].OverlapQuad(buildingID,
quad23, minY, maxY, ItemClass.CollisionType.Terrain);
bool overlap = overlap01 || overlap12 || overlap23;
Color color2 = (overlap ? Color.magenta : Color.white);
BuildingTool.RenderOverlay(cameraInfo, ref buildingManager.m_buildings.m_buffer[buildingID], color2, color2);
buildingID = buildingManager.m_buildings.m_buffer[buildingID].m_nextGridBuilding;
}
}
}
//float searchConeLength = (vehicleInfo.m_vehicleType == VehicleInfo.VehicleType.Ship)
// ? ShipAICheckOtherVehiclesPatch.kSearchConeLength
// : FerryAICheckOtherVehiclesPatch.kSearchConeLength;
//uint targetFrame = GetTargetFrame(ref vehicleData, vehicleInfo, vehicleID);
//Vehicle.Frame frameData = vehicleData.GetFrameData(targetFrame - 16);
//Vector3 position = frameData.m_position;
//Vector2 xz = VectorUtils.XZ(frameData.m_position);
//float y = position.y;
//Quaternion rotation = frameData.m_rotation;
//Vector3 size = vehicleData.Info.m_generatedInfo.m_size;
//Vector2 forwardDir = VectorUtils.XZ(rotation * Vector3.forward).normalized;
//Vector2 rightDir = VectorUtils.XZ(rotation * Vector3.right).normalized;
//float circleMinY = y - vehicleInfo.m_generatedInfo.m_negativeHeight - 50f;
//float circleMaxY = y + vehicleInfo.m_generatedInfo.m_size.y + 50f;
//Quad2 searchConeQuad = new Quad2 {
// a = xz - 0.5f * size.z * forwardDir - 0.5f * size.x * rightDir,
// b = xz - 0.5f * size.z * forwardDir + 0.5f * size.x * rightDir,
// c = xz + (0.5f * size.z + searchConeLength) * forwardDir + 2f * size.x * rightDir,
// d = xz + (0.5f * size.z + searchConeLength) * forwardDir - 2f * size.x * rightDir
//};
//DrawSearchConeQuad(cameraInfo, circleMinY, circleMaxY, searchConeQuad);
//Quad2 passingQuad = new Quad2 {
// a = xz - 0.5f * size.z * forwardDir - 0.5f * size.x * rightDir,
// b = xz - 0.5f * size.z * forwardDir + 0.5f * size.x * rightDir,
// c = xz + 1f * size.z * forwardDir + 0.5f * size.x * rightDir,
// d = xz + 1f * size.z * forwardDir - 0.5f * size.x * rightDir
//};
//DrawSearchConeQuad(cameraInfo, circleMinY, circleMaxY, passingQuad);
//Vector2 searchConeMin = searchConeQuad.Min();
//Vector2 searchConeMax = searchConeQuad.Max();
//Singleton<RenderManager>.instance.OverlayEffect.DrawCircle(cameraInfo, Color.yellow, VectorUtils.X_Y(searchConeMin), 20f, circleMinY, circleMaxY, renderLimits: false, alphaBlend: true);
//Singleton<RenderManager>.instance.OverlayEffect.DrawCircle(cameraInfo, Color.yellow, VectorUtils.X_Y(searchConeMax), 20f, circleMinY, circleMaxY, renderLimits: false, alphaBlend: true);
//int minGridX = Math.Max((int)((searchConeMin.x - 72f) / 64f + 135f), 0);
//int minGridZ = Math.Max((int)((searchConeMin.y - 72f) / 64f + 135f), 0);
//int maxGridX = Math.Min((int)((searchConeMax.x + 72f) / 64f + 135f), 269);
//int maxGridZ = Math.Min((int)((searchConeMax.y + 72f) / 64f + 135f), 269);
//DrawBuildingGridRange(cameraInfo, circleMinY, circleMaxY, minGridX, minGridZ, maxGridX, maxGridZ);
//float minY = y - vehicleInfo.m_generatedInfo.m_negativeHeight - 2f;
//float maxY = y + vehicleInfo.m_generatedInfo.m_size.y + 2f;
//BuildingManager buildingManager = Singleton<BuildingManager>.instance;
//for (int gridZ = minGridZ; gridZ <= maxGridZ; gridZ++) {
// for (int gridX = minGridX; gridX <= maxGridX; gridX++) {
// ushort buildingID = buildingManager.m_buildingGrid[gridZ * 270 + gridX];
// while (buildingID != 0) {
// Color color2 = (buildingManager.m_buildings.m_buffer[buildingID].OverlapQuad(buildingID, searchConeQuad, minY, maxY, ItemClass.CollisionType.Terrain) ? Color.magenta : Color.white);
// BuildingTool.RenderOverlay(cameraInfo, ref buildingManager.m_buildings.m_buffer[buildingID], color2, color2);
// buildingID = buildingManager.m_buildings.m_buffer[buildingID].m_nextGridBuilding;
// }
// }
//}
}
protected override double[] GetGradient(IChannel ch)
{
