public void Update(float[] rayCollisions, float deltaT)
{
IsRunning = CheckpointManager.Update(Position);
var output = Ai.GetOutput(rayCollisions, Position, Heading, CheckpointManager.CurrentWaypoint);
var acceleration = Math.Min(output.Acceleration, 1);
acceleration = Math.Max(acceleration, -1);
var braking = Math.Min(output.BreakingForce, 1);
braking = Math.Max(braking, -1);
acceleration *= CarConfiguration.AccelerationCoefficient;
braking *= CarConfiguration.BrakeCoefficient;
// Apply acceleration
Speed += acceleration - braking;
// Apply drag
Speed -= Speed * DragCoefficient;
if (Speed < 0)
{
IsRunning = false;
}
// Cap max speed
Speed = Math.Min(Speed, MaximumForwardSpeed);
Speed = Math.Max(Speed, MaximumReverseSpeed);
var turningForce = -output.LeftTurnForce + output.RightTurnForce;
turningForce = Math.Min(turningForce, 1);
turningForce = Math.Max(turningForce, -1);
Heading += MaximumRads * deltaT * turningForce;
Position.X += (float)Math.Cos(Heading + 1.5708) * Speed * deltaT;
Position.Y += (float)Math.Sin(Heading + 1.5708) * Speed * deltaT;
Sprite.Position = Position;
Sprite.Rotation = Heading;
if (GetDistance(StartPosition, Position) > 300)
{
ExitedStartArea = true;
}
if (IsRunning)
{
var distance = GetDistance(Position, previousPosition);
TotalDistance += distance;
TimeAlive += deltaT;
PreviousSpeeds.Add(distance / deltaT);
if (PreviousSpeeds.Count() > 180)
{
PreviousSpeeds.Remove(PreviousSpeeds.First());
}
Ai.IncrementFitness(this);
previousPosition = Position;
}
UpdateRayCasts();
}
