private void UpdateSim()
{
SimOpt.SimOpts.TotRunCycle++;
DnaEngine.ExecRobs(SimOpt.SimOpts.Costs, _robotsManager.Robots);
//updateshots can write to bot sense, so we need to clear bot senses before updating shots
foreach (var rob in _robotsManager.Robots.Where(r => r.Exists && r.DnaDisabled == false))
{
Senses.EraseSenses(rob);
}
_shotsManager.UpdateShots(_robotsManager);
//Botsareus 6/22/2016 to figure actual velocity of the bot incase there is a collision event
foreach (var rob in _robotsManager.Robots.Where(r => r.Exists))
{
rob.OldPosition = rob.Position;
}
_robotsManager.UpdateBots();
//to figure actual velocity of the bot incase there is a collision event
foreach (var rob in _robotsManager.Robots.Where(r => r.Exists && !(r.OldPosition.X == 0 & r.OldPosition.Y == 0)))
{
rob.ActualVelocity = rob.Position - rob.OldPosition;
}
var allChlr = (int)_robotsManager.Robots.Where(r => r.Exists).Sum(r => r.Chloroplasts);
_robotsManager.TotalChlr = allChlr / 16000; //Panda 8/23/2013 Calculate total unit chloroplasts
if (_robotsManager.TotalChlr < SimOpt.SimOpts.MinVegs && Vegs.TotalVegs != -1)
{
Vegs.VegsRepopulate(_robotsManager, _bucketManager); //Will be -1 first cycle after loading a sim. Prevents spikes.
}
Vegs.feedvegs(_robotsManager, SimOpt.SimOpts.MaxEnergy);
//Kill some robots to prevent of memory
var totlen = _robotsManager.Robots.Where(r => r.Exists).Sum(r => r.Dna.Count);
if (totlen > 4000000)
{
var maxdel = 1500 * (_robotsManager.TotalRobots * 425 / totlen);
foreach (var rob in _robotsManager.Robots.Where(r => r.Exists).OrderByDescending(r => r.Energy + r.Body * 10).Take(maxdel).ToArray())
{
_robotsManager.KillRobot(rob);
}
}
if (totlen > 3000000)
{
foreach (var rob in _robotsManager.Robots)
{
rob.LastMutationDetail.Clear();
}
}
RenderField();
}
public void StartSimulation(bool startLoaded = false)
{
DnaEngine.LoadSysVars();
if (!startLoaded)
{
SimOpt.SimOpts.TotBorn = 0;
}
if (!startLoaded)
{
_shotsManager = new ShotsManager();
_bucketManager = new BucketManager(SimOpt.SimOpts);
_robotsManager = new RobotsManager(_bucketManager, _shotsManager);
}
var standardRadius = SimOpt.SimOpts.FixedBotRadii ? Robot.RobSize / 2.0 : 415.475;
_shotsManager.MaxBotShotSeparation = Math.Pow(standardRadius, 2) +
Math.Pow(SimOpt.SimOpts.MaxVelocity * 2 + Robot.RobSize / 3.0, 2);
if (!startLoaded)
{
LoadRobots();
}
else
{
Vegs.CoolDown = -SimOpt.SimOpts.RepopCooldown;
Vegs.TotalVegs = -1;
}
_active = true;
Main();
}