Contracts.AssertValue(ch);
_previousGradient = _currentGradient;
_currentGradient = ObjectiveFunction.GetGradient(ch, TrainingScores.Scores);
// We need to make a copy of gradient coz the reference returned is private structare of ObejctiveFunctionBase is valid only till next GetGradient call
_currentGradient = (double[])_currentGradient.Clone();
double[] previousDk = _currentDk;
//First iteration
if (_previousGradient == null)
{
_previousGradient = _currentGradient;
}
#if !POLAK_RIBIERE_STEP
// Compute Beta[k] = curG[k] * (curG[k] - prevG[k])
// TODO: this can be optimized for speed. Keeping it slow but simple for now
double beta = VectorUtils.GetDotProduct(_currentGradient, VectorUtils.Subtract(_currentGradient, _previousGradient)) / VectorUtils.GetDotProduct(_previousGradient, _previousGradient);
#else //Fletcher Reeves step
// Compute Beta[k] = (curG[k]*cutG[k]) / (prevG[k] * prevG[k])
double beta = VectorUtils.GetDotProduct(currentGradient, currentGradient) / VectorUtils.GetDotProduct(previousGradient, previousGradient);
#endif
if (beta < 0)
{
beta = 0;
}
ch.Info("beta: {0}", beta);
VectorUtils.MutiplyInPlace(previousDk, beta);
VectorUtils.AddInPlace(previousDk, _currentGradient);
_currentDk = previousDk; // Reallay no-op opration
// We know that LeastSquaresRegressionTreeLearner does not destroy gradients so we can return our reference that we will need in next iter.
if (TreeLearner is LeastSquaresRegressionTreeLearner)
{
return(_currentDk);
}
// Assume that other treLearners destroy the gradient array so return a copy.
else
{
return((double[])_currentDk.Clone());
}
}
public static RedLightController Create(PlayerController player, Vector2 _pos)
{
var prefab = player.redLightPrefab;
var go = GameObject.Instantiate(prefab);
go.transform.position = VectorUtils.V23(_pos, go.transform.position.z);
var sr = go.GetComponentInChildren <SpriteRenderer>();
var redLightTrans = go.transform;
var rdLtCtrl = new RedLightController();
rdLtCtrl.posRef = new ClassRef <Vector2>((pos) => redLightTrans.position = VectorUtils.V23(pos, redLightTrans.position.z), () => VectorUtils.V32(redLightTrans.position));
rdLtCtrl.spriteAlpha = ApCtrl.CreateAlphaData(ApCtrl.SpriteAlpha(sr), player);
rdLtCtrl.spriteAlpha.convertSpeed = player.redLightAlphaConvertSpeed;
rdLtCtrl.lightAlpha = ApCtrl.CreateAlphaData(ApCtrl.LightRendererAlpha(go.GetComponentInChildren <LightRenderer>()), player);
rdLtCtrl.lightAlpha.convertSpeed = player.redLightAlphaConvertSpeed;
rdLtCtrl.go = go;
rdLtCtrl.mb = player;
rdLtCtrl.particleSystem = go.GetComponentInChildren <ParticleSystem>();
rdLtCtrl.emission = rdLtCtrl.particleSystem.emission;
rdLtCtrl.EmissionEnable = false;
return(rdLtCtrl);
}
/// <summary>
/// Initialize weights by running SGD up to specified tolerance.
/// </summary>
private protected virtual VBuffer <float> InitializeWeightsSgd(IChannel ch, FloatLabelCursor.Factory cursorFactory)
{
if (!Quiet)
{
ch.Info("Running SGD initialization with tolerance {0}", SgdInitializationTolerance);
}
int numExamples = 0;
var oldWeights = VBufferUtils.CreateEmpty <float>(BiasCount + WeightCount);
DTerminate terminateSgd =
(in VBuffer <float> x) =>
{
if (++numExamples % 1000 != 0)
{
return(false);
}
VectorUtils.AddMult(in x, -1, ref oldWeights);
float normDiff = VectorUtils.Norm(oldWeights);
x.CopyTo(ref oldWeights);
// #if OLD_TRACING // REVIEW: How should this be ported?
if (!Quiet)
{
Console.Write(".");
if (numExamples % 50000 == 0)
{
Console.WriteLine("\t{0}\t{1}", numExamples, normDiff);
}
}
// #endif
return(normDiff < SgdInitializationTolerance);
};
VBuffer <float> result = default(VBuffer <float>);
FloatLabelCursor cursor = null;
try
{
float[] scratch = null;
SgdOptimizer.DStochasticGradient lossSgd =
(in VBuffer <float> x, ref VBuffer <float> grad) =>
{
// Zero out the gradient by sparsifying.
