Exemple #1
0
 public Wall(Vec p1, Vec p2)
 {
     this.p1 = p1;
     this.p2 = p2;
 }
Exemple #2
0
        public void tick()
        {
            // tick the environment
            this.clock++;

            // fix input to all agents based on environment

            for (int i = 0, n = this.agents.Count; i < n; i++)
            {
                var a = this.agents[i];
                for (int ei = 0, ne = a.eyes.Count; ei < ne; ei++)
                {
                    var e = a.eyes[ei];
                    // we have a line from p to p->eyep
                    var eyep = new Vec((float)a.p.X + (float)e.max_range * (float)Math.Sin(a.angle + e.angle),
                                       (float)a.p.Y + e.max_range * (float)Math.Cos(a.angle + e.angle));
                    var res = this.stuff_collide_(a.p, eyep, true, true);
                    if (res != null)
                    {
                        // eye collided with wall
                        e.sensed_proximity = res.up.dist_from(a.p);
                        e.sensed_type      = res.type;
                    }
                    else
                    {
                        e.sensed_proximity = e.max_range;
                        e.sensed_type      = -1;
                    }
                }
            }

            // let the agents behave in the world based on their input
            for (int i = 0, n = this.agents.Count; i < n; i++)
            {
                this.agents[i].forward();
            }

            // apply outputs of agents on evironment
            for (int i = 0, n = this.agents.Count; i < n; i++)
            {
                var a = this.agents[i];
                a.op     = a.p;     // back up old position
                a.oangle = a.angle; // and angle

                // steer the agent according to outputs of wheel velocities
                var v = new Vec(0, a.rad / 2.0f);
                v = v.rotate(a.angle + (float)Math.PI / 2);
                var w1p = a.p.add(v); // positions of wheel 1 and 2
                var w2p = a.p.sub(v);
                var vv  = a.p.sub(w2p);
                vv = vv.rotate(-a.rot1);
                var vv2 = a.p.sub(w1p);
                vv2 = vv2.rotate(a.rot2);
                var np = w2p.add(vv);
                np.scale(0.5f);
                var np2 = w1p.add(vv2);
                np2.scale(0.5f);
                a.p = np.add(np2);

                a.angle -= a.rot1;
                if (a.angle < 0)
                {
                    a.angle += 2 * (float)Math.PI;
                }
                a.angle += a.rot2;
                if (a.angle > 2 * Math.PI)
                {
                    a.angle -= 2 * (float)Math.PI;
                }

                // agent is trying to move from p to op. Check walls
                var res = this.stuff_collide_(a.op, a.p, true, false);
                if (res != null)
                {
                    // wall collision! reset position
                    a.p = a.op;
                }

                // handle boundary conditions
                if (a.p.X < 0)
                {
                    a.p.X = 0;
                }
                if (a.p.X > this.W)
                {
                    a.p.X = this.W;
                }
                if (a.p.Y < 0)
                {
                    a.p.Y = 0;
                }
                if (a.p.Y > this.H)
                {
                    a.p.Y = this.H;
                }
            }

            // tick all items
            var update_items = false;

            for (int i = 0, n = this.items.Count; i < n; i++)
            {
                var it = this.items[i];
                it.age += 1;

                // see if some agent gets lunch
                for (int j = 0, m = this.agents.Count; j < m; j++)
                {
                    var a = this.agents[j];
                    var d = a.p.dist_from(it.p);
                    if (d < it.rad + a.rad)
                    {
                        // wait lets just make sure that this isn't through a wall
                        var rescheck = this.stuff_collide_(a.p, it.p, true, false);
                        if (rescheck == null)
                        {
                            // ding! nom nom nom
                            if (it.type == 1)
                            {
                                a.digestion_signal += 5.0f;               // mmm delicious apple
                            }
                            if (it.type == 2)
                            {
                                a.digestion_signal += -6.0f;                 // ewww poison
                            }
                            it.cleanup_  = true;
                            update_items = true;
                            break; // break out of loop, item was consumed
                        }
                    }
                }

                if (it.age > 5000 && this.clock % 100 == 0 && Util.RandF(0, 1) < 0.1)
                {
                    it.cleanup_  = true; // replace this one, has been around too long
                    update_items = true;
                }
            }
            if (update_items)
            {
                var nt = new List <Item>();
                for (int i = 0, n = this.items.Count; i < n; i++)
                {
                    var it = this.items[i];
                    if (!it.cleanup_)
                    {
                        nt.Add(it);
                    }
                }
                this.items = nt; // swap
            }
            if (this.items.Count < 30 && this.clock % 10 == 0 && Util.RandF(0, 1) < 0.25)
            {
                var newitx = Util.RandF(20, this.W - 20);
                var newity = Util.RandF(20, this.H - 20);
                var newitt = Util.Randi(1, 3); // food or poison (1 and 2)
                var newit  = new Item(newitx, newity, newitt);
                this.items.Add(newit);
            }

            // agents are given the opportunity to learn based on feedback of their action on environment
            for (int i = 0, n = this.agents.Count; i < n; i++)
            {
                this.agents[i].backward();
            }
        }
Exemple #3
0
 public Vec add(Vec v)
 {
     return(new Vec(this.X + v.X, this.Y + v.Y));
 }
Exemple #4
0
 public Vec sub(Vec v)
 {
     return(new Vec(this.X - v.X, this.Y - v.Y));
 }
Exemple #5
0
 public float dist_from(Vec v)
 {
     return((float)Math.Sqrt(Math.Pow(this.X - v.X, 2)
                             + Math.Pow(this.Y - v.Y, 2)));
 }