public void UpdatePosition()
{
double foodDist = 0;
double leftTrack;
double rightTrack;
double curSpeed;
myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood);
double[] input = new double[4];
input[0] = Math.Cos(dir); //could be sin also; doesn't matter aslong as its between 0 and 1
input[1] = Math.Cos(dir);
input[2] = (myFood.X - x) / foodDist; //let the ant know about nearest food
input[3] = (myFood.Y - y) / foodDist; //same
double[] output = net.FeedData(input); //feed input into network and get output
leftTrack = output[0];
rightTrack = output[1];
dir += (rightTrack - leftTrack) * (Cosmos.maxForce / 100); //find the direction
curSpeed = (rightTrack + leftTrack) / 2;
x += Math.Sin(dir) * Cosmos.maxSpeed * curSpeed / 10; //max speed is just a twaking parameter; don't get confused by it
y -= Math.Cos(dir) * Cosmos.maxSpeed * curSpeed / 10; //try varying it in simulation
finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
if (x < 0)
{
x = clientSize.Width;
}
if (x > clientSize.Width)
{
x = 0;
}
if (y < 0)
{
y = clientSize.Height;
}
if (y > clientSize.Height)
{
y = 0;
}
if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
(myFood.X <= (x + Cosmos.foodTolerance)) &&
(myFood.Y >= (y - Cosmos.foodTolerance)) &&
(myFood.Y <= (y + Cosmos.foodTolerance)))
{
foodCollected++;
myWorld.NewFood(indMyFood);
}
}
/*public void UpdatePosition(Polygon[] polygons, int numFood)
* {
* double foodDist = 0;
* double leftTrack;
* double rightTrack;
* double curSpeed;
*
*
*
* myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood, myFoodCollected);
* double[] input = new double[4];
* input[0] = Math.Cos(dir); //could be sin also; doesn't matter aslong as its between 0 and 1
* input[1] = Math.Cos(dir);
* input[2] = (myFood.X - x) / foodDist; //let the ant know about nearest food
* input[3] = (myFood.Y - y) / foodDist; //same
* double[] output = net.FeedData(input); //feed input into network and get output
* leftTrack = output[0];
* rightTrack = output[1];
* dir += (rightTrack - leftTrack) * (Cosmos.maxForce / 100); //find the direction
* curSpeed = (rightTrack + leftTrack) / 2;
* x += Math.Sin(dir) * antMaxSpeed * curSpeed / 10; //max speed is just a twaking parameter; don't get confused by it
* y -= Math.Cos(dir) * antMaxSpeed * curSpeed / 10; //try varying it in simulation
*
* Vector2 velocity = new Vector2((float)x, (float)y);
*
* int tx, ty, lx, ly, rx, ry;
* tx = (int)(Ants.AntTopX * Math.Cos(dir) - Ants.AntTopY * Math.Sin(dir) + x);
* ty = (int)(Ants.AntTopY * Math.Cos(dir) + Ants.AntTopX * Math.Sin(dir) + y);
* lx = (int)(Ants.AntLeftX * Math.Cos(dir) - Ants.AntLeftY * Math.Sin(dir) + x);
* ly = (int)(Ants.AntLeftY * Math.Cos(dir) + Ants.AntLeftX * Math.Sin(dir) + y);
* rx = (int)(Ants.AntRightX * Math.Cos(dir) - Ants.AntRightY * Math.Sin(dir) + x);
* ry = (int)(Ants.AntRightY * Math.Cos(dir) + Ants.AntRightX * Math.Sin(dir) + y);
* //g.FillPolygon(Cosmos.whiteBrush, new Point[] { new Point(tx, ty), new Point(lx, ly), new Point(rx, ry) });
*
* Polygon agent = new Polygon();
* agent.Points.Add(new Vector2(tx, ty));
* agent.Points.Add(new Vector2(lx, ly));
* agent.Points.Add(new Vector2(rx, ry));
* agent.BuildEdges();
* Vector2 playerTranslation = velocity;
*
* for (int m = 0; m < polygons.Length; m++)
* {
* PolygonCollisionResult r = PolygonCollision(agent, polygons[m], velocity);
*
* if (r.WillIntersect)
* {
* playerTranslation = velocity + r.MinimumTranslationVector;
* x = x + playerTranslation.X/2;
* y = y + playerTranslation.Y/2;
*
* // y = y + playerTranslation.Y;
* break;
* }
* }
*
*
* Vector2 finish = new Vector2();
*
* if (agentType != null && agentType.Equals("calm"))
* {
* finish = new Vector2(finishPosition.X, finishPosition.Y);
* Vector2 target = new Vector2(myFood.X,myFood.Y);
* Vector2 current = new Vector2((float)x,(float)y);
* Vector2 steerForce = SteeringBehaviours.Seek(ref target,ref current , ref velocity, 10);
* steerForce = Vector2.Truncate(steerForce, 10);
* Random random = new Random();
* Vector2 acceleration = steerForce / (random.Next(20, 80));
* velocity = Vector2.Truncate(velocity + acceleration,10);
* finish = Vector2.Add(velocity, finish);
* finishPosition = new PointF((float)finish.X, (float)finish.Y);
* }
* else
* finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
*
*
*
* if (x < 0)
* x = clientSize.Width;
* if (x > clientSize.Width)
* x = 0;
* if (y < 0)
* y = clientSize.Height;
* if (y > clientSize.Height)
* y = 0;
*
*
*
* if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
