public virtual ShipDNA GetNewDNA()
{
// Create dna for each part using that part's current stats
List <ShipPartDNA> dnaParts = new List <ShipPartDNA>();
foreach (PartBase part in _parts.AllPartsArray)
{
ShipPartDNA dna = part.GetNewDNA();
if (_neuronLinks != null && part is INeuronContainer)
{
NeuralUtility.PopulateDNALinks(dna, (INeuronContainer)part, _neuronLinks);
}
dnaParts.Add(dna);
}
// Build the ship dna
return(ShipDNA.Create(_dna, dnaParts));
}
private void AddBot_Click(object sender, RoutedEventArgs e)
{
try
{
//TODO: Implement:
// ConverterMatterToFuel
// ConverterMatterToEnergy
//_itemOptions.CameraColorRGBNeuronDensity = 160 * 3;
#region DNA
List <ShipPartDNA> parts = new List <ShipPartDNA>();
parts.Add(new ShipPartDNA()
{
PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 1.43121944558768), Scale = new Vector3D(2.7969681248785, 2.7969681248785, 0.754175785992705)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.617709955450103, 0, -1.17934947097654), Scale = new Vector3D(1.27861383329322, 1.27861383329322, 1.2242161981366)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-2.16134944924876E-05, -0.60985890545398, -1.17934947097654), Scale = new Vector3D(1.27861383329322, 1.27861383329322, 1.2242161981366)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.00387496389974934, 0.618396858731443, -1.17934947097654), Scale = new Vector3D(1.27861383329322, 1.27861383329322, 1.2242161981366)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.624666220599071, 0.00100528924605325, -1.17934947097654), Scale = new Vector3D(1.27861383329322, 1.27861383329322, 1.2242161981366)
});
parts.Add(new ShipPartDNA()
{
PartType = CargoBay.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0), Scale = new Vector3D(1, 1, 1)
});
parts.Add(new ShipPartDNA()
{
PartType = Brain.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.850947345148112, -0.0019217800299223, -0.1657062616585), Scale = new Vector3D(0.730753808122994, 0.730753808122994, 0.730753808122994)
});
parts.Add(new ShipPartDNA()
{
PartType = Brain.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.00589599969475301, 0.850929089078933, -0.1657062616585), Scale = new Vector3D(0.730753808122994, 0.730753808122994, 0.730753808122994)
});
parts.Add(new ShipPartDNA()
{
PartType = Brain.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.00522521361558187, -0.850933472485232, -0.165706261658499), Scale = new Vector3D(0.730753808122994, 0.730753808122994, 0.730753808122994)
});
parts.Add(new ShipPartDNA()
{
PartType = Brain.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.850949515219971, 0, -0.165706261658499), Scale = new Vector3D(0.730753808122994, 0.730753808122994, 0.730753808122994)
});
parts.Add(new ShipPartDNA()
{
PartType = ConverterMatterToFuel.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.232899395582397, -0.238935114546265, 0.773100284172734), Scale = new Vector3D(0.903613735551713, 0.903613735551713, 0.903613735551713)
});
parts.Add(new ShipPartDNA()
{
PartType = ConverterMatterToEnergy.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.22797553388197, 0.226717979419686, 0.775967026847012), Scale = new Vector3D(0.903613735551713, 0.903613735551713, 0.903613735551713)
});
parts.Add(new ShipPartDNA()
{
PartType = SensorSpin.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.262933776282848, 0.240405245709603, 0.755961022082205), Scale = new Vector3D(1, 1, 1)
});
parts.Add(new ShipPartDNA()
{
PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.250217552102507, -0.280865739393283, 0.743561713316594), Scale = new Vector3D(0.399083346950047, 0.399083346950047, 0.236501125779081)
}); // This is just a placeholder for a future sensor (need to put something here so mass is balanced)
parts.Add(new ShipPartDNA()
{
PartType = CameraColorRGB.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.00208559296997747, 0, 2.00222812584528), Scale = new Vector3D(1, 1, 1)
});
parts.Add(new ThrusterDNA()
{
PartType = Thruster.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.00137913748707474, 0, -1.20661030017992), Scale = new Vector3D(1.29260597488229, 1.29260597488229, 1.29260597488229), ThrusterType = ThrusterType.One
});
parts.Add(new ThrusterDNA()
{
