public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
double[] rotation = { -Math.PI / 2, -Math.PI / 24, 0, Math.PI / 24, Math.PI / 2 };
float direction = 0;
for (int i = 0; i < na.Width; i++)
{
if (na.GetNeuronAt(i, 0).LastCharge > 0.9 || na.GetNeuronAt(i, 0).LastCharge > 0.9 && i < rotation.Length)
{
direction = (float)rotation[i];
}
}
if (na.GetNeuronAt(2, 0).CurrentCharge != 0)
{
direction = na.GetNeuronAt(2, 0).CurrentCharge;
na.GetNeuronAt(2, 0).SetValue(0);
}
ModuleRealityModel mrm = (ModuleRealityModel)FindModuleByType(typeof(ModuleRealityModel));
if (mrm != null && direction != 0)
{
mrm.Rotate(20);
}
Module2DSim m2D = (Module2DSim)FindModuleByType(typeof(Module2DSim));
if (m2D != null && direction != 0)
{
m2D.Rotate(direction);
}
Module3DSim m3D = (Module3DSim)FindModuleByType(typeof(Module3DSim));
if (m3D != null && direction != 0)
{
m3D.Rotate(direction);
}
Module2DModel m2DModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (m2DModel != null && direction != 0)
{
m2DModel.Rotate(direction);
}
Module2DVision m2DVision = (Module2DVision)FindModuleByType(typeof(Module2DVision));
if (m2DVision != null && direction != 0)
{
m2DVision.ViewChanged();
}
}
private void TheCanvas_MouseRightButtonDown(object sender, MouseButtonEventArgs e)
{
Module2DSim parent = (Module2DSim)base.ParentModule;
Point windowSize = new Point(theCanvas.ActualWidth, theCanvas.ActualHeight);
Point windowCenter = new Point(windowSize.X / 2, windowSize.Y / 2);
float scale = (float)Math.Min(windowSize.X, windowSize.Y) / 12;
Point position = e.GetPosition(theCanvas);
PointPlus v = new PointPlus {
P = (Point)(position - parent.entityPosition)
};
float dist = (float)v.R;
double angle = (float)v.Theta;
double deltaAngle = angle - parent.entityDirection1;
ModuleView naGoToDest = MainWindow.theNeuronArray.FindAreaByLabel("ModuleGoToDest");
if (naGoToDest != null)
{
naGoToDest.GetNeuronAt("Go").SetValue(1);
naGoToDest.GetNeuronAt("Theta").SetValue((float)deltaAngle);
naGoToDest.GetNeuronAt("R").SetValue(dist);
}
else
{
ModuleView naBehavior = MainWindow.theNeuronArray.FindAreaByLabel("ModuleBehavior");
if (naBehavior != null)
{
naBehavior.GetNeuronAt("TurnTo").SetValue(1);
naBehavior.GetNeuronAt("Theta").SetValue((float)-deltaAngle);
naBehavior.GetNeuronAt("MoveTo").SetValue(1);
naBehavior.GetNeuronAt("R").SetValue(dist);
}
}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (GetNeuronValue("Auto") == 0)
{
return;
}
goToGoal = GetNeuronValue("Goal") == 1;
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
if (mBehavior == null)
{
return;
}
Module2DModel mModel = (Module2DModel)FindModleu(typeof(Module2DModel));
if (mModel is null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModleu(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
mModel.GetSegmentsFromUKS();
IList <Thing> segments = mModel.GetUKSSegments();
if (segments.Count == 0)
{
return;
}
Thing t = segments[0]; //TODO: this only works with just a single item in the UKS
//figure out if any motion occured
Segment s = Module2DModel.SegmentFromUKSThing(t);
Module2DModel.OrderSegment(s);
if (GetNeuronValue("E0") == 1)
{
GoToLandmark(UKS.Labeled("E0").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E1") == 1)
{
GoToLandmark(UKS.Labeled("E1").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E2") == 1)
{
GoToLandmark(UKS.Labeled("E2").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (doPush != 0)
{
if (doPush == 2)
{
Push(s);
}
doPush--;
return;
}
if (doFaceSegment)
{
DoFaceSegment(s);
