private void UpdateCarEvaluation(SensorCar car)
{
if (raceCars[car] < checkpoints.Count - 1)
{
Checkpoint checkpointToReach = checkpoints[raceCars[car] + 1];
double distanceToCheckpoint = car.GlobalPosition.DistanceTo(checkpointToReach.GlobalPosition);
if (distanceToCheckpoint < distanceThreshold)
{
raceCars[car] = raceCars[car] + 1;
GD.Print("Car " + car.Name + " reached checkpoint " + raceCars[car]);
lastCheckpointTimestamp[car] = System.Environment.TickCount;
}
double currentScore;
if (raceCars[car] == checkpoints.Count - 1)
{
currentScore = checkpoints[raceCars[car]].Score;
}
else
{
Checkpoint currentCheckpoint = checkpoints[raceCars[car]];
checkpointToReach = checkpoints[raceCars[car] + 1];
double distanceBetweenCheckpoints = currentCheckpoint.GlobalPosition.DistanceTo(checkpointToReach.GlobalPosition);
distanceToCheckpoint = car.GlobalPosition.DistanceTo(checkpointToReach.GlobalPosition);
currentScore = checkpoints[raceCars[car]].Score + (distanceBetweenCheckpoints - distanceToCheckpoint);
}
car.Agent.Genotype.Evaluation = Math.Max(0, currentScore);
}
}
private void LoadCars(Node parent, string carScenePath, int carsNumber)
{
for (int i = 0; i < carsNumber; i++)
{
var carScene = (PackedScene)ResourceLoader.Load(carScenePath);
SensorCar car = (SensorCar)carScene.Instance();
raceCars.Add(car, 0);
lastCheckpointTimestamp.Add(car, 0);
CallDeferred("AddCar", parent, car);
}
}
private void AddCar(Node parent, SensorCar car)
{
parent.AddChild(car);
car.GlobalPosition = checkpoints[0].GlobalPosition;
}