private void SetBot(ControlledThrustBot bot)
{
// Remove
RemoveBot();
RefillContainers(bot);
// Set bot
_map.AddItem(bot);
_bot = bot;
bot.PhysicsBody.BodyMoved += PhysicsBody_BodyMoved;
PhysicsBody_BodyMoved(this, new EventArgs());
// Timer
_graphTimer.Start();
}
private void RemoveBot()
{
// Timer
_graphTimer.Stop();
// Thrust balancer
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
// Bot
if (_bot != null)
{
_bot.PhysicsBody.BodyMoved -= PhysicsBody_BodyMoved;
_map.RemoveItem(_bot);
_bot = null;
}
}
private void BalanceBot_Spin(ControlledThrustBot bot)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
if (bot.Thrusters == null || bot.Thrusters.Length == 0)
{
MessageBox.Show("This bot has no thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
Vector3D ideal = new Vector3D(1, 0, 0);
_cancelCurrentBalancer = new CancellationTokenSource();
var newBestFound = new Action <ThrusterMap>(o => bot.ForwardMap = o); // using forward map, even though this is spin
ThrustControlUtil.DiscoverSolutionAsync2(bot, null, ideal, _cancelCurrentBalancer.Token, null, newBestFound);
}
private static void RefillContainers(ControlledThrustBot bot)
{
bot.ShouldLearnFromLifeEvents = false;
if (bot.Energy != null)
{
bot.Energy.QuantityCurrent = bot.Energy.QuantityMax;
}
if (bot.Fuel != null)
{
bot.Fuel.QuantityCurrent = bot.Fuel.QuantityMax;
}
if (bot.Ammo != null)
{
bot.Ammo.QuantityCurrent = bot.Ammo.QuantityMax;
}
if (bot.Plasma != null)
{
bot.Plasma.QuantityCurrent = bot.Plasma.QuantityMax;
}
bot.ShouldLearnFromLifeEvents = true;
}
private void BalanceBot_Forward(ControlledThrustBot bot)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
if (bot.Thrusters == null || bot.Thrusters.Length == 0)
{
MessageBox.Show("This bot has no thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
Vector3D ideal = new Vector3D(0, 0, 1);
_cancelCurrentBalancer = new CancellationTokenSource();
var newBestFound = new Action <ThrusterMap>(o => bot.ForwardMap = o);
var logGeneration = new Action <Tuple <ThrusterMap, double[]>[]>(o => _generation = o);
ThrustControlUtil.DiscoverSolutionAsync2(bot, ideal, null, _cancelCurrentBalancer.Token, newBestFound: newBestFound, logGeneration: logGeneration);
}
private void SetBot_Click(object sender, RoutedEventArgs e)
{
try
{
int numThrusters;
if (!int.TryParse(txtNumThrusters.Text, out numThrusters))
{
MessageBox.Show("Couldn't parse the number of thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
else if (numThrusters < 2)
{
MessageBox.Show("Must have at least two thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
#region DNA
List <ShipPartDNA> parts = new List <ShipPartDNA>();
parts.Add(new ShipPartDNA()
{
PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.283735185991315), Scale = new Vector3D(2.05963659008885, 2.05963659008885, 0.301082085094996)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, -0.490401090473184), Scale = new Vector3D(1.92697281805995, 1.92697281805995, 1.1591130722673)
});
parts.Add(new ShipPartDNA()
{
PartType = SensorSpin.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.57985483357727), Scale = new Vector3D(1, 1, 1)
});
parts.AddRange(GetRandomThrusters(numThrusters, chkRandRotateThrusters.IsChecked.Value, (ThrusterTypeValues)cboThrusterTypes.SelectedItem, chkSomeDestroyed.IsChecked.Value));
ShipDNA dna = ShipDNA.Create(parts);
dna.ShipLineage = Guid.NewGuid().ToString();
#endregion
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
BotConstruction_Result seed = BotConstructor.ConstructBot(dna, core);
ControlledThrustBot bot = new ControlledThrustBot(seed);
SetBot(bot);
// Start looking for a solution immediately
if (chkBalanceThrusters.IsChecked.Value)
{
BalanceBot_Forward(_bot);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private static void RefillContainers(ControlledThrustBot bot)
{
bot.ShouldLearnFromLifeEvents = false;
if (bot.Energy != null)
{
bot.Energy.QuantityCurrent = bot.Energy.QuantityMax;
}
if (bot.Fuel != null)
{
bot.Fuel.QuantityCurrent = bot.Fuel.QuantityMax;
}
if (bot.Ammo != null)
{
bot.Ammo.QuantityCurrent = bot.Ammo.QuantityMax;
}
if (bot.Plasma != null)
{
bot.Plasma.QuantityCurrent = bot.Plasma.QuantityMax;
}
bot.ShouldLearnFromLifeEvents = true;
}
private void BalanceBot_Spin(ControlledThrustBot bot)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
if (bot.Thrusters == null || bot.Thrusters.Length == 0)
{
MessageBox.Show("This bot has no thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
Vector3D ideal = new Vector3D(1, 0, 0);
_cancelCurrentBalancer = new CancellationTokenSource();
var newBestFound = new Action<ThrusterMap>(o => bot.ForwardMap = o); // using forward map, even though this is spin
ThrustControlUtil.DiscoverSolutionAsync2(bot, null, ideal, _cancelCurrentBalancer.Token, null, newBestFound);
}
private void SetBot(ControlledThrustBot bot)
{
// Remove
RemoveBot();
RefillContainers(bot);
// Set bot
_map.AddItem(bot);
_bot = bot;
bot.PhysicsBody.BodyMoved += PhysicsBody_BodyMoved;
PhysicsBody_BodyMoved(this, new EventArgs());
}
private void RemoveBot()
{
// Thrust balancer
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
// Bot
if (_bot != null)
{
_bot.PhysicsBody.BodyMoved -= PhysicsBody_BodyMoved;
_map.RemoveItem(_bot);
//_bot.Dispose(); // Map_ItemRemoved event listener already disposed it
_bot = null;
}
}
private void SetBot_Click(object sender, RoutedEventArgs e)
{
try
{
int numThrusters;
if (!int.TryParse(txtNumThrusters.Text, out numThrusters))
{
MessageBox.Show("Couldn't parse the number of thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
else if (numThrusters < 2)
{
MessageBox.Show("Must have at least two thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
#region DNA
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.283735185991315), Scale = new Vector3D(2.05963659008885, 2.05963659008885, 0.301082085094996) });
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, -0.490401090473184), Scale = new Vector3D(1.92697281805995, 1.92697281805995, 1.1591130722673) });
parts.Add(new ShipPartDNA() { PartType = SensorSpin.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.57985483357727), Scale = new Vector3D(1, 1, 1) });
parts.AddRange(GetRandomThrusters(numThrusters, chkRandRotateThrusters.IsChecked.Value, (ThrusterTypeValues)cboThrusterTypes.SelectedItem));
ShipDNA dna = ShipDNA.Create(parts);
dna.ShipLineage = Guid.NewGuid().ToString();
#endregion
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
BotConstruction_Result seed = BotConstructor.ConstructBot(dna, core);
ControlledThrustBot bot = new ControlledThrustBot(seed);
SetBot(bot);
// Start looking for a solution immediately
if (chkBalanceThrusters.IsChecked.Value)
{
BalanceBot_Forward(_bot);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
