public void Replace(TrajectoryQueue queue)
{
lock (this)
{
this.positionQueue = new List <double[]>(queue.GetList(QueueType.Position));
this.velocityQueue = new List <double[]>(queue.GetList(QueueType.Velocity));
}
}
public void UpdatePuckTrajectory(TrajectoryQueue puckT)
{
lock (puckTrajectoryLock)
{
puckEstimatedTrajectory.Clear();
puckEstimatedTrajectory.Replace(puckT);
}
}
public static TrajectoryQueue EstimatePuckTrajectory(Point puckP, Point puckV, double puckR, int tableW, int tableH, double timeStep, double timeScale)
{
TrajectoryQueue traj = new TrajectoryQueue(2, puckP.GetAsArray());
double Tmax = 1;
double t = 0;
double Ts = timeStep;
while (t < Tmax)
{
#region X
puckP.X = puckP.X + Ts * puckV.X;
if (puckP.X > tableW / 2.0)
{
puckP.X = puckP.X - puckP.X % (tableW / 2.0);
puckV.X = -puckV.X;
}
else if (puckP.X < -tableW / 2.0)
{
puckP.X = puckP.X + (Math.Abs(puckP.X) % (tableW / 2.0));
puckV.X = -puckV.X;
}
#endregion X
#region Y
puckP.Y = puckP.Y + Ts * puckV.Y;
if (puckP.Y > tableH / 2.0)
{
puckP.Y = puckP.Y - (puckP.Y % (tableH / 2.0));
puckV.Y = -puckV.Y;
}
else if (puckP.Y < -tableH / 2.0)
{
puckP.Y = puckP.Y + (Math.Abs(puckP.Y) % (tableH / 2.0));
puckV.Y = -puckV.Y;
}
#endregion y
traj.AddBack(QueueType.Position, puckP.GetAsArray());
traj.AddBack(QueueType.Velocity, puckV.GetAsArray());
t = t + Ts;
}
return(traj);
}
public WorldModel()
{
#region Locks Init
physicalStateLock = new Object();
globalLock = new Object();
strategyLock = new Object();
constantsLock = new Object();
puckTrajectoryLock = new Object();
delaysLock = new Object();
#endregion Locks Init
#region puck trajectory
// puck always have only 2 degrees of freedom (x,y) since its only an endeffector.
puckEstimatedTrajectory = new TrajectoryQueue(2, new double[2] {
0, 0
});
#endregion puck trajectory
#region physical state
physicalState = new Dictionary <string, double>()
{
{ "AgentX", -1000.0 },
{ "AgentY", 0.0 },
{ "AgentVx", 0.0 },
{ "AgentVy", 0.0 },
{ "PuckX", 0.0 },
{ "PuckY", 0.0 },
{ "PuckVx", 0.0 },
{ "PuckVy", 0.0 },
{ "PuckR", 0.0 },
{ "OpponentX", 1000.0 },
{ "OpponentY", 0.0 },
{ "OpponentVx", 0.0 },
{ "OpponentVy", 0.0 }
};
#endregion physical state
#region global data
global = new Dictionary <string, int>()
{
{ "AgentScore", 0 },
{ "OpponentScore", 0 },
};
#endregion global data
#region strategy
strategy = new Dictionary <string, double>()
{
{ "GameStyle", 0 },
{ "PLeft", (double)1 / 3 },
{ "PMiddle", (double)1 / 3 },
{ "PRight", (double)1 / 3 },
};
#endregion strategy
#region game constants
//constants = new Dictionary<string,int>()
constants = new Hashtable()
{
{ "MaxScore", 20 },
{ "Tablewidth", 2000 },
{ "Tableheight", 1000 },
{ "FrameRate", 50 },
{ "TimeStep", 0.01 },
{ "TimeScale", 1 },
{ "PuckRadius", 32 },
{ "MalletRadius", 47.5 },
{ "PlanPeriod", 0.2 },
{ "MoveInterval", 0.8 }
};
#endregion game constants
#region Delays
delays = new Dictionary <string, int>()
{
{ "Measurement", 0 },
{ "Control", 0 }
};
#endregion Delays
}
