private void ActivateThruster(ParticleSystem particleSystem, AudioSource sound, ref float speedToAdjust, float accelerationVal, float maxSpeedVal)
{
// TODO play Sound
float fuel = Lander.GetInstance().GetFuel();
if (fuel > 0)
{
if (!sound.isPlaying)
{
sound.Play();
}
if (!particleSystem.isPlaying)
{
particleSystem.Play();
}
speedToAdjust += accelerationVal * Time.deltaTime;
if (speedToAdjust > maxSpeedVal)
{
speedToAdjust = maxSpeedVal;
}
Lander.GetInstance().ReduceFuel(speedToAdjust);
}
else
{
DisableThruster(particleSystem, sound, ref speedToAdjust);
}
}
/// <summary>
/// The main entry point for the application.
/// </summary>
private static void Main(string[] args)
{
using (var game = new Lander())
{
game.Run();
}
}
public IEnumerator LandedOnPlatform(GameObject landingPad, float distanceToCenter, float maxFuelRestore)
{
if (landingPad.Equals(lastLandingPad))
{
Debug.Log("Feet on the Ground: " + amountOfFeet + " ... you get Points and Fuel! Dist: " + distanceToCenter.ToString());
bool perfectLanding = amountOfFeet == 4;
int multiplier = amountOfFeet;
/*if(perfectLanding){
* // TODO perfect landing
* Debug.Log("Perfect Landing");
* SetMessageLabelText("Perfect Landing", 1f);
* yield return new WaitForSeconds(1f);
* }*/
LandingPlatform platformScript = landingPad.GetComponent <LandingPlatform>();
float points = platformScript.scorePoints - distanceToCenter - impact;
int bonusMultiplier = platformScript.multiply;
int score = ((int)(points + 0.5f)) * (multiplier + bonusMultiplier);
string scoreText = (perfectLanding ? "Perfect Landing\n" : "") +
(multiplier + bonusMultiplier).ToString() + " x " + ((int)(score / (multiplier + bonusMultiplier))).ToString();
SetMessageLabelText(scoreText, 24, 2f);
yield return(new WaitForSeconds(2f));
currentLevelScore += score;
// TODO Score textlabel aufblitzen lassen
float bonusFuel = (maxFuelRestore * multiplier) - distanceToCenter;
Lander.GetInstance().AddFuel(bonusFuel / 3);
Debug.Log("Added Fuel");
if (GetRemainingLandingPads() == 0)
{
yield return(StartCoroutine(EndLevel()));
}
}
}
// Use this for initialization
void Start()
{
if (scalingOverlays.Length < scalings.Length) {
Debug.LogError ("Lengths of overlays and scalings have to match!!!");
}
lander = referencedGameObject.GetComponent<Lander>();
}
/// <summary>Getting the distance from the surface directly under the lander.</summary>
public double GetDistanceFromSurface(Lander lander)
{
if (lander.Situation.X < 0 || lander.Situation.X > MarsLanderRules.Width)
{
return(double.MaxValue);
}
return(lander.Situation.Y - _surfaceElements[(int)Math.Round(lander.Situation.X)].Y);
}
void Start()
{
playerLander = GameObject.Find("Lander").GetComponent <Lander>();
if (playerLander == null)
{
Debug.LogError("Cannot find Lander gameobject. Make sure your Lander is named Lander.");
}
}
// Use this for initialization
void Start()
{
if (scalingOverlays.Length < scalings.Length)
{
Debug.LogError("Lengths of overlays and scalings have to match!!!");
}
lander = referencedGameObject.GetComponent <Lander>();
}
void FixedUpdate()
{
if (Lander.GetInstance().isStarted())
{
direction = jetBone.transform.right;
//Debug.Log("Fly to: " + direction.ToString());
if (speed > 0)
{
if (transform.position.y >= maxHeight)
{
direction.y = 0;
}
//rigidbody.AddForceAtPosition(direction * speed * Time.fixedDeltaTime, mainThruster.transform.position);
rigidbody.AddForce(direction * speed * Time.fixedDeltaTime);
}
if (frontThrusterSpeed > 0)
{
//Debug.Log ("Backthruster angle " + finalAngleForward);
float speedRot = frontThrusterSpeed * Time.fixedDeltaTime;
Vector3 force = frontThruster.transform.forward * speedRot * -1;
rigidbody.AddForceAtPosition(force, frontThruster.transform.position);
}
if (backThrusterSpeed > 0)
{
