public override void updateOutputs()
{
//variabile composta
float targetPosition = sensor.redShipDistance + sensor.redShipLead;
//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);
//FAM
float hardLeft, left, right, hardRight;
hardLeft = FuzzyLib.fuzzyOr(tgn, FuzzyLib.fuzzyOr(tgnn, tgnnn));
hardRight = FuzzyLib.fuzzyOr(tgp, FuzzyLib.fuzzyOr(tgpp, tgppp));
left = 0;
right = 0;
//defuzzyficazione
movementOutput = -0.8f * hardLeft - 0.4f * left + 0.4f * right + 0.8f * hardRight;
spacebarOutput = FuzzyLib.toBool(FuzzyLib.fuzzyNot(shield));
//display
List <string> message = new List <string>();
message.Add("==ATK RED SHIP==");
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("shooting");
message.Add(spacebarOutput.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);
}