doFaceSegment = false;
return;
}
Segment s1;
if (lastPosition == null) //create objects to keep track of the target and last position
{
s1 = s.Clone();
lastPosition = mModel.AddSegmentToUKS(s1);
lastPosition.Label = "LastPosition";
lastPosition.RemoveParent(UKS.Labeled("Segment"));
lastPosition.AddParent(UKS.Labeled("SSegment"));
Module2DSim mSim = (Module2DSim)FindModleu(typeof(Module2DSim));
if (mSim is null)
{
return;
}
Segment motionTarget = mSim.GetMotionTarget();
if (motionTarget == null)
{
motionTarget = new Segment();
motionTarget.P1 = new PointPlus(4, 1.5f);
motionTarget.P2 = new PointPlus(4, -2.5f);
motionTarget.theColor = (ColorInt)0xff;
}
endTarget = mModel.AddSegmentToUKS(motionTarget);
endTarget.Label = "EndTarget";
//endTarget.RemoveParent(UKS.Labeled("Segment"));
//endTarget.AddParent(UKS.Labeled("SSegment"));
}
else
{
s1 = Module2DModel.SegmentFromUKSThing(lastPosition);
}
//get motion from subtracting and then updating last position
Angle rotation = s.Angle - s1.Angle;
if (rotation > PI / 2)
{
rotation = PI - rotation;
}
if (rotation < -PI / 2)
{
rotation = PI + rotation;
}
Motion motion = new Motion()
{
P = (Point)s.MidPoint.V - s1.MidPoint.V,
rotation = rotation,
};
lastPosition.References[0].T.V = s.P1.Clone();
lastPosition.References[1].T.V = s.P2.Clone();
if (Abs(motion.R) > .01 || Abs(motion.rotation) > .05 && !goToGoal && !doBackOff)
{
//check for existing Event
Thing currentEvent = MostLikelyEvent(t);
if (currentEvent == null)
{ //add new Event
Thing lm1 = mEvent.CreateLandmark(new List <Thing>()
{
t
});
Thing t1 = mEvent.CreateEvent(lm1);
Thing t3 = UKS.AddThing("m" + motionCount++, UKS.Labeled("Motion"), motion);
mEvent.AddOutcomePair(t1, UKS.GetOrAddThing("Push", "Action"), t3);
}
return;
}
if (doBackOff)
{
DoBackOff(s);
doBackOff = false;
doFaceSegment = true;
return;
}
if (goToGoal)
{
if (endTarget != null)
{
Segment s2 = Module2DModel.SegmentFromUKSThing(endTarget);
GoToGoal(s, s2);
return;
}
}
Explore(s);
}
private void Slider_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
Module2DSim parent = (Module2DSim)base.ParentModule;
parent.inMotion = (int)speedSlider.Value;
}
private void ModuleBaseDlg_Loaded(object sender, RoutedEventArgs e)
{
Module2DSim parent = (Module2DSim)base.ParentModule;
speedSlider.Value = parent.inMotion;
}
public override bool Draw(bool checkDrawTimer)
{
if (MainWindow.shiftPressed)
{
theCanvas.Cursor = Cursors.Hand;
}
else
{
theCanvas.Cursor = Cursors.Arrow;
}
if (!base.Draw(checkDrawTimer))
{
return(false);
}
Module2DSim parent = (Module2DSim)base.ParentModule;
//theCanvas.Children.RemoveRange(1, theCanvas.Children.Count-1);
theCanvas.Children.Clear();
Point windowSize = new Point(theCanvas.ActualWidth, theCanvas.ActualHeight);
Point windowCenter = new Point(windowSize.X / 2, windowSize.Y / 2);
windowCenter += pan;
float scale = (float)Math.Min(windowSize.X, windowSize.Y) * zoom;
if (scale == 0)
{
return(false);
}
TransformGroup tg = new TransformGroup();
tg.Children.Add(new RotateTransform(90));
tg.Children.Add(new ScaleTransform(scale, -scale, 0, 0));
tg.Children.Add(new TranslateTransform(windowCenter.X, windowCenter.Y));
theCanvas.RenderTransform = tg;
//add a background
Rectangle r = new Rectangle()
{
Height = parent.boundarySize * 2, Width = parent.boundarySize * 2, Stroke = Brushes.AliceBlue, Fill = Brushes.AliceBlue
};
Canvas.SetLeft(r, -parent.boundarySize);
Canvas.SetTop(r, -parent.boundarySize);
theCanvas.Children.Add(r);
//draw the camera track...
