/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** MAIN SETUP ***/
/*** ***/
/********************************************************************************************/
/********************************************************************************************/
//implements abstract rectangle interface: used to setup the initial information so that the agent has basic knowledge about the level
public void Setup(CountInformation nI, RectangleRepresentation rI, CircleRepresentation cI, ObstacleRepresentation[] oI, ObstacleRepresentation[] rPI, ObstacleRepresentation[] cPI, CollectibleRepresentation[] colI, Rectangle area, double timeLimit)
{
ground = new Platform(0, area.Bottom, 0, 0, PlatformType.Black);
utils = new Utils(ground, circleInfo.Radius, area);
numbersInfo = nI;
nCollectiblesLeft = nI.CollectiblesCount;
rectangleInfo = rI;
circleInfo = cI;
obstaclesInfo = utils.joinObstacles(oI, rPI);
rectanglePlatformsInfo = rPI;
circlePlatformsInfo = cPI;
collectiblesInfo = colI;
uncaughtCollectibles = new List <CollectibleRepresentation>(collectiblesInfo);
this.area = area;
gSpeed = 1.0f;
goalMode = GoalType.FirstPossible;
//setup level layout
levelLayout = utils.getLevelLayout(obstaclesInfo, area);
//calculates the area of the rectangle since only the info of the height is available
rectangleArea = utils.setRectangleArea(rectangleInfo.Height);
//gets the initial position of the Rectangle to test is the game has started or is still at the menu
previousRectanglePosX = rectangleInfo.X;
previousRectanglePosY = rectangleInfo.Y;
Platforms = utils.setupPlatforms(obstaclesInfo, rPI, cPI);
Diamonds = utils.setupDiamonds(collectiblesInfo, levelLayout);
/*************TESTS*************/
//inform a level has started
utils.writeStart(1);
//search - state - original; action - original; no partial plans
//RRT = new RRTUtilsGS(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.Original, RRTTypes.Original, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - original; action - STP; biasSTP - 0.25/0.5/0.75; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.Original, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - bias - 0.25/0.50/0.75; action - STP; biasSTP; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.Bias, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - bgt - 10/50/10; action - STP; biasSTP; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.BGT, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - bgt zoom - 50; action - STP; biasSTP; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.BGTAreaBias, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - bgt bias - 50; action - STP; biasSTP; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.BGTBias, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
//search - state - zoom; action - STP; biasSTP; no partial plans
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.AreaBias, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
/*************FINAL*************/
RRT = new RRTUtilsGS(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.BGT, RRTTypes.STP, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, true, true);
//RRT = new RRTUtils(actionTime, simTime, simTimeFinish, getPossibleMoves(), type, area, collectiblesInfo.Length, RRTTypes.BGT, RRTTypes.Original, obstaclesInfo, gSpeed, Diamonds, Platforms, utils, false, false);
RRT.setRadius(rectangleInfo.Height / 2);
pathPlan = new PathPlan(cutplan, colI.GetLength(0), utils);
controller = new RectangleController(gSpeed, utils);
}
public PathPlan joinPlans(PathPlan plan1, PathPlan plan2)
{
List <Point> newPoints = new List <Point>();
newPoints.AddRange(plan1.getPathPoints());
newPoints.AddRange(plan2.getPathPoints());
PathPlan newPlan = new PathPlan(cutPlan, plan1.totalCollectibles, newPoints, utils);
return(newPlan);
}
public PathPlan clone()
{
PathPlan newPlan = new PathPlan(cutPlan, totalCollectibles, utils);
newPlan.setTotalCollectibles(this.totalCollectibles);
foreach (Point point in this.pathPoints)
{
newPlan.addPointEnd(point);
}
return(newPlan);
}
/*******************************************************/
/* 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.morphReached = false;
controller.slideReached = 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(rectangleInfo.X, rectangleInfo.Y + rectangleInfo.Height / 2, 25, 10);
List <Point> pathPoints = pathPlan.getOriginalPoints();
int i;
for (i = 0; i < pathPoints.Count; i++)
{
if (pathPoints[i].getUncaughtColl().Count >= uncaughtCollectibles.Count)
{
Platform pointPlatform = utils.onPlatform(pathPoints[i].getPosX(), pathPoints[i].getPosY() + rectangleInfo.Height / 2, 25, 10);
if (utils.samePlatform(currentPlatform, pointPlatform) && !utils.obstacleBetween(rectangleInfo.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;
}
//if no platform in common was found, then replan
else
{
replan(false);
}
}
/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** PLAN ***/
/*** ***/
/********************************************************************************************/
/********************************************************************************************/
//used when trying to recover a plan where the agent is not on a platform and state of the plan
public PathPlan joinPlans(PathPlan correction, PathPlan original, Point connectionPoint)
{
List <Point> points = original.getPathPoints();
int i;
for (i = 0; i < points.Count; i++)
{
if (points[i].getPosX() == connectionPoint.getPosX() && points[i].getPosY() == connectionPoint.getPosY() &&
points[i].getUncaughtColl().Count == connectionPoint.getUncaughtColl().Count)
{
break;
}
}
for (int j = i; j < points.Count; j++)
{
correction.addPoint(points[j]);
}
return(correction);
}
private void replan(bool correct)
{
//TODO - make a new version for this
correct = false;
//if correct is true, it means the agent should try to first recover the previous plan
//but it should also be careful not to repeat the same failures and should understand when it completed its plan
if (correct && !pathPlan.checkIfConstantFail() && !checkPlanCompletion())
{
recoverPlan();
}
else
{
currentAction = Moves.NO_ACTION;
planRRT = true;
newPlan = true;
controller.slideReached = false;
controller.morphReached = false;
previousPlan = pathPlan;
pathPlan = new PathPlan(cutplan, remaining.Count, utils);
}
}
private void replan(bool correct)
{
//if correct is true, it means the agent should try to first recover the previous plan
//but it should also be careful not to repeat the same failures and should understand when it completed its plan
//Since search is so fast, removed recovering due to faulty plans (e.g bad physics simulation on a platform
/*
* if (correct && !pathPlan.checkIfConstantFail() && !checkPlanCompletion())
* {
* recoverPlan();
* }
* else
* {
*/
currentAction = Moves.NO_ACTION;
planRRT = true;
newPlan = true;
controller.jumpReached = false;
controller.rollReached = false;
previousPlan = pathPlan;
pathPlan = new PathPlan(cutplan, remaining.Count, utils);
//}
}
/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** 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 (rectangleInfo.VelocityY < correctVelYMargin && rectangleInfo.VelocityY > -correctVelYMargin &&
rectangleInfo.VelocityX < correctVelXMargin && rectangleInfo.VelocityX > -correctVelXMargin)
{
//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)
{
//update the diamond list
RRT.setDiamonds(Diamonds);
State initialState = new State(rectangleInfo.X, rectangleInfo.Y, rectangleInfo.VelocityX, rectangleInfo.VelocityY, rectangleInfo.Height / 2, 0, caughtCollectibles, uncaughtCollectibles);
//run algorithm
T = RRT.buildNewRRT(initialState, predictor, 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, 1, searchTime, exploredNodesOnce, exploredNodesTotal, totalNodes, gSpeed);
written = true;
}
pathPlan = RRT.getPlan(T);
firstAction = true;
//do not plan on the next iteration
planRRT = false;
getDebugInfo = true;
//save a copy of the original plan
originalPlan = pathPlan.clone();
pathPlan.saveOriginal();
}
}
else
{
keepStill();
}
}
/*******************************************************/
/* 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);
}
/********************************************************************************************/
/********************************************************************************************/
/*** ***/
/*** 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();
}
}