//Debug.Log ("Frontthruster angle: " + finalAngleForward);
float speedRot = backThrusterSpeed * Time.fixedDeltaTime;
Vector3 force = backThruster.transform.forward * speedRot * -1;
//rigidbody.AddRelativeTorque (torque);
rigidbody.AddForceAtPosition(force, backThruster.transform.position);
}
if (rightThrusterSpeed > 0)
{
//Debug.Log ("Rightthruster angle: " + finalAngleRight);
float speedRot = rightThrusterSpeed * Time.fixedDeltaTime;
Vector3 force = rightThruster.transform.forward * speedRot * -1;
//rigidbody.AddRelativeTorque (torque);
rigidbody.AddForceAtPosition(force, rightThruster.transform.position);
}
if (leftThrusterSpeed > 0)
{
//Debug.Log ("Leftthruster angle: " + finalAngleRight);
float speedRot = leftThrusterSpeed * Time.fixedDeltaTime;
Vector3 force = leftThruster.transform.forward * speedRot * -1;
//rigidbody.AddRelativeTorque (torque);
rigidbody.AddForceAtPosition(force, leftThruster.transform.position);
}
if (topThrusterSpeed > 0)
{
//Debug.Log ("Leftthruster angle: " + finalAngleRight);
float speedRot = topThrusterSpeed * Time.fixedDeltaTime;
Vector3 force = topThruster.transform.forward * speedRot * -1;
//rigidbody.AddRelativeTorque (torque);
rigidbody.AddForce(force);
}
}
}
private void GenerateActors(int count, Lander original)
{
Actors = new List <MarsLanderActor>();
for (var i = 0; i < count; i++)
{
Actors.Add(new MarsLanderActor(original, _environment));
}
}
public void ApplyFullRangeRandomActions(RandomNessProvider randomNessProvider)
{
while (Lander.Status == LanderStatus.Flying)
{
var randomAngle = randomNessProvider.GetRandomAngle();
var randomPower = randomNessProvider.GetRandomPower();
Lander.Apply(randomAngle, randomPower, _environment);
}
}
// Use this for initialization
void Start()
{
Camera cam = cameras [currentCamera];
cam.enabled = true;
cam.gameObject.GetComponent <AudioListener> ().enabled = true;
instance = this;
rigidbody.useGravity = false;
controller = gameObject.GetComponent <LanderWiiMote> ();
this.started = false;
}
public void ApplyActions(IEnumerable <string> actions)
{
foreach (var actionArray in actions.Select(action => action.Split(" ")))
{
if (Lander.Status != LanderStatus.Flying)
{
continue;
}
Lander.Apply(int.Parse(actionArray[0]), int.Parse(actionArray[1]), _environment);
}
}
public Distance GetDistanceFromFlatSurface(Lander lander)
{
if (_landingZone == null)
{
SetLandingZone();
}
var side = Side.Above;
if (lander.Situation.X < _landingZone.LeftX)
{
side = Side.Left;
}
if (lander.Situation.X > _landingZone.RightX)
{
side = Side.Right;
}
var horizontalDistance = 0.0;
var fullDistance = 0.0;
if (side == Side.Left)
{
horizontalDistance = _landingZone.LeftX - lander.Situation.X;
fullDistance = Trigonometry.GetDistance(
new Point(_landingZone.LeftX, _landingZone.LeftY),
new Point(lander.Situation.X, lander.Situation.Y));
}
if (side == Side.Right)
{
horizontalDistance = _landingZone.RightX - lander.Situation.X;
fullDistance = Trigonometry.GetDistance(
new Point(_landingZone.RightX, _landingZone.RightY),
new Point(lander.Situation.X, lander.Situation.Y));
}
if (side == Side.Above)
{
fullDistance = Trigonometry.GetDistance(
new Point(lander.Situation.X, // We are above, so we do not need to move to the left or right.
_landingZone.LeftY), // Y is the same everywhere in the landing zone.
new Point(lander.Situation.X,
lander.Situation.Y));
}
return(new Distance
{
HorizontalDistance = horizontalDistance,
VerticalDistance =
lander.Situation.Y - _landingZone.LeftY, // Y is the same everywhere in the landing zone.
FullDistance = fullDistance
});
}
/// <summary>
/// <para>Search for a grid.</para>
/// The search happens when the action is executed.
/// When action is executed, an error may occur and instructionErrorIndex will be updated.
