public void selectBehaviour()
{
//fuzzyficazione
float dngl, dngm, dngh;
dngl = dangerLow.calculateMembership(sensor.danger);
dngm = dangerMedium.calculateMembership(sensor.danger);
dngh = dangerHigh.calculateMembership(sensor.danger);
float shc, shf;
shc = shieldClose.calculateMembership(Mathf.Abs(sensor.shieldDistance));
shf = shieldFar.calculateMembership(Mathf.Abs(sensor.shieldDistance));
float rs;
rs = redShipPresent.calculateMembership(sensor.redShipPresent);
float sw, sm, ss;
sw = screenWeak.calculateMembership(sensor.redShipScreen);
sm = screenMedium.calculateMembership(sensor.redShipScreen);
ss = screenStrong.calculateMembership(sensor.redShipScreen);
float dh, du, dv;
dh = distributionHorizontal.calculateMembership(sensor.alienDistributionIndex);
du = distributionUndefined.calculateMembership(sensor.alienDistributionIndex);
dv = distributionVertical.calculateMembership(sensor.alienDistributionIndex);
float lwh, lwl;
lwh = lowestAlienHigh.calculateMembership(sensor.lowestAlienHeight);
lwl = lowestAlienLow.calculateMembership(sensor.lowestAlienHeight);
//FAM
float defend = FuzzyLib.fuzzyOr(dngm, dngh);
float attack = dngl;
//avoid = defend & !shc
behaviours[avoid] = FuzzyLib.fuzzyAnd(defend, shf);
//shelter = defend & shc
behaviours [shelter] = FuzzyLib.fuzzyAnd(defend, shc);
//atkred = attack & pres & (sw | dv | (sm & du & lwh))
behaviours[atkRedship] = FuzzyLib.fuzzyAnd(
attack,
rs,
FuzzyLib.fuzzyOr(sw, dv, FuzzyLib.fuzzyAnd(sm, du, lwh)));
//atkClosest = attack & lwh & (dh | (!rs & (du | dv)))
behaviours[atkClosest] = FuzzyLib.fuzzyAnd(
attack,
lwh,
FuzzyLib.fuzzyOr(
dh,
FuzzyLib.fuzzyAnd(
FuzzyLib.fuzzyNot(rs),
FuzzyLib.fuzzyOr(du, dv))));
//atkLowest = attack & lwl
behaviours[atkLowest] = FuzzyLib.fuzzyAnd(attack, lwl);
//defuzzyficazione
behaviourIndex = MyUtils.argmax(behaviours);
//display
List <string> message = new List <string>();
message.Add("==SELECTOR==");
message.Add("danger level:");
message.Add(dngl.ToString("F2") + "|" + dngm.ToString("F2") + "|" + dngh.ToString("F2"));
message.Add("shield:");
message.Add(shc.ToString("F2") + "|" + shf.ToString("F2"));
message.Add("red ship present:");
message.Add(rs.ToString("F2"));
if (sensor.redShipPresent > 0)
{
message.Add("red ship screen:");
message.Add(sw.ToString("F2") + "|" + sm.ToString("F2") + "|" + ss.ToString("F2"));
}
message.Add("alien distribution:");
message.Add(dh.ToString("F2") + "|" + du.ToString("F2") + "|" + dv.ToString("F2"));
message.Add("lowest alien height:");
message.Add(lwh.ToString("F2") + "|" + lwl.ToString("F2"));
message.Add("behavior index:");
message.Add(behaviourIndex.ToString());
setDisplayMessage(message);
}
public override void updateOutputs()
{
//variabile composta
float targetPosition = sensor.lowestAlienDistance + sensor.lowestAlienLead;
//fuzzyficazione
float tgp, tgpp, tgppp, tgn, tgnn, tgnnn;
tgp = targetCloseRight.calculateMembership(targetPosition);
tgpp = targetRight.calculateMembership(targetPosition);
tgppp = targetFarRight.calculateMembership(targetPosition);
tgn = targetCloseLeft.calculateMembership(targetPosition);
