public void reset()
{
if (start == null) return;
circle = new Circle2D(start);
caught = false;
dynamic = true;
}
public void init(int id, double nx, double ny, double dir,
AgentBrain agentBrain, Environment environment,
float sensorNoise, float effectorNoise, float headingNoise, float timeStep)
{
steps = 0;
this.id = id;
radius = defaultRobotSize();
location = new Point2D(nx, ny);
circle = new Circle2D(location, radius);
old_location = new Point2D(location);
heading = dir;
velocity = 0.0;
collide_last = false;
this.timeStep = timeStep;
this.environment = environment;
this.agentBrain = agentBrain;
this.sensorNoise = sensorNoise;
this.effectorNoise = effectorNoise;
this.headingNoise = headingNoise;
populateSensors();
if(environment.seed != -1)
rng=environment.rng; //new SharpNeatLib.Maths.FastRandom(environment.seed); //Utilities.random;
else
rng=environment.rng; //new SharpNeatLib.Maths.FastRandom();
}
//test if circle collides with other circle
//used in robot collision detection
public bool collide(Circle2D other)
{
double dx = other.p.x - p.x;
double dy = other.p.y - p.y;
dx*=dx;
dy*=dy;
double rad_sum = other.radius+radius;
rad_sum*=rad_sum;
if ((dx+dy)<rad_sum)
return true;
return false;
}
public Prey(double x, double y, double rad, double range, double speed, bool vis, string n)
{
this.name = n;
this.colored = false;
this.dynamic = true;
this.caught = false;
this.visible = vis;
this.speed = speed;
this.range = range;
Point2D p = new Point2D(x, y);
this.circle = new Circle2D(p, rad);
this.location = circle.p;
}
public Prey(Prey k)
{
name = k.name;
colored = false;
circle = new Circle2D(k.circle);
caught = k.caught;
location = circle.p;
range = k.range;
speed = k.speed;
dynamic = !caught;
visible = k.visible;
}
public void update(List<Robot> rbts, double timestep)
{
if (start == null) start = new Circle2D(circle);
Robot closest = null;
double closestDist = range;
foreach (Robot r in rbts)
{
double dist = circle.p.distance(r.location);
//Console.WriteLine("dist: " + dist);
if (dist <= closestDist)
{
closestDist = dist;
closest = r;
}
}
if (closestDist <= (circle.radius + rbts[0].radius))
{
caught = true;
dynamic = false;
return;
}
if (closest != null)
{
double dA = circle.p.x - closest.location.x;
double dB = circle.p.y - closest.location.y;
double c = closest.location.distance(circle.p);
double z = speed * timestep;
double dX = (dA * z) / c;
double dY = (dB * z) / c;
Point2D newP = new Point2D(dX + circle.p.x, dY + circle.p.y);
circle.p = newP;
}
}
//calculate the nearest intersection of this line
//with a circle -- if the line is interpreted as a ray
//going from its first endpoint to the second
public double nearest_intersection(Circle2D C,out bool found)
{
double dx,dy;
dx=p2.x-p1.x;
dy=p2.y-p1.y;
double px=p1.x-C.p.x;
double py=p1.y-C.p.y;
double a= dx*dx + dy*dy;
double b= 2*px*dx+2*py*dy;
double c= px*px + py*py - C.radius*C.radius;
double det = b*b-4.0*a*c;
if(det<0.0)
{
found=false;
return -1.0;
}
double sqrt_det = Math.Sqrt(det);
double t1 = (-b+sqrt_det)/(2*a);
double t2 = (-b-sqrt_det)/(2*a);
found=false;
double t=0.0;
if(t2<0)
{
if(t1>0)
{
found=true;
t=t1;
}
}
else
{
found=true;
t=t2;
}
if(!found)
return -1.0;
return t*Math.Sqrt(dx*dx+dy*dy);
}
public Circle2D(Circle2D other)
{
p=other.p;
radius=other.radius;
}
public Circle2D(Circle2D other)
{
p = other.p;
radius = other.radius;
}