/// </summary>
private bool getAction_gridDest(out Action execute, string instruction)
{
myLogger.debugLog("entered getAction_gridDest(out Action execute, string " + instruction + ")", "getAction_gridDest()");
//string searchName = owner.CNS.tempBlockName;
//myLogger.debugLog("searchName = " + searchName + ", owner.CNS.tempBlockName = " + owner.CNS.tempBlockName, "getAction_gridDest()");
//owner.CNS.tempBlockName = null;
int myInstructionIndex = currentInstruction;
execute = () =>
{
IMyCubeBlock blockBestMatch;
LastSeen gridBestMatch;
myLogger.debugLog("calling lastSeenFriendly with (" + instruction + ", " + owner.CNS.tempBlockName + ")", "getAction_gridDest()");
if (owner.myTargeter.lastSeenFriendly(instruction, out gridBestMatch, out blockBestMatch, owner.CNS.tempBlockName))
{
Base6Directions.Direction?landDir = null;
if ((blockBestMatch != null && owner.CNS.landLocalBlock != null && owner.CNS.landDirection == null) &&
!Lander.landingDirection(blockBestMatch, out landDir))
{
log("could not get landing direction from block: " + owner.CNS.landLocalBlock.DefinitionDisplayNameText, "getAction_gridDest()", Logger.severity.INFO);
instructionErrorIndex_add(myInstructionIndex);
return;
}
if (landDir != null) // got a landing direction
{
owner.CNS.landDirection = landDir;
myLogger.debugLog("got landing direction of " + landDir + " from " + owner.CNS.landLocalBlock.DefinitionDisplayNameText, "getAction_gridDest()");
log("set land offset to " + owner.CNS.landOffset, "getAction_gridDest()", Logger.severity.TRACE);
}
else // no landing direction
{
if (blockBestMatch != null)
{
myLogger.debugLog("setting centreDestination to " + gridBestMatch.Entity.getBestName() + ", " + blockBestMatch.DisplayNameText + " seen by " + owner.currentRCblock.getNameOnly(), "getAction_gridDest()");
}
else
{
myLogger.debugLog("setting centreDestination to " + gridBestMatch.Entity.getBestName() + " seen by " + owner.currentRCblock.getNameOnly(), "getAction_gridDest()");
}
}
owner.CNS.setDestination(gridBestMatch, blockBestMatch, owner.currentRCblock);
return;
}
// did not find grid
log("did not find a friendly grid", "getAction_gridDest()", Logger.severity.TRACE);
instructionErrorIndex_add(myInstructionIndex);
};
return(true);
}
public SurfaceZone GetCurrentSurface(Lander lander)
{
if (lander.Situation.X < 0)
{
return(null);
}
if (lander.Situation.X > MarsLanderRules.Width)
{
return(null);
}
return(_surfaceZones
.LastOrDefault(element => element.LeftX <= lander.Situation.X && element.RightX > lander.Situation.X));
}
private IEnumerator EndLevel()
{
this.currentLevelScore += (int)((finishScore + timeToBeat + Lander.GetInstance().GetFuel()) + 0.5f);
//this.currentLevelScore += (int)( + 0.5f);
TheBrain.GetInstance().ApplyCurrentScore(currentLevelScore);
SetMessageLabelText("Well done ...", 48, 3);
yield return(new WaitForSeconds(3));
// TODO vernünftiges Verhalten für das Beenden eines Levels
SetGameOver();
}
/// <summary>Getting distance from the surface directly under the lander, but we don't need to find the surface
/// elements under the lander.</summary>
public static int GetDistanceFromSurface(Lander lander, SurfaceZone leftZone, SurfaceZone rightZone)
{
if (rightZone == null || leftZone == null)
{
return(int.MaxValue);
}
var zoneAngle = Trigonometry
.GetAngle(new Point(leftZone.LeftX, leftZone.LeftY), new Point(rightZone.LeftX, rightZone.LeftY));
var landerXInZone = lander.Situation.X - leftZone.LeftX;
var surfaceYPosition = leftZone.LeftY +
Math.Round(Trigonometry.GetNewYPosition(zoneAngle, landerXInZone));
return((int)Math.Round(lander.Situation.Y - surfaceYPosition));
}
public override void LoadContent()
{
lander = new Lander(StateManager.game);
lander.Initialize();
VectorFont.Initialize(StateManager.game);
terrain = new Terrain(StateManager.game);
terrain.TerrainName = terrainFileName;
terrain.Initialize();
sentScore = false;