VBufferUtils.Resize(ref grad, grad.Length, 0);
EnsureBiases(ref grad);
if (cursor == null || !cursor.MoveNext())
{
if (cursor != null)
{
cursor.Dispose();
}
cursor = cursorFactory.Create();
if (!cursor.MoveNext())
{
return;
}
}
AccumulateOneGradient(in cursor.Features, cursor.Label, cursor.Weight, in x, ref grad, ref scratch);
};
VBuffer <float> sgdWeights;
if (DenseOptimizer)
{
sgdWeights = VBufferUtils.CreateDense <float>(BiasCount + WeightCount);
}
else
{
sgdWeights = VBufferUtils.CreateEmpty <float>(BiasCount + WeightCount);
}
SgdOptimizer sgdo = new SgdOptimizer(terminateSgd);
sgdo.Minimize(lossSgd, ref sgdWeights, ref result);
// #if OLD_TRACING // REVIEW: How should this be ported?
if (!Quiet)
{
Console.WriteLine();
}
// #endif
ch.Info("SGD initialization done in {0} rounds", numExamples);
}
finally
{
if (cursor != null)
{
cursor.Dispose();
}
}
return(result);
}
void ReceivePing(Vessel v, Vector3 source, RWRThreatTypes type, float persistTime)
{
if (v == null)
{
return;
}
if (referenceTransform == null)
{
return;
}
if (weaponManager == null)
{
return;
}
if (rwrEnabled && vessel && v == vessel)
{
//if we are airborne or on land, no Sonar or SLW type weapons on the RWR!
if ((type == RWRThreatTypes.Torpedo || type == RWRThreatTypes.TorpedoLock || type == RWRThreatTypes.Sonar) && (vessel.situation != Vessel.Situations.SPLASHED))
{
// rwr stays silent...
return;
}
if (type == RWRThreatTypes.MissileLaunch || type == RWRThreatTypes.Torpedo)
{
StartCoroutine(
LaunchWarningRoutine(new TargetSignatureData(Vector3.zero,
RadarUtils.WorldToRadar(source, referenceTransform, RwrDisplayRect, rwrDisplayRange),
Vector3.zero, true, (float)type)));
PlayWarningSound(type, (source - vessel.transform.position).sqrMagnitude);
return;
}
else if (type == RWRThreatTypes.MissileLock)
{
if (weaponManager && weaponManager.guardMode)
{
weaponManager.FireChaff();
// TODO: if torpedo inbound, also fire accoustic decoys (not yet implemented...)
}
}
int openIndex = -1;
for (int i = 0; i < dataCount; i++)
{
if (pingsData[i].exists &&
((Vector2)pingsData[i].position -
RadarUtils.WorldToRadar(source, referenceTransform, RwrDisplayRect, rwrDisplayRange)).sqrMagnitude < 900f) //prevent ping spam
{
break;
}
if (!pingsData[i].exists && openIndex == -1)
{
openIndex = i;
}
}
if (openIndex >= 0)
{
referenceTransform.rotation = Quaternion.LookRotation(vessel.ReferenceTransform.up,
VectorUtils.GetUpDirection(transform.position));
pingsData[openIndex] = new TargetSignatureData(Vector3.zero,
RadarUtils.WorldToRadar(source, referenceTransform, RwrDisplayRect, rwrDisplayRange), Vector3.zero,
true, (float)type); // HACK! Evil misuse of signalstrength for the threat type!