* (myFood.X <= (x + Cosmos.foodTolerance)) &&
* (myFood.Y >= (y - Cosmos.foodTolerance)) &&
* (myFood.Y <= (y + Cosmos.foodTolerance)))
* {
* if (myFoodCollected[indMyFood] != 1)
* {
* foodCollected++;
* myFoodCollected[indMyFood] = 1;
* }
*
* // agent disappears when they have reached the total number of goals
* if(foodCollected == numFood)
* invisible = true;
* myWorld.NewFood(indMyFood);
* }
* } */
public void UpdatePosition(Polygon[] polygons, int numFood)
{
double foodDist = 0;
double leftTrack;
double rightTrack;
double curSpeed;
myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood, myFoodCollected);
double[] input = new double[4];
input[0] = Math.Cos(dir); //could be sin also; doesn't matter aslong as its between 0 and 1
input[1] = Math.Cos(dir);
input[2] = (myFood.X - x) / foodDist; //let the ant know about nearest food
input[3] = (myFood.Y - y) / foodDist; //same
double[] output = net.FeedData(input); //feed input into network and get output
leftTrack = output[0];
rightTrack = output[1];
double olddir = dir;
dir += (rightTrack - leftTrack) * (Cosmos.maxForce / 100); //find the direction
curSpeed = (rightTrack + leftTrack) / 2;
x += Math.Sin(dir) * antMaxSpeed * curSpeed / 10; //max speed is just a twaking parameter; don't get confused by it
y -= Math.Cos(dir) * antMaxSpeed * curSpeed / 10; //try varying it in simulation
// finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
if (((x - 15) <= 5) || ((x + 15) >= 1090))
{
if ((x - 15) <= 5)
{
x += 15;
}
else
{
x -= 15;
}
}
if (((y - 15) <= 5) || ((y + 15) >= 667))
{
if ((y - 15) <= 5)
{
y += 15;
}
else
{
y -= 15;
}
}
Vector2 targetPosition = new Vector2(myFood);
Vector2 currentPosition = new Vector2((float)x, (float)y);
Vector2 desired_V = Vector2.Normalize(Vector2.Subtract(targetPosition, currentPosition)) * (int)antMaxSpeed;
Vector2 velocity = new Vector2(1, 1);
Vector2 steerForce = Vector2.Subtract(desired_V, velocity);
steerForce = Vector2.Truncate(steerForce, (int)Cosmos.maxForce);
float mass = 21;
Vector2 acceleration = steerForce / mass;
velocity = Vector2.Truncate(velocity + acceleration, (int)antMaxSpeed);
currentPosition = Vector2.Add(velocity, currentPosition);
finishPosition = new PointF((float)currentPosition.X + finishPosition.X, (float)currentPosition.Y + finishPosition.Y);
x = (float)currentPosition.X;
y = (float)currentPosition.Y;
int tx, ty, lx, ly, rx, ry;
tx = (int)(Ants.AntTopX * Math.Cos(dir) - Ants.AntTopY * Math.Sin(dir) + x);
ty = (int)(Ants.AntTopY * Math.Cos(dir) + Ants.AntTopX * Math.Sin(dir) + y);
lx = (int)(Ants.AntLeftX * Math.Cos(dir) - Ants.AntLeftY * Math.Sin(dir) + x);
ly = (int)(Ants.AntLeftY * Math.Cos(dir) + Ants.AntLeftX * Math.Sin(dir) + y);
rx = (int)(Ants.AntRightX * Math.Cos(dir) - Ants.AntRightY * Math.Sin(dir) + x);
ry = (int)(Ants.AntRightY * Math.Cos(dir) + Ants.AntRightX * Math.Sin(dir) + y);
Polygon agent = new Polygon();
agent.Points.Add(new Vector2(tx, ty));
agent.Points.Add(new Vector2(lx, ly));
agent.Points.Add(new Vector2(rx, ry));
agent.BuildEdges();
Vector2 playerTranslation = velocity;
for (int m = 0; m < polygons.Length; m++)
{
if ((rx + 270) >= polygons[m].Points[3].X)
{
PolygonCollisionResult r = PolygonCollision(agent, polygons[m], velocity);
if (r.WillIntersect)
{
playerTranslation = velocity + r.MinimumTranslationVector;
x = x + playerTranslation.X / 2;
y = y + playerTranslation.Y / 2;
dir = olddir;
// y = y + playerTranslation.Y;
break;
}
}
}
/*for (int m = 0; m < polygons.Length; m++)
* {
* RectangleF rf = new RectangleF(polygons[m].Points[0].X,polygons[m].Points[0].Y, Math.Abs(polygons[m].Points[1].X - polygons[m].Points[0].X),Math.Abs(polygons[m].Points[2].Y - polygons[m].Points[1].Y));
*
* if(IsIntersected(new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y),(float)6, rf))
* {
* // playerTranslation = velocity + r.MinimumTranslationVector;
* //x = x + playerTranslation.X / 2;
* //y = y + playerTranslation.Y / 2;
* x = x + 50;
* y = y + 50;
*
* // y = y + playerTranslation.Y;
* break;
* }
* } */
//finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
if (x < 0)
{
x = clientSize.Width;
}
if (x > clientSize.Width)
{
x = 0;
}
if (y < 0)
{
y = clientSize.Height;
}
if (y > clientSize.Height)
{
y = 0;
}
if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
(myFood.X <= (x + Cosmos.foodTolerance)) &&
(myFood.Y >= (y - Cosmos.foodTolerance)) &&
(myFood.Y <= (y + Cosmos.foodTolerance)))
{
foodCollected++;
invisible = true;
//myWorld.NewFood(indMyFood);
}
}
