private void EnsureThrustKeysBuilt_Finish(KeyThrustRequest[] requests)
{
// Remember the mappings between key and desired thrust (this is used to drive the impulse engine)
_keyThrustRequests = requests;
if (this.Thrusters == null || this.Thrusters.Length == 0)
{
_isThrustMapDirty = false;
return;
}
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
// Remember the current solutions, so they can help get a good start on the new solver
var previous = _thrustLines.Values.ToArray();
_thrustLines.Clear();
_cancelCurrentBalancer = new CancellationTokenSource();
ThrustContributionModel model = new ThrustContributionModel(this.Thrusters, this.PhysicsBody.CenterOfMass);
MassMatrix inertia = this.PhysicsBody.MassMatrix;
double mass = inertia.Mass;
// Several key combos may request the same direction, so group them
var grouped = requests.
ToLookup(KeyThrustRequestComparer);
foreach (var set in grouped)
{
// Create wrappers for this set
ThrusterSolution[] solutionWrappers = set.
Select(o => new ThrusterSolution(o, model, inertia, mass)).
ToArray();
// Store the wrappers
foreach (var wrapper in solutionWrappers)
{
_thrustLines.Add(Tuple.Create(wrapper.Request.Key, wrapper.Request.Shift), wrapper);
}
// This delegate gets called when a better solution is found. Distribute the map to the solution wrappers
var newBestFound = new Action <ThrusterMap>(o =>
{
ThrusterSolutionMap solutionMap = GetThrusterSolutionMap(o, model, inertia, mass);
foreach (ThrusterSolution wrapper in solutionWrappers)
{
wrapper.Map = solutionMap;
}
});
var options = new DiscoverSolutionOptions2 <Tuple <int, int, double> >()
{
//MaxIterations = 2000, //TODO: Find a reasonable stop condition
ThreadShare = _thrustWorkerThread,
};
// Find the previous solution for this request
var prevMatch = previous.FirstOrDefault(o => KeyThrustRequestComparer(set.Key, o.Request));
if (prevMatch != null && prevMatch.Map != null)
{
options.Predefined = new[] { prevMatch.Map.Map.Flattened };
}
// Find the combination of thrusters that push in the requested direction
//ThrustControlUtil.DiscoverSolutionAsync(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, null, options);
ThrustControlUtil.DiscoverSolutionAsync2(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, options: options);
}
_isThrustMapDirty = false;
}
private void EnsureThrustKeysBuilt_Finish(KeyThrustRequest[] requests)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
// Remember the current solutions, so they can help get a good start on the new solver
var previous = _thrustLines.Values.ToArray();
_thrustLines.Clear();
_cancelCurrentBalancer = new CancellationTokenSource();
ThrustContributionModel model = new ThrustContributionModel(this.Thrusters, this.PhysicsBody.CenterOfMass);
MassMatrix inertia = this.PhysicsBody.MassMatrix;
double mass = inertia.Mass;
// Several key combos may request the same direction, so group them
var grouped = requests.
ToLookup(KeyThrustRequestComparer);
foreach (var set in grouped)
{
// Create wrappers for this set
ThrusterSolution[] solutionWrappers = set.
Select(o => new ThrusterSolution(o, model, inertia, mass)).