win = StateManager.Content.Load <SoundEffect>("LanderVictorySound");
lose = StateManager.Content.Load <SoundEffect>("LanderExplosionSound");
bgColor = Color.Black;
oldKeyboardState = Keyboard.GetState();
}
public PlayScreen()
{
terrain = new Terrain();
soundEffects = new List <SoundEffect>();
pb = new PrimitiveBatch(StateManager.graphicsDevice);
lander = new Lander(StateManager.game);
//Components.Add(lander);
terrain.GenerateTerrain();
terrain.GeneratePads();
elapsedTime = TimeSpan.Zero;
fuelWord = new Font("FUEL 000", 5);
LoadContent();
}
public void GetPosition(string consoleText)
{
var splitText = consoleText.Split(' ');
if (splitText.Length > 6)
{
this.Lander = new Lander();
this.Lander.Position = new Point(int.Parse(splitText[0]), int.Parse(splitText[1]));
this.Lander.HorizontalSpeed = int.Parse(splitText[2]);
this.Lander.VerticalSpeed = int.Parse(splitText[3]);
this.Lander.Fuel = int.Parse(splitText[4]);
this.Lander.Angle = int.Parse(splitText[5]);
this.Lander.Power = int.Parse(splitText[6]);
}
}
public Distance GetDistanceFromFlatSurfaceCenter(Lander lander)
{
if (_landingZone == null)
{
SetLandingZone();
}
return(new Distance
{
HorizontalDistance = Math.Abs(lander.Situation.X - _centerLandingZoneX),
VerticalDistance = Math.Abs(lander.Situation.Y - _landingZone.LeftY),
FullDistance =
Trigonometry.GetDistance(
new Point(_centerLandingZoneX, _landingZone.LeftY),
new Point(lander.Situation.X, lander.Situation.Y))
});
}
public override void LoadContent()
{
StateManager.game.Window.Title = "Lunar Lander";
pb = GlobalValues.PrimitiveBatch;
#region Lander Calls
lander = new Lander(StateManager.game);
lander.Initialize();
if (isFirstLoad)
{
ResetValues();
isFirstLoad = false;
}
#endregion
}
void Awake()
{
instance = this;
generation = 1;
timer = 0.0f;
landerPos = new Vector3(Random.Range(-16, 17), 0, Random.Range(10, 16));
for (int i = 0; i < lunarsNum; i++)
{
GameObject obj = Instantiate(landerPrefab, landerPos, Quaternion.Euler(90, 0, 0));
Lander lan = obj.GetComponent <Lander>();
lan.SetBrain(inputs, outputs, numHiddenLayers, numNeuronPerHiddenLayer, bias, sigmoidPending);
lan.SetLimits(maxHeight, maxWidth);
if (i == 0)
{
ga = new GeneticAlg(elitesNum, lunarsNum, lan.GetNumberOfWeights(), mutation);
}
landers.Add(lan);
}
plataform = Instantiate(plataformPrefab, new Vector3(Random.Range(-17, 18), 0, Random.Range(-15, -9)), Quaternion.Euler(90, 0, 0));
}
static void Main(string[] args)
{
string[] inputs;
List <Point> pointsList = new List <Point>();
int surfaceN = int.Parse(Console.ReadLine()); // the number of points used to draw the surface of Mars.
for (int i = 0; i < surfaceN; i++)
{
inputs = Console.ReadLine().Split(' ');
int landX = int.Parse(inputs[0]); // X coordinate of a surface point. (0 to 6999)
int landY = int.Parse(inputs[1]); // Y coordinate of a surface point. By linking all the points together in a sequential fashion, you form the surface of Mars.
pointsList.Add(new Point(landX, landY));
}
foreach (Point p in pointsList)
{
Console.Error.WriteLine("{0}, {1}", p.X, p.Y);
}
Lander lander = new Lander();
// game loop
while (true)
{
inputs = Console.ReadLine().Split(' ');
int X = int.Parse(inputs[0]);
int Y = int.Parse(inputs[1]);
int hSpeed = int.Parse(inputs[2]); // the horizontal speed (in m/s), can be negative.
int vSpeed = int.Parse(inputs[3]); // the vertical speed (in m/s), can be negative.
int fuel = int.Parse(inputs[4]); // the quantity of remaining fuel in liters.
int rotate = int.Parse(inputs[5]); // the rotation angle in degrees (-90 to 90).
int power = int.Parse(inputs[6]); // the thrust power (0 to 4).
lander.update(X, Y, hSpeed, vSpeed, fuel, rotate, power);
// Write an action using Console.WriteLine()
// To debug: Console.Error.WriteLine("Debug messages...");
// 2 integers: rotate power. rotate is the desired rotation angle (should be 0 for level 1), power is the desired thrust power (0 to 4).
