protected abstract void updateVelocity(Moves action);
public void removeMove(Moves move)
{
remainingMoves.Remove(move);
}
private Moves Launch()
{
Moves move = Moves.NO_ACTION;
if (this.predictor != null)
{
if (predictor.CharactersReady() && predictor.SimulationHistoryDebugInformation.Count == 0)
{
ActionSimulator sim = predictor;
sim.Update(1);
//TODO NAO e preciso esta treta toda dos status
CircleRepresentation circle = new CircleRepresentation(sim.CirclePositionX, sim.CirclePositionY,
sim.CircleVelocityX, sim.CircleVelocityY, sim.CircleVelocityRadius);
RectangleRepresentation rectangle = new RectangleRepresentation(sim.RectanglePositionX, sim.RectanglePositionY,
sim.RectangleVelocityX, sim.RectangleVelocityY, sim.RectangleHeight);
ObstacleRepresentation dummy = new ObstacleRepresentation(sim.RectanglePositionX, sim.RectanglePositionY,
Utils.getRectangleWidth(sim.RectangleHeight), sim.RectangleHeight);
Status futureCircle = new Status();
futureCircle.Update(circle, rectangle, dummy, AgentType.Circle);
if (this.Jumping)
{
if (this.rectangleInfo.Height > 160) //When almost fully morphed up, circle jumps
{
Log.LogInformation("REHEARSAL: Jumping!");
move = Moves.JUMP;
SendRequest(new Request(new Command.MorphUp()));
this.Jumping = false; //Already ended the jump
}
else //while rectangle not yet all morphed up
{
Log.LogInformation("REHEARSAL: Beginning the launch!");
move = Moves.NO_ACTION;
SendRequest(new Request(new Command.MorphUp()));
}
}
else
{
if (this.agentStatus.ABOVE_OTHER_AGENT == Utils.Quantifier.SLIGHTLY &&
this.agentStatus.LEFT_FROM_OTHER_AGENT == Utils.Quantifier.NONE &&
this.agentStatus.RIGHT_FROM_OTHER_AGENT == Utils.Quantifier.NONE &&
this.agentStatus.NEAR_OTHER_AGENT) //Ready to jump
{
if (this.agentStatus.MOVING)
{
Log.LogInformation("REHEARSAL: Still moving on top of rectangle");
move = HoldGround();
SendRequest(new Request(new Command.MorphDown()));
}
else //Prepare to jump
{
Log.LogInformation("REHEARSAL: Stopped, and activating launch sequence");
this.Jumping = true;
move = Moves.NO_ACTION;
SendRequest(new Request(new Command.MorphUp()));
}
}
else //Position himself on top of the rectangle
{
Log.LogInformation("REHEARSAL: Jumping onto Rectangle");
move = JumpOntoRectangle();
SendRequest(new Request(new Command.MorphDown()));
}
}
}
}
return(move);
}
public abstract List <DebugInformation> simulate(Moves action, float time);
internal void MorphUp()
{
this.currentAction = Moves.MORPH_UP;
}
//TODO If near Obstacle, but still below, doesnt jump
private Moves JumpOnto(ObstacleRepresentation obstacle)
{
Moves move = Moves.NO_ACTION;
Status statusCircle = new Status();
statusCircle.Update(this.circleInfo, this.rectangleInfo, obstacle, AgentType.Circle);
Utils.Quantifier Distance_From_Obstacle;
Moves Roll_To_Obstacle;
Moves Roll_Away_From_Obstacle;
Utils.Direction Direction_To_Get_To_Obstacle;
if (statusCircle.LEFT_FROM_TARGET == Utils.Quantifier.NONE) //Circle is on the obstacle's right side
{
Distance_From_Obstacle = statusCircle.RIGHT_FROM_TARGET;
Roll_To_Obstacle = Moves.ROLL_LEFT;
Roll_Away_From_Obstacle = Moves.ROLL_RIGHT;
Direction_To_Get_To_Obstacle = Utils.Direction.LEFT;
}
else if (statusCircle.RIGHT_FROM_TARGET == Utils.Quantifier.NONE)//Circle is on the obstacle's left side
{
Distance_From_Obstacle = statusCircle.LEFT_FROM_TARGET;
Roll_To_Obstacle = Moves.ROLL_RIGHT;
Roll_Away_From_Obstacle = Moves.ROLL_LEFT;
Direction_To_Get_To_Obstacle = Utils.Direction.RIGHT;
}
else //Circle is vertically aligned with obstacle
{
Distance_From_Obstacle = Utils.Quantifier.NONE;
Roll_To_Obstacle = Moves.NO_ACTION;
Roll_Away_From_Obstacle = Moves.NO_ACTION;
Direction_To_Get_To_Obstacle = Utils.Direction.RIGHT; //Default, not gonna be used
}
if (statusCircle.MOVING_TOWARDS_TARGET == Utils.Quantifier.NONE) //When circle is not moving towards the target
{
if (statusCircle.NEAR_TARGET)
{
if (statusCircle.ABOVE_TARGET == Utils.Quantifier.SLIGHTLY) //Already Above target
