public Simplex(Tuple <int, Vector <double> >[] edges, RiemannianSpace ambiantSpace) : base(edges)
{
var directionalVectors = new List <Vector <double> >();
foreach (var item in edges.Skip(1))
{
directionalVectors.Add(item.Item2 - BasePoint);
}
DirectionalVectors = directionalVectors.ToArray();
DimAmbiantSpace = BasePoint.Count();
Parametrization chart = x => {
var dir = Matrix <double> .Build.DenseOfColumnVectors(DirectionalVectors);
return(dir * x + BasePoint);
};
PushForward pushForward = x => {
return(Matrix <double> .Build.DenseOfColumnVectors(DirectionalVectors));
};
AmbiantSpace = ambiantSpace;
Trivialization = new LocalTrivialization(chart, pushForward, ambiantSpace);
}
public MetricTensor PullBack(Parametrization chart, PushForward pushForward)
{
return(x =>
{
var _pushForward = pushForward(x);
var _pushForwardT = pushForward(x).Transpose();
return _pushForwardT * Metric(chart(x)) * _pushForward;
});
}
public LocalTrivialization(Parametrization chart, PushForward pushForward, RiemannianSpace chartDomain) :
base(chartDomain.Dim, chartDomain.Metric)
{
LocalMetric = PullBack(chart, pushForward);
}
void GenerateBTv010()
{
BTNode f0 = new FallbackNode(unit);
BTNode s0 = new SequenceNode(unit);
f0.children.Add(s0);
BTNode c0 = new IsCommandIdle(unit);
s0.children.Add(c0);
BTNode s1 = new SequenceNode(unit);
s0.children.Add(s1);
BTNode c1 = new BeingShotAt(unit);
s1.children.Add(c1);
BTNode f1 = new FallbackNode(unit);
s1.children.Add(f1);
BTNode a0 = new TakeCover(unit, emptySlot);
f1.children.Add(a0);
BTNode a1 = new RunToTheHills(unit);
f1.children.Add(a1);
BTNode s2 = new SequenceNode(unit);
f0.children.Add(s2);
BTNode c2 = new IsCommandHoldPosition(unit);
s2.children.Add(c2);
BTNode f2 = new FallbackNode(unit);
s2.children.Add(f2);
BTNode s3 = new SequenceNode(unit);
f2.children.Add(s3);
BTNode c3 = new IsEnemyNearby(unit);
s3.children.Add(c3);
BTNode f3 = new FallbackNode(unit);
s3.children.Add(f3);
BTNode a2 = new TakeCover(unit, emptySlot);
f3.children.Add(a2);
BTNode a3 = new PushForward(unit);
f3.children.Add(a3);
BTNode f4 = new FallbackNode(unit);
f2.children.Add(f4);
BTNode s4 = new SequenceNode(unit);
f4.children.Add(s4);
BTNode c4 = new AwayFromTargetLocation(unit);
s4.children.Add(c4);
BTNode a4 = new GoTowardsTargetLocation(unit);
s4.children.Add(a4);
BTNode s10 = new SequenceNode(unit);
f4.children.Add(s10);
BTNode a5 = new Diffuse(unit, emptySlot);
s10.children.Add(a5);
BTNode a10 = new MakeUnitInPosition(unit);
s10.children.Add(a10);
BTNode s9 = new SequenceNode(unit);
f0.children.Add(s9);
BTNode c9 = new IsCommandInPosition(unit);
s9.children.Add(c9);
BTNode s5 = new SequenceNode(unit);
f0.children.Add(s5);
BTNode c5 = new IsCommandMove(unit);
s5.children.Add(c5);
BTNode f5 = new FallbackNode(unit);
s5.children.Add(f5);
BTNode s6 = new SequenceNode(unit);
f5.children.Add(s6);
BTNode c6 = new BeingShotAt(unit);
s6.children.Add(c6);
BTNode f6 = new FallbackNode(unit);
s6.children.Add(f6);
BTNode s7 = new SequenceNode(unit);
f6.children.Add(s7);
BTNode c7 = new IsEnemyWeakerThanUs(unit);
s7.children.Add(c7);
BTNode a6 = new PushForward(unit);
s7.children.Add(a6);
BTNode a7 = new RunToTheHills(unit);
f6.children.Add(a7);
BTNode s8 = new SequenceNode(unit);