//Console.WriteLine("0 3");
}
}
public bool LanderCrashedThroughGround(Lander lander)
{
var previousSituation = lander.Situations
.LastOrDefault(situation => Math.Abs(situation.X - lander.Situation.X) > 0.001 &&
Math.Abs(situation.Y - lander.Situation.Y) > 0.001);
if (previousSituation == null)
{
return(false);
}
var enteredZones = _surfaceZones
.Where(zone => zone.LeftX <= previousSituation.X && zone.RightX > previousSituation.X ||
zone.LeftX <= lander.Situation.X && zone.RightX > lander.Situation.X)
.ToList();
foreach (var enteredZone in enteredZones)
{
if (enteredZone.LeftY < lander.Situation.Y && enteredZone.LeftY < previousSituation.Y &&
enteredZone.RightY < lander.Situation.Y && enteredZone.RightY < previousSituation.Y)
{
continue;
}
var landerVector = new Vector(
new Point(previousSituation.X, previousSituation.Y),
new Point(lander.Situation.X, lander.Situation.Y));
var zoneVector = new Vector(
enteredZone.LeftX,
enteredZone.LeftY,
enteredZone.RightX,
enteredZone.RightY);
if (Trigonometry.GetIntersection(landerVector, zoneVector).IntersectionType != IntersectionType.None)
{
return(true);
}
}
return(false);
}
private List <Generation> GetBestLanding(LandRequest landRequest)
{
var environment = new MarsLanderEnvironment(landRequest.Map.SurfaceZones.ToList());
var lander = new Lander
{
Situation = new Situation
{
Fuel = landRequest.Map.InitialFuel,
Power = landRequest.Map.InitialPower,
Rotation = landRequest.Map.InitialRotation,
X = landRequest.Map.InitialX,
Y = landRequest.Map.InitialY,
HorizontalSpeed = landRequest.Map.InitialHorizontalSpeed,
VerticalSpeed = landRequest.Map.InitialVerticalSpeed
}
};
var evolution = new MarsLanderEvolution(environment, landRequest.AiWeight);
if (landRequest.Parameters.Actions != null)
{
evolution.MaxActions = landRequest.Parameters.Actions <= 0 ? null : landRequest.Parameters.Actions;
}
var sw = Stopwatch.StartNew();
evolution.Run(landRequest.Parameters.Generations, landRequest.Parameters.Population, lander);
sw.Stop();
var highestScore = evolution.Generations
.SelectMany(generation => generation.Actors)
.Select(actor => actor.Score)
.OrderBy(score => score)
.First();
_logger.LogInformation("{elapsed}", sw.Elapsed);
_logger.LogInformation("Highest Score: {@score}", highestScore);
return(evolution.Generations);
}
private static void Main(string[] args)
{
string[] inputs;
int surfaceN = int.Parse(Console.ReadLine()); // the number of points used to draw the surface of Mars.
for (int i = 0; i < surfaceN; i++)
{
inputs = Console.ReadLine().Split(' ');
int landX = int.Parse(inputs[0]); // X coordinate of a surface point. (0 to 6999)
int landY = int.Parse(inputs[1]); // Y coordinate of a surface point. By linking all the points together in a sequential fashion, you form the surface of Mars.
map.Add(new Point(landX, landY));
}
double maxDistance = 0;
//find landing zone
for (int i = 0; i < surfaceN - 1; i++)
{
if (map[i].Y == map[i + 1].Y) //flat
{
var distance = map[i].Distance(map[i + 1]);
if (distance > maxDistance)
{
landingZone[0] = map[i];
landingZone[1] = map[i + 1];
maxDistance = distance;
}
}
}
landingZoneCenter = new Point((landingZone[1].X - landingZone[0].X) * 0.5 + landingZone[0].X, landingZone[0].Y);
Console.Error.WriteLine("Zone: {0}, {1}: {2}", landingZone[0], landingZone[1], landingZoneCenter);
Lander lander = new Lander(0, 0);
int t = -1;
// game loop
while (true)
{
t++;
inputs = Console.ReadLine().Split(' ');
int X = int.Parse(inputs[0]);
int Y = int.Parse(inputs[1]);
int hSpeed = int.Parse(inputs[2]); // the horizontal speed (in m/s), can be negative.
