public Rocket(Vector2 location, Rectangle operatingArea, RocketController controller)
{
if (controller == null)
{
throw new ArgumentNullException(nameof(controller));
}
CurrentLocation = location;
Controller = controller;
this.operatingArea = operatingArea;
}
private void InitSwarm()
{
if (swarm == null)
{
swarm = new Rocket[RocketSwarmSwize];
for (var i = 0; i < RocketSwarmSwize; i++)
{
swarm[i] = new Rocket(location, operationArea, new RocketController(RocketLifespan));
}
return;
}
var rocketsWithFitness = swarm.Select(rocket => new {
Rocket = rocket,
Fitness = CalculateControllerFitness(rocket)
}).ToArray();
var totalFitness = rocketsWithFitness.Select(x => x.Fitness).Sum();
var fitnessMap = rocketsWithFitness.SelectMany(x =>
Enumerable.Range(0, x.Fitness).Select(_ => x.Rocket).ToArray()).ToArray();
foreach (var i in Enumerable.Range(0, RocketSwarmSwize))
{
var firstRocket = fitnessMap[random.Next(totalFitness)];
var secondRocket = fitnessMap[random.Next(totalFitness)];
var breakpoint = (int)(RocketLifespan * random.NextDouble());
var mergedMoves = new Vector2[RocketLifespan];
foreach (var j in Enumerable.Range(0, RocketLifespan))
{
if (random.NextDouble() < 0.01)
{
mergedMoves[j] = RocketController.GenerateRandomMove();
continue;
}
if (j <= breakpoint)
{
mergedMoves[j] = firstRocket.Controller.Moves[j];
}
else
{
mergedMoves[j] = secondRocket.Controller.Moves[j];
}
}
var mergedController = new RocketController(mergedMoves);
swarm[i] = new Rocket(location, operationArea, mergedController);
}
}