pingWorldPositions[openIndex] = source; //FIXME source is improperly defined
StartCoroutine(PingLifeRoutine(openIndex, persistTime));
PlayWarningSound(type, (source - vessel.transform.position).sqrMagnitude);
}
}
}
public override int GetHashCode()
{
return(VectorUtils.GetHashCode(this.X, this.Y));
}
public static void Postfix(ref NetSegment __instance)
{
if (__instance.m_flags != NetSegment.Flags.None)
{
var m_info = __instance.Info;
if (m_info == null)
{
return;
}
if (__instance.m_lanes != 0u || (m_info.m_lanes != null && m_info.m_lanes.Length != 0))
{
//Patch Begin
NetManager instance = Singleton <NetManager> .instance;
uint firstLane = __instance.m_lanes;
float num = 0f;
float num2 = 0f;
if ((m_info.m_netAI is RoadAI) || (m_info.m_netAI is RoadBridgeAI) || (m_info.m_netAI is RoadTunnelAI))
{
if (CSURUtil.IsCSURLaneOffset(m_info))
{
for (int i = 0; i < m_info.m_lanes.Length; i++)
{
if (firstLane == 0)
{
break;
}
float laneOffset = 0;
NetInfo.Lane lane = m_info.m_lanes[i];
float laneOffsetUnit = CSURUtil.CSURLaneOffset(m_info, lane);
laneOffset = laneOffsetUnit * 3.75f;
//DebugLog.LogToFileOnly("lanepostion = " + lane.m_position.ToString() + " laneoffset = " + laneOffset.ToString());
float effort = (OptionUI.smoothLevel == 2) ? 0.002f : (OptionUI.smoothLevel == 1) ? 0.01f : 0.05f;
//EG: before patch: point1-point4 is 1.5*3.75
//After patch, point1-point4 is (1 1.3333 1.6667 2)*3.75
var bezier = instance.m_lanes.m_buffer[firstLane].m_bezier;
Vector3 newBezierA = bezier.Position(0) + (new Vector3(-bezier.Tangent(0).z, 0, bezier.Tangent(0).x).normalized) * (laneOffset * 0.5f);
Vector3 newBezierA1 = bezier.Position(effort) + (new Vector3(-bezier.Tangent(effort).z, 0, bezier.Tangent(effort).x).normalized) * (laneOffset * (0.5f - effort));
Vector3 newBezierADir = VectorUtils.NormalizeXZ(newBezierA1 - newBezierA);
Vector3 newBezierD = bezier.Position(1) + (new Vector3(bezier.Tangent(1).z, 0, -bezier.Tangent(1).x).normalized) * (laneOffset * 0.5f);
Vector3 newBezierD1 = bezier.Position(1f - effort) + (new Vector3(bezier.Tangent(1f - effort).z, 0, -bezier.Tangent(1f - effort).x).normalized) * (laneOffset * (0.5f - effort));
Vector3 newBezierDDir = VectorUtils.NormalizeXZ(newBezierD1 - newBezierD);
Bezier3 newBezier = default(Bezier3);
newBezier.a = newBezierA;
newBezier.d = newBezierD;
//Try to get smooth bezier as close as real roadmesh
NetSegment.CalculateMiddlePoints(newBezierA, newBezierADir, newBezierD, newBezierDDir, true, true, out newBezier.b, out newBezier.c);
instance.m_lanes.m_buffer[firstLane].m_bezier = newBezier;
num += instance.m_lanes.m_buffer[firstLane].UpdateLength();
num2 += 1f;
firstLane = instance.m_lanes.m_buffer[firstLane].m_nextLane;
}
if (num2 != 0f)
{
__instance.m_averageLength = num / num2;
}
else
{
__instance.m_averageLength = 0f;
}
bool flag7 = false;
if (__instance.m_averageLength < 11f && (instance.m_nodes.m_buffer[__instance.m_startNode].m_flags & NetNode.Flags.Junction) != 0 && (instance.m_nodes.m_buffer[__instance.m_endNode].m_flags & NetNode.Flags.Junction) != 0)
{
flag7 = true;
}
firstLane = __instance.m_lanes;
for (int j = 0; j < m_info.m_lanes.Length; j++)
{
if (firstLane == 0)
{
break;
}
NetLane.Flags flags4 = (NetLane.Flags)(instance.m_lanes.m_buffer[firstLane].m_flags & -9);
if (flag7)
{
flags4 |= NetLane.Flags.JoinedJunction;
}
instance.m_lanes.m_buffer[firstLane].m_flags = (ushort)flags4;
firstLane = instance.m_lanes.m_buffer[firstLane].m_nextLane;
}
}
//Patch End
}
}
}
}
/// <summary>
/// Return the raw margin from the decision hyperplane
/// </summary>
protected Float AveragedMargin(ref VBuffer <Float> feat)
{
Contracts.Assert(Args.Averaged);
return((TotalBias + VectorUtils.DotProduct(ref feat, ref TotalWeights)) / (Float)NumWeightUpdates);
}
