protected override void Control(float delta)
{
if (PathEnd != Vector2.Zero && PathEndDistance > PathDistanceDeadband)
{
// update the path mover script
pathMover.Call("update_acceleration", delta);
Velocity = (Vector2)(pathMover.Get("velocity"));
float angularVelocity = (float)(pathMover.Get("angular_velocity"));
Rotation += angularVelocity * delta;
}
else
{
Path = new Vector2[] { };
Velocity = Vector2.Zero;
}
if (State == States.Idle)
{
if (Hopper.HasBalls)
{
machine.Fire(Triggers.Score);
}
else
{
machine.Fire(Triggers.PickupBalls);
}
}
else if (State == States.DrivingToPickup)
{
// we ran out of room, go score
if (!Hopper.HasRoom)
{
machine.Fire(Triggers.Score);
}
}
else if (State == States.Shoot && !Hopper.HasBalls)
{
machine.Fire(Triggers.PickupBalls);
}
else if (State == States.Pickup && Hopper.HasBalls)
{
machine.Fire(Triggers.Score);
}
}
private void SpawnPieces()
{
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int piece_idx = 0;
int loops = 0;
Node2D piece = null;
do
{
if (++loops == 100)
{
break;
}
piece_idx = (int)Math.Floor(GD.RandRange(0, PossiblePieces.Length));
piece = (Node2D)PossiblePieces[piece_idx].Instance();
} while (MatchAt(x, y, (String)piece.Get("colour")));
piece.Position = GridToPixel(new Vector2i(x, y));
AddChild(piece);
AllPieces[x, y] = piece;
}
}
}
public void think()
{
ClosestFriend = get_friends_informaion();
ClosestFoe = get_foe_informaion();
Enviroment = get_evironment_information();
ClosestFriend2 = sort_distance(ClosestFriend);
#if DebugA
GD.Print("Network input Objects");
GD.Print(ClosestFriend);
GD.Print(ClosestFoe);
GD.Print(Enviroment);
GD.Print(ClosestFriend2);
GD.Print(ClosestFoe[0].Position);
GD.Print(ClosestFoe[0].Position.x);
GD.Print(ClosestFoe[0].Position.y);
#endif
#if DebugB
GD.Print("+++ClosestFrient+++");
GD.Print(ClosestFriend);
GD.Print("---ClosestFrient2---");
GD.Print(ClosestFriend2);
#endif
data_in[0] = ClosestFoe[0].Position.x;
data_in[1] = ClosestFoe[0].Position.y;
data_in[2] = ClosestFoe[1].Position.x;
data_in[3] = ClosestFoe[1].Position.y;
data_in[4] = ClosestFoe[2].Position.x;
data_in[5] = ClosestFoe[2].Position.y;
data_in[6] = ClosestFriend[0].Position.x;
data_in[7] = ClosestFriend[0].Position.y;
data_in[8] = ClosestFriend[1].Position.x;
data_in[9] = ClosestFriend[1].Position.y;
//data_in[10] = ClosestFriend[2].Position.x;
//data_in[11] = ClosestFriend[2].Position.y;
data_in[12] = Enviroment[0].Position.x;
data_in[13] = Enviroment[0].Position.y;
data_in[14] = Enviroment[1].Position.x;
data_in[15] = Enviroment[1].Position.y;
data_in[16] = Enviroment[2].Position.x;
data_in[17] = Enviroment[2].Position.y;
FirstData.Inputs[0] = ClosestFoe[0].Position.x;
#if (DebugA)
MyString = "";
foreach (double Anumber in data_in)
{
MyString += Anumber.ToString() + ",";
}
GD.Print("Objects Position Data");
GD.Print(MyString);
#endif
normalize(data_in);
MoveShootNet.ApplyInput(data_in);
MoveShootNet.CalculateOutput();
data_out2 = MoveShootNet.ReadOutput();
data_out2 = denormalize(data_out2);
data_out = new double[] { data_in[0], data_in[1], data_in[0], data_in[1] };
//normalize(data_out);
Training = new NeuralNetworks.DataSet {
Outputs = data_out, Inputs = data_in
};
//Training = new NeuralNetworks.DataSet() {(double[]) data_out2, Inputs = data_in };
TrainingData.Add(Training);
#if DebugA
MyString = "";
foreach (double Anumber in data_out2)
{
MyString += Anumber.ToString() + ",";
}
GD.Print("Output of Network");
GD.Print(MyString);
//data_out = (double[]) data_out2;
GD.Print("Has Current Move ", Parent.Get("CurrentMove"));
GD.Print("Has Side ", Parent.Get("Side"));
#endif
Acount = 0;
foreach (double Anumber in data_out2)
{
data_out3[Acount] = (float)Anumber;
Acount++;
}
Parent.Set("CurrentMove", Parent.ToLocal(new Godot.Vector2(data_out3[2], data_out3[3])));
Parent.Set("CurrentTarget", new Godot.Vector2(data_out3[0], data_out3[1]));
}