int vSpeed = int.Parse(inputs[3]); // the vertical speed (in m/s), can be negative.
int fuel = int.Parse(inputs[4]); // the quantity of remaining fuel in liters.
int rotate = int.Parse(inputs[5]); // the rotation angle in degrees (-90 to 90).
int power = int.Parse(inputs[6]); // the thrust power (0 to 4).
if (t == 0)
{
initFuel = fuel;
}
lander.X = X;
lander.Y = Y;
lander.HorizontalVelocity = hSpeed;
lander.VerticalVelocity = vSpeed;
lander.Fuel = fuel;
lander.Rotation = rotate;
lander.Power = power;
lander.Save();
stopwatch = Stopwatch.StartNew();
//lander.Solve(140, t > 0);
lander.Solve(140, t > 0);
//if (t == 0)
//{
//Console.Error.WriteLine("Lander: {0} {1} {2} {3}", X, Y, rotate, power);
//Console.Error.WriteLine("Solution: {0}\n{1}\nScore:{2}", string.Join(",", lander.sol.angles), string.Join(",", lander.sol.thrust), lander.sol.score);
//for (int i = 0; i < Depth; i++)
//{
// if (lander.CheckCollisions())
// {
// Console.Error.WriteLine("Col");
// break;
// }
// lander.Move(lander.sol.angles[i], lander.sol.thrust[i]);
// Console.Error.WriteLine("Lander Pos: {0} {1} V: {2} {3}", Math.Round(lander.X), Math.Round(lander.Y), Math.Round(lander.HorizontalVelocity), Math.Round(lander.VerticalVelocity));
//}
Console.WriteLine((int)lander.sol.angles[0] + " " + lander.sol.thrust[0]);
//for (int i = 0; i < lander.sol.Time; i++)
//{
// lander.sol.angles[i] = Math.Max(-90, Math.Min(lander.sol.angles[i], 90));
// lander.sol.thrust[i] = Math.Max(0, Math.Min(lander.sol.thrust[i], 4));
// Console.WriteLine((int)lander.sol.angles[i] + " " + lander.sol.thrust[i]);
//}
//}
Console.Error.WriteLine("Score:{0} {1}", lander.sol.score, lander.sol.Time);
Console.Error.WriteLine("Speed {0} {1}", lander.VerticalVelocity, lander.HorizontalVelocity);
if (t > 0)
{
Console.Error.WriteLine("Avg Sols: {0}, Avg Sims: {1}", solutionsTried / 1, solutionsTried * Depth / t);
}
//Console.WriteLine((int)lander.sol.angles[0] + " " + lander.sol.thrust[0]);
/*
* if (lander.X < landingZone[0].X)
* {
* //go right
* if (lander.HorizontalVelocity < MaxHorizontalSpeed)
* {
* lander.Rotation = -21.9;
* }
* var distanceToDest = landingZone[0].X - lander.X;
*
* lander.Power = 4;
* }
* else if (lander.X > landingZone[1].X)
* {
* //go left
* if (lander.HorizontalVelocity > -MaxHorizontalSpeed)
* {
* lander.Rotation = 21.9;
* }
* lander.Power = 4;
* }
* else
* {
* //zero out horizontal velocity
* var deltaRot = lander.HorizontalVelocity;
* var error = 5;
* if (deltaRot < 0)
* {
* lander.Rotation *= 0.50;
* }
* else if (deltaRot > 0)
* {
* lander.Rotation *= 0.50;
* }
*
* if (vSpeed < -40 && power < 4)
* {
* lander.Power += 1;
* }
* }
*
* // 2 integers: rotate power. rotate is the desired rotation angle, power is the
* // desired thrust power (0 to 4).
* lander.Rotation = Math.Max(-90, Math.Min(90, (int)lander.Rotation));
* Console.WriteLine(lander.Rotation + " " + lander.Power);
* copy.Move(lander.Rotation, (int)lander.Power);
* Console.Error.WriteLine("Lander (SIM): {0} {1} {2} {3}", copy.X, copy.Y, copy.Rotation, copy.Power);
* */
}
}
// Use this for initialization
void Start()
{
lander = landerObj.GetComponent <Lander>();
RocketSource.clip = LanderStart;
}
/// <summary>
/// Updates the Fitness property by running a landing simulation.