{
move = Moves.NO_ACTION;
}
else //Has to roll away from target to gain speed to jump
{
if (Distance_From_Obstacle == Utils.Quantifier.NONE) //Is directly below target
{
//TODO CIRCLE MUST FIND A WAY TO TRY TO POSITION HIMSELF TO JUMP
move = Moves.NO_ACTION; //TODO PROVISIONAL
}
else
{
move = Roll_Away_From_Obstacle;
}
}
}
else //Circle has to start moving in the obstacle's direction, because is far away
{
move = Roll_To_Obstacle;
}
}
else //When the circle is moving towards the target
{
if (Distance_From_Obstacle == Utils.Quantifier.SLIGHTLY) //when the circle has to jump now
{
move = Moves.JUMP;
}
else if (Distance_From_Obstacle > Utils.Quantifier.A_BIT) //When the circle is very far away, and has to go fast
{
move = Roll(Direction_To_Get_To_Obstacle, Utils.Quantifier.A_BIT);
}
else if (Distance_From_Obstacle > Utils.Quantifier.SLIGHTLY) //When the circle is almost in the jumping spot
{
move = Roll(Direction_To_Get_To_Obstacle, Utils.Quantifier.SLIGHTLY);
}
else //When an error occurs
{
move = Moves.NO_ACTION;
}
}
Log.LogInformation("JUMP_ONTO");
Log.LogInformation(statusCircle.ToString());
Log.LogInformation(move.ToString());
return(move);
}
internal void NoAction()
{
this.currentAction = Moves.NO_ACTION;
}
/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** PLANNING ***/
/*** ***/
/********************************************************************************************/
/********************************************************************************************/
private void planSolution()
{
//The agent must be still so it starts at the same position as the one in the first point of the plan
//This is to guarantee that the agent stops before start planning, and keeps still
if (circleInfo.VelocityY < correctVelYMargin && circleInfo.VelocityY > -correctVelYMargin &&
circleInfo.VelocityX < correctVelXMargin && circleInfo.VelocityX > -correctVelXMargin &&
utils.onPlatform(circleInfo.X, circleInfo.Y + circleInfo.Radius, 25, 10) != null)
{
//make sure there is nothing moving the agent when planning
currentAction = Moves.NO_ACTION;
//if the plan is new build a new tree
if (newPlan)
{
List <DiamondInfo> remainingDiamonds = new List <DiamondInfo>();
List <DiamondInfo> caughtDiamonds = new List <DiamondInfo>();
foreach (DiamondInfo diamond in Diamonds)
{
if (!diamond.wasCaught())
{
remainingDiamonds.Add(diamond);
}
else
{
caughtDiamonds.Add(diamond);
}
}
//Simulator
Simulator sim = new CircleSimulator(Platforms);
sim.setSimulator(circleInfo.X, circleInfo.Y, circleInfo.VelocityX, circleInfo.VelocityY, remainingDiamonds);
//update the diamond list
RRT.setDiamonds(Diamonds);
//create initial state
State initialState = new State(circleInfo.X, circleInfo.Y, circleInfo.VelocityX, circleInfo.VelocityY, circleInfo.Radius, circleInfo.Radius, caughtDiamonds, remainingDiamonds);
//run algorithm
T = RRT.buildNewRRT(initialState, sim, iterationsS);
}
else //continue the previous tree
{
T = RRT.RRT(T);
}
//draw the nodes of the tree
if (debugTree)
{
debugInfo = RRT.getDebugTreeInfo(T).ToArray();
}
newPlan = false;
//if the argorithm reached a goal state or a semi plan then get the plan
if (T.getGoal() != null)
{
if (!written)
{
int exploredNodesOnce = RRT.getExploredNodesOnce();
int exploredNodesTotal = RRT.getExploredNodesTotal();
int totalNodes = T.getNodes().Count;
utils.writeTimeToFile(1, 0, searchTime, exploredNodesOnce, exploredNodesTotal, totalNodes, gSpeed);
written = true;
}
pathPlan = RRT.getPlan(T);
firstAction = true;
lastMove = Moves.NO_ACTION;
//do not plan on the next iteration
planRRT = false;
getDebugInfo = true;
//save a copy of the original plan
if (cutplan)
{
pathPlan.cleanPlan(obstaclesInfo, Diamonds, area, circleInfo.Radius, true, true);
}
originalPlan = pathPlan.clone();
pathPlan.saveOriginal();
}
}
else
{
keepStill();
}
}
/**
* Functions below describe what effects a command has.