PartType = Thruster.PARTTYPE, Orientation = new Quaternion(-0.623025498564933, -0.775855164007238, -0.0622612340741654, 0.0775340657568128), Position = new Point3D(0.189965645143804, -0.859019870524953, 0.883258802478369), Scale = new Vector3D(0.522840753255495, 0.522840753255495, 0.522840753255495), ThrusterType = ThrusterType.One
});
parts.Add(new ThrusterDNA()
{
PartType = Thruster.PARTTYPE, Orientation = new Quaternion(0.948585651195026, -0.300495041099996, 0.0947956598959211, 0.0300295768554372), Position = new Point3D(-0.719304806310003, 0.506559650891123, 0.883258802478371), Scale = new Vector3D(0.522840753255495, 0.522840753255495, 0.522840753255495), ThrusterType = ThrusterType.One
});
parts.Add(new ThrusterDNA()
{
PartType = Thruster.PARTTYPE, Orientation = new Quaternion(0.304146575685315, -0.947421167104513, 0.0303944881633535, 0.0946792887093452), Position = new Point3D(0.715381156965589, 0.512085817563994, 0.883258802478369), Scale = new Vector3D(0.522840753255495, 0.522840753255495, 0.522840753255495), ThrusterType = ThrusterType.One
});
ShipDNA dna = ShipDNA.Create(parts);
dna.ShipLineage = Guid.NewGuid().ToString();
#endregion
ShipCoreArgs core = new GameItems.ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Projectile,
Radiation = _radiation,
CameraPool = _cameraPool,
};
//Swimbot bot = await Swimbot.GetNewSwimbotAsync(dna, _world, _material_Bot, _map, extra);
Swimbot bot = new Swimbot(BotConstructor.ConstructBot(dna, core, extra));
bot.PhysicsBody.ApplyForceAndTorque += new EventHandler <BodyApplyForceAndTorqueArgs>(Bot_ApplyForceAndTorque);
bot.PhysicsBody.Rotation = Math3D.GetRandomRotation();
bot.PhysicsBody.Position = Math3D.GetRandomVector_Spherical(BOUNDRYSIZEHALF * .5d).ToPoint();
//bot.PhysicsBody.Position = new Point3D(0, 0, BOUNDRYSIZEHALF * -.75d);
if (bot.Energy != null)
{
bot.Energy.QuantityCurrent = bot.Energy.QuantityMax * .5d;
}
if (bot.Fuel != null)
{
bot.Fuel.QuantityCurrent = bot.Fuel.QuantityMax * .5d;
}
bot.RecalculateMass();
_map.AddItem(bot);
_bots.Add(bot);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private static ShipDNA GetDefaultDNA(bool addHomingSensor)
{
// Create bot dna (remember the unique ID of the brainneat part)
var parts = new List <ShipPartDNA>();
#region misc
// If there are more than one, give each a unique guid to know which to train (only want to train one at a time)
parts.Add(new BrainNEATDNA()
{
PartType = BrainNEAT.PARTTYPE,
Position = new Point3D(0, 0, 0),
Orientation = Quaternion.Identity,
Scale = new Vector3D(1, 1, 1)
});
parts.Add(new ShipPartDNA()
{
PartType = MotionController2.PARTTYPE,
Position = new Point3D(0, 0, -.65),
Orientation = Quaternion.Identity,
Scale = new Vector3D(.75, .75, .75)
});
#endregion
#region cargo parts
// These go in a ring around the brain
const double RING_Z = 0;
Point3D[] positions_cargo = Math3D.GetRandomVectors_Circular_EvenDist(3, .66).
Select(o => o.ToPoint3D(RING_Z)).
ToArray();
Point3D pointTo = new Point3D(0, 0, RING_Z);
// Make the cargo bay long, because it's storing pole arms
Vector3D cargo_vect = pointTo - positions_cargo[0];
Vector3D cargo_vectX = Vector3D.CrossProduct(cargo_vect, new Vector3D(0, 1, 0));
Vector3D cargo_vectY = pointTo - positions_cargo[0];
parts.Add(new ShipPartDNA()
{
PartType = CargoBay.PARTTYPE,
Position = positions_cargo[0],
Orientation = Math3D.GetRotation(new DoubleVector(1, 0, 0, 0, 1, 0), new DoubleVector(cargo_vectX, cargo_vectY)), // need a double vector because the cargo bay is a box. The other two are cylinders, so it doesn't matter which way the orth vector is pointing
Scale = new Vector3D(.35, .15, 1.35)
});
parts.Add(new ShipPartDNA()
{
PartType = EnergyTank.PARTTYPE,
Position = positions_cargo[1],
Orientation = Math3D.GetRotation(new Vector3D(0, 0, 1), pointTo - positions_cargo[1]),
Scale = new Vector3D(.6, .6, .15)
});
parts.Add(new ShipPartDNA()
{
PartType = PlasmaTank.PARTTYPE,
Position = positions_cargo[2],
Orientation = Math3D.GetRotation(new Vector3D(0, 0, 1), pointTo - positions_cargo[2]),
Scale = new Vector3D(.6, .6, .15)
});
#endregion
#region sensors
int sensorCount = 2;
if (addHomingSensor)
{
sensorCount++;
}
Point3D[] positions_sensor = Math3D.GetRandomVectors_Cone_EvenDist(sensorCount, new Vector3D(0, 0, 1), 40, 1.1, 1.1).