/// TODO implement running multiple simulations for varying environments.
/// </summary>
public void CalculateFitness()
{
List<double> inputs = new List<double>();
Model.Environment environment = new Model.Environment();
Lander lander = new Lander(environment, this.settings.StartingFuel, this.settings.StartingHorizontal, this.settings.StartingHeight);
IList<double> output;
for (int i = 0; i < 7; i++)
{
inputs.Add(0);
}
this.Fitness = 0;
//for (double varWind = -1.0; varWind < 1.0; varWind += 0.1)
//{
// this.settings.LanderEnvironment.WindSpeed = varWind;
// lander.Enviroment.WindSpeed = varWind;
for (double varGravity = 1; varGravity < 3; varGravity += 0.5)
{
//this.settings.LanderEnvironment.Gravity = varGravity;
lander.Enviroment.Gravity = varGravity;
lander.Reset();
do
{
inputs[0] = lander.PositionX;
inputs[1] = lander.PositionY;
inputs[2] = lander.VelocityX;
inputs[3] = lander.VelocityY;
inputs[4] = lander.Enviroment.WindSpeed; // this.settings.LanderEnvironment.WindSpeed;
inputs[5] = lander.Enviroment.Gravity; // varGravity; // this.settings.LanderEnvironment.Gravity;
inputs[6] = lander.Fuel;
output = this.neuralNet.Run(inputs);
lander.Burn = output[0];
lander.Thrust = output[1];
lander.Update();
//this.settings.LanderEnvironment.Update();
} while (lander.Status == LanderStatus.Flying);
this.Fitness += lander.CalculateFitness();
}
//}
}
public void ApplyAction(string action)
{
var actionArray = action.Split(" ");
Lander.Apply(int.Parse(actionArray[0]), int.Parse(actionArray[1]), _environment);
}
public MarsLanderActor(Lander lander, MarsLanderEnvironment environment)
{
Original = lander.Clone();
Lander = lander.Clone();
_environment = environment;
}
static void Main(string[] args)
{
string[] inputs;
int surfaceN = int.Parse(Console.ReadLine()); // the number of points used to draw the surface of Mars.
// find the landing site
Point landingStart = new Point(0, 0), landingEnd = new Point(0, 0);
int landX0 = 0, landY0 = 0;
for (int i = 0; i < surfaceN; i++)
{
inputs = Console.ReadLine().Split(' ');
int landX = int.Parse(inputs[0]); // X coordinate of a surface point. (0 to 6999)
int landY = int.Parse(inputs[1]); // Y coordinate of a surface point. By linking all the points together in a sequential fashion, you form the surface of Mars.
// if no change in Y then set as new landingzone
if (landY0 == landY)
{
landingStart = new Point(landX0, landY0);
landingEnd = new Point(landX, landY);
}
landX0 = landX;
landY0 = landY;
}
Console.Error.WriteLine("Landing Area: {0} - {1}", landingStart.X, landingEnd.X);
// game loop
while (true)
{
inputs = Console.ReadLine().Split(' ');
int X = int.Parse(inputs[0]);
int Y = int.Parse(inputs[1]);
int hSpeed = int.Parse(inputs[2]); // the horizontal speed (in m/s), can be negative.
int vSpeed = int.Parse(inputs[3]); // the vertical speed (in m/s), can be negative.
int fuel = int.Parse(inputs[4]); // the quantity of remaining fuel in liters.
double rotatation = int.Parse(inputs[5]); // the rotation angle in degrees (-90 to 90).
int thrust = int.Parse(inputs[6]); // the thrust power (0 to 4).