ToArray();
// Store the wrappers
foreach (var wrapper in solutionWrappers)
{
_thrustLines.Add(Tuple.Create(wrapper.Request.Key, wrapper.Request.Shift), wrapper);
}
// This delegate gets called when a better solution is found. Distribute the map to the solution wrappers
var newBestFound = new Action<ThrusterMap>(o =>
{
ThrusterSolutionMap solutionMap = GetThrusterSolutionMap(o, model, inertia, mass);
foreach (ThrusterSolution wrapper in solutionWrappers)
{
wrapper.Map = solutionMap;
}
});
var options = new DiscoverSolutionOptions2<Tuple<int, int, double>>()
{
//MaxIterations = 2000, //TODO: Find a reasonable stop condition
ThreadShare = _thrustWorkerThread,
};
// Find the previous solution for this request
var prevMatch = previous.FirstOrDefault(o => KeyThrustRequestComparer(set.Key, o.Request));
if (prevMatch != null && prevMatch.Map != null)
{
options.Predefined = new[] { prevMatch.Map.Map.Flattened };
}
// Find the combination of thrusters that push in the requested direction
//ThrustControlUtil.DiscoverSolutionAsync(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, null, options);
ThrustControlUtil.DiscoverSolutionAsync2(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, null, options);
}
_isThrustMapDirty = false;
}
public static void DiscoverSolutionAsync2(Bot bot, Vector3D? idealLinear, Vector3D? idealRotation, CancellationToken? cancel = null, ThrustContributionModel model = null, Action<ThrusterMap> newBestFound = null, Action<ThrusterMap> finalFound = null, DiscoverSolutionOptions2<Tuple<int, int, double>> options = null)
{
long token = bot.Token;
// Cache Thrusters
Thruster[] allThrusters = bot.Thrusters;
if (allThrusters == null || allThrusters.Length == 0)
{
throw new ArgumentException("This bot has no thrusters");
}
// Ensure model is created (if the caller wants to find solutions for several directions at the same time, it would be
// more efficient to calculate the model once, and pass to all the solution finders)
model = model ?? new ThrustContributionModel(bot.Thrusters, bot.PhysicsBody.CenterOfMass);
// Figure out how much force can be generated in the ideal directions
double maxForceLinear = idealLinear == null ? 0d : ThrustControlUtil.GetMaximumPossible_Linear(model, idealLinear.Value);
double maxForceRotate = idealRotation == null ? 0d : ThrustControlUtil.GetMaximumPossible_Rotation(model, idealRotation.Value);
// Mutate 2% of the elements, with a 10% value drift
MutateUtility.MuateArgs mutateArgs = new MutateUtility.MuateArgs(false, .02, new MutateUtility.MuateFactorArgs(MutateUtility.FactorType.Distance, .1));
#region delegates
//NOTE: While breeding/mutating, they don't get normalized. But error calculation and returned maps need them normalized
var delegates = new DiscoverSolutionDelegates2<Tuple<int, int, double>>()
{
GetNewSample = new Func<Tuple<int, int, double>[]>(() =>
{
ThrusterMap map = ThrustControlUtil.GenerateRandomMap(allThrusters, token);
return map.Flattened;
}),
GetScore = new Func<Tuple<int, int, double>[], double[]>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o), allThrusters, token);
return ThrustControlUtil.GetThrustMapScore3(map, model, idealLinear, idealRotation, maxForceLinear, maxForceRotate);
}),
Mutate = new Func<Tuple<int, int, double>[], Tuple<int, int, double>[]>(o =>
{
ThrusterMap map = new ThrusterMap(o, allThrusters, token);
return ThrustControlUtil.Mutate(map, mutateArgs, false).Flattened;
}),
};
if (cancel != null)
{
delegates.Cancel = cancel.Value;
}
if (newBestFound != null)
{
delegates.NewBestFound = new Action<SolutionResult2<Tuple<int, int, double>>>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o.Item), allThrusters, token);
newBestFound(map);
});
}
if (finalFound != null)
{
delegates.FinalFound = new Action<SolutionResult2<Tuple<int, int, double>>>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o.Item), allThrusters, token);
finalFound(map);
});
}
#endregion
options = options ?? new DiscoverSolutionOptions2<Tuple<int, int, double>>();
options.ScoreAscendDescend = new bool[] { false, false };
// Do it
//NOTE: If options.ThreadShare is set, then there's no reason to do this async, but there's no harm either
Task.Run(() => UtilityAI.DiscoverSolution2(delegates, options));
}