*/
public void MoveLeft()
{
this.currentAction = Moves.MOVE_LEFT;
}
public void MoveRight()
{
this.currentAction = Moves.MOVE_RIGHT;
}
private void DiscoverAction()
{
model.VerifyPlatform();
if (model.AgentPlatform != null)
{
GameState state = model.GetGameState();
if (model.WillHaveMoves() && learningCenter.ContainsState(state.GetStateId()))
{
if (!gameStateId.Equals(state.GetStateId()))
{
gameStateId = state.GetStateId();
numberOfMovements++;
knownStatesNumber++;
if (rnd.NextDouble() < 0.2)
{
bool hasNewAction = false;
//currentAction = -1;
double maxValue = 0;
foreach (Moves move in learningCenter.GetMovesForState(state.GetStateId()))
{
if (learningCenter.GetMoveValueInState(move, state.GetStateId()) > maxValue)
{
maxValue = learningCenter.GetMoveValueInState(move, state.GetStateId());
currentAction = move;
hasNewAction = true;
}
}
if (hasNewAction)
{
selectAction();
return;
}
}
}
if (rnd.Next(1, 3) > 1 && model.WillHaveMoves())
{
currentAction = model.FindMoveTowardsClosestCollectible();
}
else
{
RandomAction();
}
selectAction();
return;
}
numberOfMovements++;
if (rnd.Next(1, 3) > 1 && model.WillHaveMoves())
{
currentAction = model.FindMoveTowardsClosestCollectible();
}
else
{
RandomAction();
}
selectAction();
}
else
{
currentAction = Moves.NO_ACTION;
}
}
public NodeSimulator(Node p, State s, Moves action, Simulator sim, List <Moves> moves) : base(p, s, action, moves)
{
simulator = sim;
}
/*******************************************************/
/* Planning - aux */
/*******************************************************/
//used when trying to recover a plan where the agent is not on a platform and state of the plan
//join plans on utils
//simple plan recovery - check if agent is on a platform that belongs to the plan and with the same state
private void recoverPlan()
{
//TODO - update debug drawing
currentAction = Moves.NO_ACTION;
lastMove = Moves.NO_ACTION;
controller.jumpReached = false;
controller.rollReached = false;
//see if there is a point in the original plan that is the same as the one the agent is on and that has the same number or less of diamonds caught
bool pointFound = false;
Platform currentPlatform = utils.onPlatform(circleInfo.X, circleInfo.Y + circleInfo.Radius, 25, 10);
List <Point> pathPoints = pathPlan.getOriginalPoints();
int i;
//start from the end
for (i = pathPoints.Count - 1; i >= 0; i--)
{
if (pathPoints[i].getUncaughtDiamonds().Count >= uncaughtCollectibles.Count)
{
Platform pointPlatform = utils.onPlatform(pathPoints[i].getPosX(), pathPoints[i].getPosY() + circleInfo.Radius, 25, 10);
if (utils.samePlatform(currentPlatform, pointPlatform) && !utils.obstacleBetween(circleInfo.X, pathPoints[i].getPosX(), currentPlatform))
{
pointFound = true;
break;
}
}
}
if (pointFound)
{
//create a new plan from the point we got previously
pathPlan = new PathPlan(cutplan, remaining.Count, utils);
pathPlan.setTotalCollectibles(originalPlan.getTotalCollectibles());
pathPlan.setCurrentPoint(i);
for (int j = i; j < pathPoints.Count; j++)
{
pathPlan.addPointEnd(pathPoints[j]);
}
pathPlan.setOriginalPoints(pathPoints);
firstAction = true;
return;
}
//if no platform in common was found, then try to find a way to a platform in the plan and replan if this fails
else if (pathPlan.getPathPoints().Count != 0)
{
List <DiamondInfo> remainingDiamonds = new List <DiamondInfo>();
List <DiamondInfo> caughtDiamonds = new List <DiamondInfo>();
foreach (DiamondInfo diamond in Diamonds)
{
if (!diamond.wasCaught())
{
remainingDiamonds.Add(diamond);
}
else
{
caughtDiamonds.Add(diamond);
}
}
//Simulator
Simulator sim = new CircleSimulator(Platforms);
sim.setSimulator(circleInfo.X, circleInfo.Y, circleInfo.VelocityX, circleInfo.VelocityY, remainingDiamonds);
//TEST
RRT.setDiamonds(Diamonds);
State initialState = new State(circleInfo.X, circleInfo.Y, circleInfo.VelocityX, circleInfo.VelocityY, circleInfo.Radius, circleInfo.Radius, caughtDiamonds, remainingDiamonds);
float[] returnPos = new float[2];
returnPos[0] = pathPlan.getPathPoints()[0].getPosX();
returnPos[1] = pathPlan.getPathPoints()[0].getPosY();
RRT.setReturnPos(returnPos);
Tree t = RRT.buildNewMPRRT(initialState, sim, GoalType.Return, iterationsS);
if (t.getGoal() != null)
{
PathPlan shortPlan = RRT.getPlan(t);
pathPlan = pathPlan.joinPlans(shortPlan, pathPlan);
pathPlan.cleanPlan(obstaclesInfo, remainingDiamonds, area, circleInfo.Radius, true, true);
getDebugInfo = true;
return;
}
else
{
replan(false);
}
}
replan(false);
}
private void SetAction(Moves a)
{
currentAction = a;
}
internal void MorphDown()
{
this.currentAction = Moves.MORPH_DOWN;
}
public NodeGS(Node p, State s, Moves action, ActionSimulator predictor, List <Moves> moves) : base(p, s, action, moves)
{
simulator = predictor;
}
public override Moves getActionRectangle()
{
Moves action = rectangleSingleplayer.GetAction();
return(action);
}