public Wall(Vec p1, Vec p2)
{
this.p1 = p1;
this.p2 = p2;
}
public void tick()
{
// tick the environment
this.clock++;
// fix input to all agents based on environment
for (int i = 0, n = this.agents.Count; i < n; i++)
{
var a = this.agents[i];
for (int ei = 0, ne = a.eyes.Count; ei < ne; ei++)
{
var e = a.eyes[ei];
// we have a line from p to p->eyep
var eyep = new Vec((float)a.p.X + (float)e.max_range * (float)Math.Sin(a.angle + e.angle),
(float)a.p.Y + e.max_range * (float)Math.Cos(a.angle + e.angle));
var res = this.stuff_collide_(a.p, eyep, true, true);
if (res != null)
{
// eye collided with wall
e.sensed_proximity = res.up.dist_from(a.p);
e.sensed_type = res.type;
}
else
{
e.sensed_proximity = e.max_range;
e.sensed_type = -1;
}
}
}
// let the agents behave in the world based on their input
for (int i = 0, n = this.agents.Count; i < n; i++)
{
this.agents[i].forward();
}
// apply outputs of agents on evironment
for (int i = 0, n = this.agents.Count; i < n; i++)
{
var a = this.agents[i];
a.op = a.p; // back up old position
a.oangle = a.angle; // and angle
// steer the agent according to outputs of wheel velocities
var v = new Vec(0, a.rad / 2.0f);
v = v.rotate(a.angle + (float)Math.PI / 2);
var w1p = a.p.add(v); // positions of wheel 1 and 2
var w2p = a.p.sub(v);
var vv = a.p.sub(w2p);
vv = vv.rotate(-a.rot1);
var vv2 = a.p.sub(w1p);
vv2 = vv2.rotate(a.rot2);
var np = w2p.add(vv);
np.scale(0.5f);
var np2 = w1p.add(vv2);
np2.scale(0.5f);
a.p = np.add(np2);
a.angle -= a.rot1;
if (a.angle < 0)
{
a.angle += 2 * (float)Math.PI;
}
a.angle += a.rot2;
if (a.angle > 2 * Math.PI)
{
a.angle -= 2 * (float)Math.PI;
}
// agent is trying to move from p to op. Check walls
var res = this.stuff_collide_(a.op, a.p, true, false);
if (res != null)
{
// wall collision! reset position
a.p = a.op;
}
// handle boundary conditions
if (a.p.X < 0)
{
a.p.X = 0;
}
if (a.p.X > this.W)
{
a.p.X = this.W;
}
if (a.p.Y < 0)
{
a.p.Y = 0;
}
if (a.p.Y > this.H)
{
a.p.Y = this.H;
}
}
// tick all items
var update_items = false;
for (int i = 0, n = this.items.Count; i < n; i++)
{
var it = this.items[i];
it.age += 1;
// see if some agent gets lunch
for (int j = 0, m = this.agents.Count; j < m; j++)
{
var a = this.agents[j];
var d = a.p.dist_from(it.p);
if (d < it.rad + a.rad)
{
// wait lets just make sure that this isn't through a wall
var rescheck = this.stuff_collide_(a.p, it.p, true, false);
if (rescheck == null)
{
// ding! nom nom nom
if (it.type == 1)
{
a.digestion_signal += 5.0f; // mmm delicious apple
}
if (it.type == 2)
{
a.digestion_signal += -6.0f; // ewww poison
}
it.cleanup_ = true;
update_items = true;
break; // break out of loop, item was consumed
}
}
}
if (it.age > 5000 && this.clock % 100 == 0 && Util.RandF(0, 1) < 0.1)
{
it.cleanup_ = true; // replace this one, has been around too long
update_items = true;
}
}
if (update_items)
{
var nt = new List <Item>();
for (int i = 0, n = this.items.Count; i < n; i++)
{
var it = this.items[i];
if (!it.cleanup_)
{
nt.Add(it);
}
}
this.items = nt; // swap
}
if (this.items.Count < 30 && this.clock % 10 == 0 && Util.RandF(0, 1) < 0.25)
{
var newitx = Util.RandF(20, this.W - 20);
var newity = Util.RandF(20, this.H - 20);
var newitt = Util.Randi(1, 3); // food or poison (1 and 2)
var newit = new Item(newitx, newity, newitt);
this.items.Add(newit);
}
// agents are given the opportunity to learn based on feedback of their action on environment
for (int i = 0, n = this.agents.Count; i < n; i++)
{
this.agents[i].backward();
}
}
public Vec add(Vec v)
{
return(new Vec(this.X + v.X, this.Y + v.Y));
}
public Vec sub(Vec v)
{
return(new Vec(this.X - v.X, this.Y - v.Y));
}
public float dist_from(Vec v)
{
return((float)Math.Sqrt(Math.Pow(this.X - v.X, 2)
+ Math.Pow(this.Y - v.Y, 2)));
}