Polyline p = new Polyline();
p.StrokeThickness = 1 / scale;
p.Stroke = Brushes.Pink;
for (int i = 0; i < parent.entityTrack.Count; i++)
{
p.Points.Add(
new Point(
parent.entityTrack[i].X,
parent.entityTrack[i].Y
)
);
}
theCanvas.Children.Add(p);
//draw the objects
for (int i = 0; i < parent.objects.Count; i++)
{
if (parent.objects[i].theColor != Colors.Black && parent.texture != 0)
{
theCanvas.Children.Add(new Line
{
X1 = parent.objects[i].P1.X,
X2 = parent.objects[i].P2.X,
Y1 = parent.objects[i].P1.Y,
Y2 = parent.objects[i].P2.Y,
StrokeThickness = 4 / scale,
Stroke = new SolidColorBrush(parent.objects[i].theColor),
});
//dash the line
PointPlus P1 = new PointPlus(parent.objects[i].P1);
PointPlus P2 = new PointPlus(parent.objects[i].P2);
PointPlus delta = P2 - P1;
delta.R = .1f;
Segment s = new Segment(P1, P2, parent.objects[i].theColor);
for (int j = 1; j < 1 + s.Length * 10; j += 2)
{
PointPlus PStart = new PointPlus((Point)(P1.V + j * delta.V));
PointPlus PEnd = new PointPlus((Point)(P1.V + (j + .5f) * delta.V));
theCanvas.Children.Add(new Line
{
X1 = PStart.X,
X2 = PEnd.X,
Y1 = PStart.Y,
Y2 = PEnd.Y,
StrokeThickness = 4 / scale,
Stroke = new SolidColorBrush(Colors.AliceBlue),
});
}
}
else
{
theCanvas.Children.Add(new Line
{
X1 = parent.objects[i].P1.X,
X2 = parent.objects[i].P2.X,
Y1 = parent.objects[i].P1.Y,
Y2 = parent.objects[i].P2.Y,
StrokeThickness = 4 / scale,
Stroke = new SolidColorBrush(parent.objects[i].theColor),
});
}
}
//draw the arms...
if (parent.armActual.Length == 2)
{
for (int i = 0; i < parent.armActual.Length; i++)
{
PointPlus c = new PointPlus
{
P = (Point)(parent.armActual[i] - parent.entityPosition)
};
double sa = c.R * .85; //lower arm lengths
//double sb = (c.R-sa) * 4; //upper arm lengths
//double sa = .45; // lower arm lengths
double sb = .3; // upper arm lengths
float a = (float)(Math.Acos((sb * sb + c.R * c.R - sa * sa) / (2 * sb * c.R)));
if (!Double.IsNaN(a))
{
PointPlus pa = new PointPlus
{
R = (float)sb,
Theta = c.Theta
};
if (i == 0)
{
pa.Theta += a;
}
else
{
pa.Theta -= a;
}
pa.P = (Point)(pa.P + (Vector)parent.entityPosition);
theCanvas.Children.Add(new Line
{
X1 = parent.entityPosition.X,
Y1 = parent.entityPosition.Y,
X2 = pa.P.X,
Y2 = pa.P.Y,
StrokeThickness = 2 / scale,
Stroke = Brushes.Black
});
theCanvas.Children.Add(new Line
{
X1 = pa.P.X,
Y1 = pa.P.Y,
X2 = parent.armActual[i].X,
Y2 = parent.armActual[i].Y,
StrokeThickness = 2 / scale,
Stroke = Brushes.Black
});
}
}
}
//draw the current field of view
if ((bool)cbArcs.IsChecked)
{
for (int i = 0; i < parent.currentView0.Count; i++)
{
try //TODO lock the list
{
theCanvas.Children.Add(new Line
{
X1 = parent.currentView0[i].P1.X,
Y1 = parent.currentView0[i].P1.Y,
X2 = parent.currentView0[i].P1.X,
