public void checkSenses()
{
leftEyeSense [0] = 0.0;
leftEyeSense [1] = 0.0;
leftEyeSense [2] = 0.0;
rightEyeSense [0] = 0.0;
rightEyeSense [1] = 0.0;
rightEyeSense [2] = 0.0;
pressure = 0;
double leftAngle = DudeMath.wrapPi(spacials.angle - eyeAngle);
double rightAngle = DudeMath.wrapPi(spacials.angle + eyeAngle);
foreach (var thingy in Thing.things)
{
if (thingy.id == this.id)
{
continue;
}
double angleBetweenDudes = Math.Atan2(spacials.pos.X - thingy.spacials.pos.X, spacials.pos.Y - thingy.spacials.pos.Y);
double dist = (spacials.pos - thingy.spacials.pos).Length;
pressure += dist * thingy.spacials.mass; //See tanh later, just taking advantage of this expensive number
double leftEyeDifference = DudeMath.aDiff(leftAngle, angleBetweenDudes);
double rightEyeDifference = DudeMath.aDiff(rightAngle, angleBetweenDudes);
if ((leftEyeDifference > -focus / 2) && (leftEyeDifference < focus / 2))
{
leftEyeSense[0] += 16 * (thingy.red / dist);
leftEyeSense[1] += 16 * (thingy.green / dist);
leftEyeSense[2] += 16 * (thingy.blue / dist);
}
if ((rightEyeDifference > -focus / 2) && (rightEyeDifference < focus / 2))
{
rightEyeSense[0] += 16 * (thingy.red / dist);
rightEyeSense[1] += 16 * (thingy.green / dist);
rightEyeSense[2] += 16 * (thingy.blue / dist);
}
leftEyeSense[0] = Math.Tanh(leftEyeSense[0]);
leftEyeSense[1] = Math.Tanh(leftEyeSense[1]);
leftEyeSense[2] = Math.Tanh(leftEyeSense[2]);
rightEyeSense[0] = Math.Tanh(rightEyeSense[0]);
rightEyeSense[1] = Math.Tanh(rightEyeSense[1]);
rightEyeSense[2] = Math.Tanh(rightEyeSense[2]);
// leftEyePos.X = pd.x + Math.Sin (leftAngle) * 4;
// leftEyePos.Y = pd.y + Math.Cos (leftAngle) * 4;
// rightEyePos.X = pd.x + Math.Sin (leftAngle) * 4;
// rightEyePos.Y = pd.y + Math.Cos (leftAngle) * 4;
}
pressure = Math.Tanh(pressure); //Squish it down
}
public void doThrusters()
{
thrusters[0, 0] = DudeMath.wrapPi(thrusters[0, 0] + (outs[(int)nnOutputs.thrusterA0] * 0.1));
thrusters[1, 0] = DudeMath.wrapPi(thrusters[1, 0] + (outs[(int)nnOutputs.thrusterA1] * 0.1));
thrusters[2, 0] = DudeMath.wrapPi(thrusters[2, 0] + (outs[(int)nnOutputs.thrusterA2] * 0.1));
thrusters[3, 0] = DudeMath.wrapPi(thrusters[3, 0] + (outs[(int)nnOutputs.thrusterA3] * 0.1));
thrusters[0, 1] = DudeMath.map(outs [(int)nnOutputs.thrusterT0], -1, 1, 0, 1);
thrusters[1, 1] = DudeMath.map(outs [(int)nnOutputs.thrusterT1], -1, 1, 0, 1);
thrusters[2, 1] = DudeMath.map(outs [(int)nnOutputs.thrusterT2], -1, 1, 0, 1);
thrusters[3, 1] = DudeMath.map(outs [(int)nnOutputs.thrusterT3], -1, 1, 0, 1);
for (int i = 0; i < 4; i++)
{
//double angle = DudeMath.wrapPi (spacials.angle + thrusters [i,0]);
//spacials.pos.X += Math.Sin (angle) * thrusters[i,1] * 1;
//spacials.pos.Y += Math.Cos (angle) * thrusters[i,1] * 1;
}
}