// create the lander
Lander lander = new Lander(X, Y, hSpeed, vSpeed, fuel, rotatation, thrust);
Point landing = new Point((landingEnd.X - landingStart.X) / 2, landingStart.Y + 2000); // the ideal landing spot midway into the flat area
double g = -3.711;
int power = 0;
double rotate = 0;
double AccelV = 0; // allowable vertical accel
if ((lander.Y - landingStart.Y) > 1000)
{
AccelV = -0.5;
}
// move lander to the landing position
if (lander.X < landingStart.X)
{
if (lander.HSpeed < 50)
{
lander.goRight(AccelV);
}
else
{
lander.goLeft(AccelV);
}
}
// move the lander to the starting position
else if (lander.X > landingEnd.X)
{
if (lander.HSpeed > -50)
{
lander.goLeft(AccelV);
}
else
{
lander.goRight(AccelV);
}
}
else
{
if (lander.HSpeed < -1)
{
lander.goRight(AccelV);
}
else if (lander.HSpeed > 1)
{
lander.goLeft(AccelV);
}
else
{
rotate = 0;
if (lander.VSpeed <= -40)
{
power = 4;
}
else
{
power = 3;
}
Console.WriteLine("{0} {1}", rotate, power);
}
}
/*
* double bestRotate=0;
* double bestPower=0;
* double bestScore=100000;
*
* // all angles
* for (int rotate=-90; rotate<=90; rotate=rotate+15)
* {
* // all powers
* for(int power=0; power<=4; power++)
* {
* //find the landing area for each combination
* int HSpeedMax=40;
* int VSpeedMax=-20;
* Point estimatedlanding = lander.calculateXY(rotate, power, HSpeedMax, VSpeedMax);
* double score=Math.Sqrt(Math.Pow(landing.X-estimatedlanding.X,2) + Math.Pow(landing.Y-estimatedlanding.Y, 2));
*
* // Console.Error.WriteLine("{0} {1} => {2}", estimatedlanding.X, estimatedlanding.Y, Math.Round(score,2));
*
*
* // compare the score and take the closest match
* if(score < bestScore)
* {
* //Console.Error.WriteLine("{0} < {1}", score, bestScore);
* // Console.Error.WriteLine("BEST: {0} {1} => {2}", rotate, power, Math.Round(score,2));
* bestRotate=rotate;
* bestPower=power;
* bestScore=score;
* }
* }
* }
* Console.WriteLine("{0} {1}", bestRotate, bestPower);
*
*/
/*
* // calculate ideal acceleration
* // a=[(v)^2-(v0)^2]/2d
* double HDistance, VDistance, HSpeedIdeal, VSpeedIdeal;
*
* // lander to the left of landing zone
* if(lander.X < landingStart.X)
* {
* HDistance=landingStart.X-lander.X;
* VDistance=lander.Y-landingStart.Y+500;
* VSpeedIdeal=-39;
* HSpeedIdeal=40;
* Console.Error.WriteLine("1");
*
* }
* // lander to the right of the landing zone
* else if(lander.X > landingEnd.X)
* {
* HDistance=landingEnd.X-lander.X;
* VDistance=landingStart.Y-lander.Y;
* VSpeedIdeal=0;
* HSpeedIdeal=-40;
* }
* // lander within the landing zone
* else
* {
* HDistance=1;
* VDistance=1;
* HSpeedIdeal=0;
* VSpeedIdeal=0;
*
* if(lander.HSpeed<20){
*
* HDistance=1;
* VDistance=lander.Y-landingStart.Y;
* VSpeedIdeal=-39;
* HSpeedIdeal=0;
* }
* }
*
*
*
* double accelHIdeal=calculateAccel(HSpeedIdeal, lander.HSpeed, HDistance);
* double accelVIdeal=calculateAccel(VSpeedIdeal, lander.VSpeed, VDistance);
*
* Console.Error.WriteLine("H:{0} V:{1}", accelHIdeal, accelVIdeal);
* lander.findBestRoute(accelHIdeal, accelVIdeal);
*
*
*
*
* /*
* // hover the lander and move to the landing zone
* if(lander.X < landingStart.X)
* {
* if(lander.VSpeed < -30)
* {
* rotate=0;
* power=4;
* }
* else{
* rotate=lander.Rotate-15;
* if(rotate<-90) rotate=-90;
* power=4;
* }
*
* }
* // lander to the right of the landing zone
* else if(lander.X > landingEnd.X)
* {
*
* }
* // lander within the landing zone
* else
* {
* if(lander.Rotate==0 && Math.Abs(lander.HSpeed)<20)
* {
* rotate=0;
* if(lander.VSpeed>=40) power=4;
* else power=lander.Power-1;
* }
* else if(lander.HSpeed>20)
* {
* if(lander.VSpeed < -40)
* {
* rotate=0;
* power=4;
* }
* else{
* rotate=lander.Rotate+15;
* if (rotate>90) rotate=90;
* power=4;
* }
* }
* }
*
* Console.WriteLine("{0} {1}", rotate, power);
*
*
*/
}
}
