public void UpdateCreaturePhysics()
{
float[] previousOutput = brain.GetOutput();
HSBColor bodyTileColor = map.GetColor((int)base.position.x, (int)base.position.y);
HSBColor leftTileColor = map.GetColor((int)leftPos.x, (int)leftPos.y);
HSBColor rightTileColor = map.GetColor((int)rightPos.x, (int)rightPos.y);
bool spikeTargetFound = false;
float spikeValue = -1;
Creature_V2 spikeCreature = null;
List <Creature_V2> creatureListAtTile = map.ExistCreaturesNearTile((int)base.position.x, (int)base.position.y);
float[] sensorDistance = new float[4];
for (int i = 0; i < sensorPos.Length; i++)
{
sensorValue[i] = -1f;
sensorDistance[i] = -1f;
if (creatureListAtTile != null)
{
for (int j = 0; j < creatureListAtTile.Count; j++)
{
Creature_V2 creature = creatureListAtTile[j];
if (!creature.Equals(this))
{
float distance;
if (spikeTargetFound == false)
{
distance = creature.IsLineIntersectingWithCircle(base.position, spikePos);
if (distance != -1f)
{
spikeCreature = creature;
spikeValue = spikeCreature.bodyColor.h;
spikeTargetFound = true;
}
}
distance = creature.IsLineIntersectingWithCircle(base.position, sensorPos[i]);
if (distance != -1f)
{
sensorValue[i] = creature.bodyColor.h;
sensorDistance[i] = distance;
break;
}
}
}
}
}
List <Creature_V2> creatureListAtBodyTile = map.ExistCreaturesNearPrecisionTile(base.position.x, base.position.y, base.radius);
List <Creature_V2> creaturesInBirthRange = new List <Creature_V2>();
float hueAverage = -1f;
float isCollision = -1f;
//check for left sensor collision
if (creatureListAtBodyTile != null)
{
for (int i = 0; i < creatureListAtBodyTile.Count; i++)
{
Creature_V2 creature = creatureListAtBodyTile[i];
if (!creature.Equals(this))
{
if (creature.CollisionCheckWithCircle(radius, base.position) == true)
{
hueAverage += creature.bodyColor.h;
isCollision++;
creaturesInBirthRange.Add(creature);
}
else if (creature.CollisionCheckWithCircle(radius * 2f, base.position))
{
creaturesInBirthRange.Add(creature);
}
}
}
}
if (isCollision >= 0)
{
isCollision++;
hueAverage = hueAverage / isCollision;
isCollision = 1f;
}
float[] output = brain.Feedforward(new float[] { sensorDistance[0], sensorDistance[1], sensorDistance[2], sensorDistance[3],
sensorValue[0], sensorValue[1], sensorValue[2], sensorValue[3], spikeValue,
isCollision, hueAverage, bodyTileColor.h, bodyTileColor.s, leftTileColor.h, leftTileColor.s, rightTileColor.h, rightTileColor.s,
base.radius /*energy.GetLife()/2f, energy.GetEnergy()/25f*/, previousOutput[7], previousOutput[8] });
float accelForward = output[0];
float accelAngular = output[1];
float bodyHue = output[2];
float mouthHue = output[3];
if (output[6] >= 0)
{
spikeLength = output[6];
}
else
{
spikeLength = 0;
}
if (bodyHue >= 0)
{
this.bodyColor.h = bodyHue;
}
if (mouthHue >= 0)
{
this.mouthColor.h = mouthHue;
}
map.RemoveCreatureFromTileList(tileDetail[0], tileDetail[1], this);
base.UpdateColliderPhysics(accelForward, accelAngular);
UpdateSensors();
//copy tile detail
tileDetail[0] = (int)base.position.x;
tileDetail[1] = (int)base.position.y;
map.AddCreatureToTileList(tileDetail[0], tileDetail[1], this);
energy.UpdateCreatureEnergy(tileDetail[0], tileDetail[1], output, bodyTileColor.h, mouthColor.h, spikeCreature);
if (energy.GetEnergy() < 1f)
{
base.radius = initialRadius - ((1f - energy.GetEnergy()) * (initialRadius / 2));
}
else
{
base.radius = initialRadius + (energy.GetEnergy() * 0.0025f);
}
// Creature is dead ;( D: :( -_- ;_;
if (energy.IsAlive() == false)
{
Kill();
}
else if (energy.GiveBirth() == true)
{
energy.DoneBirth();
world.CreateCreature(this);
}
else if (energy.IsAbleToGiveBirth() == true)
{
for (int i = 0; i < creaturesInBirthRange.Count; i++)
{
Creature_V2 creature = creaturesInBirthRange[i];
if (creature.energy.IsAbleToGiveBirth())
{
energy.RemoveEnergy(1f);
creature.energy.RemoveEnergy(1f);
energy.DoneBirth();
creature.energy.DoneBirth();
world.CreateCreature(this, creature);
break;
}
else
{
energy.RemoveEnergy(1.25f);
creature.energy.RemoveEnergy(0.25f);
energy.DoneBirth();
creature.energy.DoneBirth();
world.CreateCreature(this, creature);
break;
}
}
}
timeLived += worldDeltaTime;
}