Y2 = parent.currentView0[i].P1.Y,
StrokeThickness = 3 / scale,
StrokeEndLineCap = PenLineCap.Round,
StrokeStartLineCap = PenLineCap.Round,
Stroke = new SolidColorBrush(parent.currentView0[i].theColor)
});
}
catch { }
}
for (int i = 0; i < parent.currentView1.Count; i++)
{
try //another thread might mess the array up TODO, lock the object list
{
theCanvas.Children.Add(new Line
{
X1 = parent.currentView1[i].P1.X,
Y1 = parent.currentView1[i].P1.Y,
X2 = parent.currentView1[i].P1.X,
Y2 = parent.currentView1[i].P1.Y,
StrokeThickness = 3 / scale,
StrokeEndLineCap = PenLineCap.Round,
StrokeStartLineCap = PenLineCap.Round,
Stroke = new SolidColorBrush(parent.currentView1[i].theColor)
});
}
catch { }
}
}
////draw the body...it's a transparent gif
Image body = new Image()
{
Source = new BitmapImage(new Uri("/Resources/entity.png", UriKind.Relative)),
Width = 2 * parent.bodyRadius,
Height = 2 * parent.bodyRadius
};
TransformGroup tg1 = new TransformGroup();
tg1.Children.Add(new TranslateTransform(-parent.bodyRadius, -parent.bodyRadius));
tg1.Children.Add(new RotateTransform(90 + parent.entityDirection1 * 180 / Math.PI));
body.RenderTransform = tg1;
Canvas.SetLeft(body, parent.entityPosition.X);
Canvas.SetTop(body, parent.entityPosition.Y);
theCanvas.Children.Add(body);
return(true);
}
private void Button_Click(object sender, RoutedEventArgs e)
{
Module2DSim parent = (Module2DSim)base.ParentModule;
parent.SetModel();
}
public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
float[] dist = { .5f, .1f, 0, -.025f, -.1f };
float motionX = 0;
float motionY = 0;
if (na.Width < 3)
{
Initialize();
}
for (int i = 0; i < na.Height; i++)
{
if (na.GetNeuronAt(1, i).LastCharge > 0.9)
{
motionX = dist[i];
}
}
if (na.GetNeuronAt(1, 2).CurrentCharge != 0)
{
motionX = na.GetNeuronAt(1, 2).CurrentCharge;
na.GetNeuronAt(1, 2).SetValue(0);
}
if (na.GetNeuronAt(0, 2).LastCharge > 0.9)
{
motionY = 0.5f;
}
if (na.GetNeuronAt(2, 2).LastCharge > 0.9)
{
motionY = -0.5f;
}
//obsolete
ModuleRealityModel mrm = (ModuleRealityModel)FindModuleByType(typeof(ModuleRealityModel));
if (mrm != null)
{
mrm.Move(motionX);
}
Module3DSim m3D = (Module3DSim)FindModuleByType(typeof(Module3DSim));
if (m3D != null && motionX != 0)
{
m3D.Move(motionX);
}
bool moved = false;
Module2DSim m2D = (Module2DSim)FindModuleByType(typeof(Module2DSim));
if (m2D != null && motionX != 0 || motionY != 0)
{
moved = m2D.Move(motionX, motionY);
}
Module2DModel m2DModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (m2DModel != null && moved && motionX != 0 || motionY != 0)
{
m2DModel.Move(motionX, motionY);
}
Module2DVision m2DVision = (Module2DVision)FindModuleByType(typeof(Module2DVision));
if (m2DVision != null && motionX != 0)
{
m2DVision.ViewChanged();
}
}
