public virtual bool Equals(RealThing t)
{
if (thingType == t.thingType && color == t.color)
{
return(true);
}
return(false);
}
override public void Fire()
{
Init();
if (naIn == null)
{
return;
}
for (int i = 1; i < naIn.Height; i++)
{
//are there objects in the visual field?
if (naIn.GetNeuronAt(0, i).LastCharge == 0)
{
break; //end of shapes in visual field
}
RealThing CT = new RealThing();
CT.thingType = 0; //we must convert to angular distances
CT.z = 5; //we have no idea how far away it is...just its apparent size.
CT.color = naIn.GetNeuronAt(0, i).LastChargeInt;
//sizes are given [0,1] in the field of view which is 60-degrees or +/-.16
CT.sizeX = (naIn.GetNeuronAt(1, i).LastCharge - .5f) / 3;
CT.sizeY = (naIn.GetNeuronAt(2, i).LastCharge - .5f) / 3;
CT.cx = (naIn.GetNeuronAt(3, i).LastCharge - .5f) / 3;
CT.cy = (naIn.GetNeuronAt(4, i).LastCharge - .5f) / 3;
CT.allInFieldOfView = naIn.GetNeuronAt(5, i).LastCharge == 1;
CT.thingType = (int)naIn.GetNeuronAt(6, i).LastCharge;
int foundIndex = -1;
for (int j = 0; j < thingsInReality.Count; j++)
{
RealThing t = thingsInReality[j];
//only care about things which might be fully in visual field
//camera field of view is 60-degrees so should be x=[-.1666,.1666]
if (CT.color == t.color)
{
if (CT.allInFieldOfView)
{
//the object is there but has it moved ?
while (CT.sizeX - t.sizeX > 0.02 && CT.sizeY - t.sizeY > 0.02) //object is closer (or grown)
{
float oldz = t.z;
t.z -= .1f; //assume the object hasn't moved and adjust the model
t.sizeX *= t.z / oldz;
t.sizeY *= t.z / oldz;
t.sizeChanged = 1;
}
if (CT.sizeX - t.sizeX < -0.02 && CT.sizeY - t.sizeY < -0.02) //object is further (or shrunk)
{
float oldz = t.z;
t.z += .1f; //assume the object hasn't moved and adjust the model
t.sizeX *= t.z / oldz;
t.sizeY *= t.z / oldz;
t.sizeChanged = 1;
}
if (!Utils.Close(CT.cx, t.cx) || !Utils.Close(CT.cy, t.cy)) //object has moved
{
//moved is handled elsewhere
}
}
foundIndex = i;
//update the values to match what we see
t.cx = CT.cx;
t.cy = CT.cy;
break; //found a match, quit looking
}
}
//Object was not found, add it
if (foundIndex == -1)
{
thingsInReality.Add(CT);
}
}
//find missing objects is there anything which should be in the visual field which isnt?
//update the neuron values for the reality model
na.ClearNeuronChargeInArea();
for (int i = 0; i < thingsInReality.Count; i++)
{
RealThing t = thingsInReality[i];
int xVal = (int)((t.cx / 2 + 0.5) * na.Width);
while (na.GetNeuronAt(0, xVal).LastChargeInt != 0)
{
xVal++;
}
na.GetNeuronAt(xVal, 0).SetValueInt(t.color);
na.GetNeuronAt(xVal, 1).SetValue(t.cy);
na.GetNeuronAt(xVal, 2).SetValue(t.z); //need to range properly
na.GetNeuronAt(xVal, 3).SetValue(t.sizeX);
na.GetNeuronAt(xVal, 4).SetValue(t.sizeY);
}
}