tgnn = targetLeft.calculateMembership(targetPosition);
tgnnn = targetFarLeft.calculateMembership(targetPosition);
float shield;
shield = underShield.calculateMembership(sensor.shieldDistance);
float sp, spp, sppp, sn, snn, snnn;
sp = speedLowPositive.calculateMembership(sensor.alienVelocity);
spp = speedMediumPositive.calculateMembership(sensor.alienVelocity);
sppp = speedHighPositive.calculateMembership(sensor.alienVelocity);
sn = speedLowNegative.calculateMembership(sensor.alienVelocity);
snn = speedMediumNegative.calculateMembership(sensor.alienVelocity);
snnn = speedHighNegative.calculateMembership(sensor.alienVelocity);
//FAM
float hardRight, right, hardLeft, left;
float tgMovingRight, tgMovingLeft;
float tgIsRight, tgIsLeft;
// tgppp
//OR
// tgpp & (mvright | sn)
//OR
// shield & isright
tgMovingRight = FuzzyLib.fuzzyOr(sp, spp, sppp);
tgIsRight = FuzzyLib.fuzzyOr(tgp, tgpp, tgppp);
hardRight = tgppp;
hardRight = FuzzyLib.fuzzyOr(hardRight, FuzzyLib.fuzzyAnd(tgpp, FuzzyLib.fuzzyOr(tgMovingRight, sn)));
hardRight = FuzzyLib.fuzzyOr(hardRight, FuzzyLib.fuzzyAnd(shield, tgIsRight));
// tgp
//OR
// (tgpp & (tgnn | tgnnn))
tgMovingLeft = FuzzyLib.fuzzyOr(tgnn, tgnnn);
right = FuzzyLib.fuzzyOr(tgp, FuzzyLib.fuzzyAnd(tgpp, tgMovingLeft));
right = FuzzyLib.fuzzyAnd(right, FuzzyLib.fuzzyNot(shield));
// tgn
//OR
// (tgnn & (tgpp | tgppp))
tgMovingRight = FuzzyLib.fuzzyOr(tgpp, tgppp);
left = FuzzyLib.fuzzyOr(tgn, FuzzyLib.fuzzyAnd(tgnn, tgMovingRight));
left = FuzzyLib.fuzzyAnd(left, FuzzyLib.fuzzyNot(shield));
// tgnnn
//OR
// (tgnn & (mvleft | sp)
//OR
// shield & isleft
tgMovingLeft = FuzzyLib.fuzzyOr(sn, snn, snnn);
tgIsLeft = FuzzyLib.fuzzyOr(tgn, tgnn, tgnnn);
hardLeft = tgnnn;
hardLeft = FuzzyLib.fuzzyOr(hardLeft, FuzzyLib.fuzzyAnd(tgnn, FuzzyLib.fuzzyOr(tgMovingLeft, sp)));
hardLeft = FuzzyLib.fuzzyOr(hardLeft, FuzzyLib.fuzzyAnd(shield, tgIsLeft));
//defuzzyficazione
movementOutput = (-0.8f) * hardLeft + (-0.4f) * left + 0.4f * right + 0.8f * hardRight;
if ((left + hardLeft + right + hardRight) > 1)
{
Debug.Log(left.ToString("F2") + hardLeft.ToString("F2") + right.ToString("F2") + hardRight.ToString("F2"));
}
spacebarOutput = FuzzyLib.toBool(FuzzyLib.fuzzyNot(shield));
//display
List <string> message = new List <string>();
message.Add("==ATK LOWEST==");
message.Add("target distance:");
message.Add(tgnnn.ToString("F2") + "|" + tgnn.ToString("F2") + "|" + tgn.ToString("F2") + (" l"));
message.Add(tgp.ToString("F2") + "|" + tgpp.ToString("F2") + "|" + tgppp.ToString("F2") + (" r"));
message.Add("target velocity:");
message.Add(snnn.ToString("F2") + "|" + snn.ToString("F2") + "|" + sn.ToString("F2") + (" l"));
message.Add(sp.ToString("F2") + "|" + spp.ToString("F2") + "|" + sppp.ToString("F2") + (" r"));
message.Add("shield:");
message.Add(shield.ToString("F2"));
message.Add("movement:");
message.Add(hardLeft.ToString("F2") + "|" + left.ToString("F2") + "|" + right.ToString("F2") + "|" + hardRight.ToString("F2"));
message.Add("shooting");
message.Add(spacebarOutput.ToString());
setDisplayMessage(message);
}