Select(o => o.ToPoint() + new Vector3D(0, 0, -.3)).
ToArray();
// Vision Far
parts.Add(new SensorVisionDNA()
{
PartType = SensorVision.PARTTYPE,
Position = positions_sensor[0],
Orientation = Quaternion.Identity,
Scale = new Vector3D(1, 1, 1),
SearchRadius = 60,
Filters = new[]
{
SensorVisionFilterType.Nest,
SensorVisionFilterType.Bot_Family,
SensorVisionFilterType.Bot_Other,
SensorVisionFilterType.TreasureBox,
SensorVisionFilterType.Weapon_FreeFloating,
},
});
// Vision Near
parts.Add(new SensorVisionDNA()
{
PartType = SensorVision.PARTTYPE,
Position = positions_sensor[1],
Orientation = Quaternion.Identity,
Scale = new Vector3D(1, 1, 1),
SearchRadius = 12,
Filters = new[]
{
SensorVisionFilterType.Bot_Family,
SensorVisionFilterType.Bot_Other,
SensorVisionFilterType.Weapon_Attached_Personal,
SensorVisionFilterType.Weapon_Attached_Other,
},
});
// Homing
if (addHomingSensor)
{
parts.Add(new ShipPartDNA()
{
PartType = SensorHoming.PARTTYPE,
Position = positions_sensor[2],
Orientation = Quaternion.Identity,
Scale = new Vector3D(1, 1, 1)
});
}
//new ShipPartDNA() { PartType = SensorVision.PARTTYPE, Position = new Point3D(0, 0, 1.5), Orientation = Quaternion.Identity, Scale = new Vector3D(1, 1, 1) },
//new ShipPartDNA() { PartType = SensorCollision.PARTTYPE, Position = new Point3D(-sensorXY, sensorXY, sensorZ), Orientation = new Quaternion(halfSqrt2,0,0,halfSqrt2), Scale = new Vector3D(1, 1, 1) },
//new ShipPartDNA() { PartType = SensorHoming.PARTTYPE, Position = new Point3D(-sensorXY, -sensorXY, sensorZ), Orientation = new Quaternion(halfSqrt2,0,0,halfSqrt2), Scale = new Vector3D(1, 1, 1) },
//new ShipPartDNA() { PartType = SensorVelocity.PARTTYPE, Position = new Point3D(sensorXY, -sensorXY, sensorZ), Orientation = new Quaternion(halfSqrt2,0,0,halfSqrt2), Scale = new Vector3D(1, 1, 1) },
// gravity is constant, so the only reason it would be needed is if the bot spins around
//new ShipPartDNA() { PartType = SensorGravity.PARTTYPE, Position = new Point3D(sensorXY, sensorXY, sensorZ), Orientation = new Quaternion(halfSqrt2,0,0,halfSqrt2), Scale = new Vector3D(1, 1, 1) },
// SensorPain
#endregion
return(ShipDNA.Create("ArcBot2", parts));
}
private void SetBot_Click(object sender, RoutedEventArgs e)
{
try
{
int numThrusters;
if (!int.TryParse(txtNumThrusters.Text, out numThrusters))
{
MessageBox.Show("Couldn't parse the number of thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
else if (numThrusters < 2)
{
MessageBox.Show("Must have at least two thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
#region DNA
List <ShipPartDNA> parts = new List <ShipPartDNA>();
parts.Add(new ShipPartDNA()
{
PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.283735185991315), Scale = new Vector3D(2.05963659008885, 2.05963659008885, 0.301082085094996)
});
parts.Add(new ShipPartDNA()
{
PartType = FuelTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, -0.490401090473184), Scale = new Vector3D(1.92697281805995, 1.92697281805995, 1.1591130722673)
});
parts.Add(new ShipPartDNA()
{
PartType = SensorSpin.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0, 0, 0.57985483357727), Scale = new Vector3D(1, 1, 1)
});
parts.AddRange(GetRandomThrusters(numThrusters, chkRandRotateThrusters.IsChecked.Value, (ThrusterTypeValues)cboThrusterTypes.SelectedItem, chkSomeDestroyed.IsChecked.Value));
ShipDNA dna = ShipDNA.Create(parts);
dna.ShipLineage = Guid.NewGuid().ToString();
#endregion
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
BotConstruction_Result seed = BotConstructor.ConstructBot(dna, core);
ControlledThrustBot bot = new ControlledThrustBot(seed);
SetBot(bot);
// Start looking for a solution immediately
if (chkBalanceThrusters.IsChecked.Value)
{
BalanceBot_Forward(_bot);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}