public override bool RobotCollide(Robot robot)
{
foreach (Wall wall in env.walls)
{
if (EngineUtilities.collide(robot, wall))
{
return(true);
}
}
if (!agentCollide)
{
return(false);
}
foreach (Robot robot2 in rbts)
{
if (robot == robot2)
{
continue;
}
if (EngineUtilities.collide(robot, robot2))
{
return(true);
}
}
return(false);
}
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip)
{
// Initialize variables on first time step
if (ip.timeSteps == 1)
{
livingCost = 0;
rewards = 0;
// Fitness values must be positive. Therefore, a high positive fitness is assigned in advance,
// and the cost of living subtracts from it.
// time / steps is the number of actual time steps, and the cost is multiplied by number of enemies
fitness = (Experiment.evaluationTime / Experiment.timestep) * Experiment.numEnemies;
}
// Find closest active prey
bool allCaptured = true; // becomes false if an active prey is found
Robot evolved = ip.robots[0];
for (int i = 1; i < ip.robots.Count; i++)
{
// Assumes all but first robot are EnemyRobot instances
EnemyRobot er = (EnemyRobot)ip.robots[i];
if (!er.disabled) // Not captured yet
{
//Console.WriteLine("Robot "+i+" not disabled");
allCaptured = false;
// The collisionWithEvolved bool should always be the primary means of detecting these
// collisions, but the other call is here as a precaution. This check is needed because
// when the evolved bot normally collides with the enemy, the "undo" method is called,
// which prevents the collision from being detected using normal means in this method.
// Fortunately, the collisionWithEvolved member is used to remember when this collision
// occurs.
if (er.collisionWithEvolved || EngineUtilities.collide(evolved, er))
{ // Reward evolved bot for colliding with prey, and disable prey
er.disabled = true;
er.stopped = true;
rewards += PREY_REWARD;
fitness += PREY_REWARD; // This is the value that matters
//Console.WriteLine("\treward:" + rewards + " from " + PREY_REWARD);
}
else
{ // Each active prey punishes bot for not being caltured yet
double distance = evolved.location.distance(er.location);
double cost = distance / environment.maxDistance;
livingCost += cost;
fitness -= cost; // This is the value that matters
//Console.WriteLine("\tCost: " + (distance / 1000.0) + " to be " + livingCost + " raw distance: " + distance);
}
}
}
// End evaluation and stop accruing negative fitness if all prey are captured
if (allCaptured)
{ // Disabling prevents further action
ip.elapsed = Experiment.evaluationTime; // force end time: only affects non-visual evaluation
Experiment.running = false; // Ends visual evaluation
}
}
public override bool RobotCollide(Robot robot)
{
List <collision_grid_square> squares =
grid.circle(robot.location.x, robot.location.y, robot.radius);
List <Wall> checked_walls = new List <Wall>();
List <Robot> checked_robots = new List <Robot>();
foreach (collision_grid_square square in squares)
{
//TODO
if (this.agentCollide)
{
foreach (SimulatorObject o in square.dynamic_objs)
{
Robot r = (Robot)o;
if (r == robot)
{
continue;
}
if (!checked_robots.Contains(r))
{
if (EngineUtilities.collide(r, robot))
{
return(true);
}
checked_robots.Add(r);
}
}
}
foreach (SimulatorObject o in square.static_objs)
{
Wall w = (Wall)o;
if (!checked_walls.Contains(w))
{
if (EngineUtilities.collide(robot, w))
{
return(true);
}
checked_walls.Add(w);
}
}
}
return(false);
}
public static bool collide(Robot a, Wall b)
{
return(EngineUtilities.collide(b, a));
}