public Agent(Map world, int id, bool outputGenes)
: base()
{
//heading is initially 0
m_Heading = 0.0f;
//side is 90 degrees CW from heading
m_Side = m_Heading - (float)Math.PI / 2.0f;
//velocity, acceleration, speed are initially zero
m_Velocity = Vector3.Zero;
m_Acceleration = Vector3.Zero;
m_Speed = 0.0f;
m_TurnAmount = 0.0f;
//init max speed
m_MaxSpeed = MAX_SPEED;
m_AgentAdjacencyList = new List<Tuple<Agent, float, float>>();
//agent is initially inactive
m_IsActive = false;
//sensory radius for adjacent agents and pie slice
m_SensoryRadius = 400;
//do no initially output info
m_OutputAdjacentAgents = false;
m_OutputInfo = false;
m_OutputRayInfo = false;
//init agent's id
this.m_ID = id;
m_SteeringBehaviors = new SteeringBehaviors(this);
m_World = world;
m_Brain = new NeuralNetwork();
m_OutputGenes = outputGenes;
if (m_OutputGenes == true)
{
m_GeneticFile = new System.IO.StreamWriter("Agent" + Id + ".gene");
}
m_MemoryOutputs = new List<double>();
m_MemoryOutputs.Add(0);
m_MemoryOutputs.Add(0);
m_MemoryOutputs.Add(0);
m_MemoryOutputs.Add(0);
m_Fitness = 0;
//init rangefinder list
InitializeRangefinderWalls();
InitializeRangefinderBlocks();
//init pie slices
InitializePieSliceSensors();
//init node adj list
InitializeAdjacencyListNodes();
//init state is navigate
m_CurrentState = new State_Navigate();
m_NavDelay = DateTime.Now;
//begin invulnerability timer
m_Invuln = true;
m_InvulnTimer = DateTime.Now.AddSeconds(12);
// Initialize the Escape node to null to set it later
m_EscapeNode = null;
m_StartingLocation = Vector3.Up;
m_MovementSpeed = MAX_SPEED;
m_TurnSpeed = MAX_TURN_SPEED;
}
/// <summary>
/// Transition to appropriate state.
/// </summary>
/// <param name="newState">State to transition to.</param>
public void ChangeState(State newState)
{
m_CurrentState = newState;
}