f5.children.Add(s8);
BTNode c8 = new NotAtTargetLocation(unit);
s8.children.Add(c8);
BTNode a8 = new GoTowardsTargetLocation(unit);
s8.children.Add(a8);
BTNode a9 = new MakeUnitIdle(unit);
f5.children.Add(a9);
root = f0;
}
void GenerateMarineBTv100()
{
BTNode f0 = new FallbackNode(unit);
BTNode s0 = new SequenceNode(unit);
f0.children.Add(s0);
BTNode c0 = new IsCommandIdle(unit);
s0.children.Add(c0);
BTNode c1 = new BeingShotAt(unit);
s0.children.Add(c1);
BTNode sf0 = new RSF0(unit);
s0.children.Add(sf0);
BTNode f1 = new FallbackNode(unit);
sf0.children.Add(f1);
BTNode a0 = new TakeCover(unit, emptySlot);
f1.children.Add(a0);
BTNode a1 = new Charge(unit);
f1.children.Add(a1);
BTNode a2 = new Charge(unit);
sf0.children.Add(a2);
BTNode s1 = new SequenceNode(unit);
f0.children.Add(s1);
BTNode c2 = new IsCommandMove(unit);
s1.children.Add(c2);
BTNode f2 = new FallbackNode(unit);
s1.children.Add(f2);
BTNode s2 = new SequenceNode(unit);
f2.children.Add(s2);
BTNode c3 = new BeingShotAt(unit);
s2.children.Add(c3);
BTNode sf1 = new CSF0(unit, 70f);
s2.children.Add(sf1);
BTNode a3 = new RunToTheHills(unit);
sf1.children.Add(a3);
BTNode f3 = new FallbackNode(unit);
sf1.children.Add(f3);
BTNode s3 = new SequenceNode(unit);
f3.children.Add(s3);
BTNode c4 = new Overwhelmed(unit);
s3.children.Add(c4);
BTNode f4 = new FallbackNode(unit);
s3.children.Add(f4);
BTNode a4 = new TakeCover(unit, emptySlot);
f4.children.Add(a4);
BTNode a5 = new RunToTheHills(unit);
f4.children.Add(a5);
BTNode a6 = new PushForward(unit);
f3.children.Add(a6);
BTNode s4 = new SequenceNode(unit);
f2.children.Add(s4);
BTNode w0 = new InverterNode(unit);
s4.children.Add(w0);
BTNode c5 = new AtTargetLocation(unit);
w0.children.Add(c5);
BTNode a7 = new GoTowardsTargetLocation(unit);
s4.children.Add(a7);
BTNode a8 = new MakeUnitIdle(unit);
f2.children.Add(a8);
BTNode s5 = new SequenceNode(unit);
f0.children.Add(s5);
BTNode c6 = new IsCommandHoldPosition(unit);
s5.children.Add(c6);
BTNode f5 = new FallbackNode(unit);
s5.children.Add(f5);
BTNode s6 = new SequenceNode(unit);
f5.children.Add(s6);
BTNode f6 = new FallbackNode(unit);
s6.children.Add(f6);
BTNode c7 = new BeingShotAt(unit);
f6.children.Add(c7);
BTNode c8 = new IsEnemyNearby(unit);
f6.children.Add(c8);
BTNode f7 = new FallbackNode(unit);
s6.children.Add(f7);
BTNode a9 = new TakeCover(unit, emptySlot);
f7.children.Add(a9);
BTNode a10 = new PushForward(unit);
f7.children.Add(a10);
BTNode s7 = new SequenceNode(unit);
f5.children.Add(s7);
BTNode w1 = new InverterNode(unit);
s7.children.Add(w1);
BTNode c9 = new AtTargetLocation(unit);
w1.children.Add(c9);
BTNode a11 = new GoTowardsTargetLocation(unit);
s7.children.Add(a11);
BTNode s8 = new SequenceNode(unit);
f5.children.Add(s8);
BTNode a12 = new Diffuse(unit, emptySlot);
s8.children.Add(a12);
BTNode a13 = new MakeUnitInPosition(unit);
s8.children.Add(a13);
BTNode s9 = new SequenceNode(unit);
f0.children.Add(s9);
BTNode c10 = new IsCommandInPosition(unit);
s9.children.Add(c10);
BTNode c11 = new BeingShotAt(unit);
s9.children.Add(c11);
BTNode sf2 = new CSF0(unit, 100f);
s9.children.Add(sf2);
BTNode a14 = new Charge(unit);
sf2.children.Add(a14);
BTNode a15 = new TakeCover(unit, emptySlot);
s9.children.Add(a15);
root = f0;
}
