private void Grid_MouseUp(object sender, MouseButtonEventArgs e)
{
if (!_AddMode)
{
return;
}
_AddMode = false;
_ConnectorLine.Visibility = System.Windows.Visibility.Hidden;
//Add the one we picked
var oldLoc = new OldLocation();
Canvas.SetLeft(oldLoc, Canvas.GetLeft(primarySegment));
Canvas.SetTop(oldLoc, Canvas.GetTop(primarySegment));
DrawCanvas.Children.Add(oldLoc);
//Add a line connecting old to new
var newestLine = new Line();
newestLine.Visibility = System.Windows.Visibility.Visible;
newestLine.Stroke = new SolidColorBrush(Colors.Brown);
newestLine.X1 = _ConnectorLine.X1;
newestLine.Y1 = _ConnectorLine.Y1;
newestLine.X2 = _ConnectorLine.X2 + 40;
newestLine.Y2 = _ConnectorLine.Y2 + 50;
DrawCanvas.Children.Add(newestLine);
//Move the active/primary to the new location
Canvas.SetLeft(primarySegment, e.GetPosition(this).X);
Canvas.SetTop(primarySegment, e.GetPosition(this).Y);
}
/// <summary>
/// Enacts agent behavior based on neural network outputs. Movement uses instant/reactive turning and acceleration-based movement (hybrid approach) to encourage robots to move at the same (maximum) Velocity.
/// </summary>
/// <param name="outputs">Neural network outputs.</param>
/// <param name="Timestep">The current timestep.</param>
public void decideAction(float[] outputs, double timeStep)
{
Velocity += (outputs[1] - 0.5) * 2.0;
if (Velocity > 6.0)
{
Velocity = 6.0;
}
if (Velocity < -6.0)
{
Velocity = (-6.0);
}
Heading += (outputs[0] - 0.5) * 0.2094395104 * 2;
// Position updating code below this point ---------------
TempDistance = (float)OldLocation.squaredDistance(Location);
DistanceTraveled += TempDistance;
OldLocation.X = Location.X;
OldLocation.Y = Location.Y;
// Update current coordinates (may be revoked if new position forces collision)
if (!Stopped)
{
double dx = Math.Cos(Heading) * Velocity * timeStep;
double dy = Math.Sin(Heading) * Velocity * timeStep;
Location.X += dx;
Location.Y += dy;
}
}
private Rect GetMovedAreaRect()
{
var halfSize = HalfSize;
var rect = Rect.CreateFromPoints(OldLocation.ToPoint() + halfSize, Location.ToPoint() + halfSize);
rect.X -= halfSize.X;
rect.Y -= halfSize.Y;
rect.Width += Size.X;
rect.Height += Size.Y;
return(rect);
}
