private static VehicleState GetRandomNextState(VehicleState fromState, VehiclePrototype prototype, Random randomizer, float deltaTime)
{
VehicleDriveControls randomControl = GetRandomControl(fromState, prototype, randomizer, deltaTime);
DynamicTransform2 resultingDynamic = prototype.VehicleDrive(fromState.DynamicTransform, randomControl, deltaTime);
return(new VehicleState(resultingDynamic, randomControl));
}
private OptionPayout RolloutStateAndGetPayout(SimulationState simState)
{
OptionPayout payout = new OptionPayout();
payout.InitializeForExpand();
SimulationState iterationState = simState;
const int kIterations = 22;
for (int i = 0; i < kIterations; ++i)
{
VehicleState controlledVehicle = iterationState.GetVehicle(mControlledID);
VehiclePrototype controlledPrototype = mSimData.GetVehiclePrototype(mControlledID);
mControlInputMock[mControlledID] = new VehicleControls(GetRandomControl(controlledVehicle, controlledPrototype, mRandom, mDeltaTime));
VehicleState targetVehicle = iterationState.GetVehicle(mTargetID);
VehiclePrototype targetPrototype = mSimData.GetVehiclePrototype(mTargetID);
mControlInputMock[mTargetID] = new VehicleControls(GetRandomControl(targetVehicle, targetPrototype, mRandom, mDeltaTime));
iterationState = SimulationProcessor.ProcessState(iterationState, mSimData, mControlInputMock, mDeltaTime);
EvaluateIterationPayout(iterationState, ref payout, controlledVehicle.DynamicTransform, controlledPrototype, targetVehicle.DynamicTransform, targetPrototype);
}
ComputeResidueRolloutHits(iterationState, ref payout);
return(payout);
}
public uint AddVehicle(VehiclePrototype prototype, VehicleState vehicle)
{
uint assignedID = RegisteredPlayers;
++RegisteredPlayers;
SimulationData.RegisterPlayer(assignedID, prototype);
ActiveState.AddVehicle(assignedID, vehicle);
ActiveState.SetProjectileCount(assignedID, 1);
return(assignedID);
}
private void SetVehicleVerticesOnHash(VehiclePrototype prototype, VehicleState vehicleState)
{
Debug.Assert(mVertexHash.Count == 0);
Vector2 position = vehicleState.DynamicTransform.Position;
Vector2 sizedFacing = prototype.VehicleSize * vehicleState.DynamicTransform.Orientation.Facing;
mVertexHash.Add(position + sizedFacing);
mVertexHash.Add(position + PositiveRotateHelper(sizedFacing));
mVertexHash.Add(position + NegativeRotateHelper(sizedFacing));
}
private void RenderVehicles(SimulationData simData, VehicleState[] vehicles, uint[] idMap)
{
int colorIndex = 1;
for (int i = 0; i < vehicles.Length; ++i)
{
VehiclePrototype prototype = simData.GetVehiclePrototype(idMap[i]);
SetVehicleVerticesOnHash(prototype, vehicles[i]);
mPrimitiveRenderer.PushPolygon(mVertexHash, sColors[colorIndex]);
colorIndex = (colorIndex + 1) % sColors.Length;
mVertexHash.Clear();
}
}
private void EvaluateIterationPayout(
SimulationState iterationState,
ref OptionPayout payout,
DynamicTransform2 controlledDynamicState,
VehiclePrototype controlledPrototype,
DynamicTransform2 targetDynamicState,
VehiclePrototype targetPrototype)
{
payout.ShotsTaken += iterationState.GetRegisteredHits(mTargetID);
payout.ShotsLanded += iterationState.GetRegisteredHits(mControlledID);
GunData controlledGun = controlledPrototype.Guns.MountedGun;
GunData targetsGun = targetPrototype.Guns.MountedGun;
float ownShotDistance = MonteCarloVehicleAI.ShotDistanceSq(controlledDynamicState, controlledGun, targetDynamicState.DynamicPosition);
float targetShotDistance = MonteCarloVehicleAI.ShotDistanceSq(targetDynamicState, targetsGun, controlledDynamicState.DynamicPosition);
float currentPositionValue = (ownShotDistance + 0.001f) / (targetShotDistance + 0.001f);
payout.PositionValue = Math.Min(currentPositionValue, payout.PositionValue);
}
private void SpawnVehicles()
{
const float vehicleSize = 5.5f;
GunMount gunMount = MakeGunMount(vehicleSize);
AsteroidsControlData data = new AsteroidsControlData(190f, 175f, 6.25f, 7.25f);
VehicleDrive asteroidsDrive = AsteroidsControlsFactory.MakeDrive(data);
VehiclePrototype asteroidsPrototype = new VehiclePrototype(vehicleSize, asteroidsDrive, AsteroidsControlsFactory.StandardConfig, gunMount);
Vector2 position = new Vector2(kArenaWidth / 4, kArenaHeight / 4);
Orientation2 orientation = new Orientation2(MathHelper.Pi);
DynamicTransform2 initialPlacement = new DynamicTransform2(position, orientation);
SpawnVehicle(asteroidsPrototype, initialPlacement); //TODO: This returns the assigned ID. Use it to setup proper control pipeline
position = new Vector2(3 * kArenaWidth / 4, 3 * kArenaHeight / 4);
orientation = new Orientation2(0f);
initialPlacement = new DynamicTransform2(position, orientation);
SpawnVehicle(asteroidsPrototype, initialPlacement);
}
public void ResetAndSetup(SimulationState currentSimState)
{
mTargetRootState = currentSimState.GetVehicle(mTargetID);
mEnemyProjectiles.Clear();
VehiclePrototype controlledPrototype = mSimData.GetVehiclePrototype(mControlledID);
VehicleState controlledState = currentSimState.GetVehicle(mControlledID);
var projectiles = currentSimState.GetProjectiles(mTargetID);
//Cache the projectile states for next frame, but onyl those with a chance of hiting
foreach (var projectile in projectiles)
{
Vector2 relativePosition = controlledState.DynamicTransform.Position - projectile.Position;
Vector2 relativeVelocity = controlledState.DynamicTransform.Velocity - projectile.Velocity;
if (Vector2.Dot(relativePosition, relativeVelocity) < 0f)
{
if (!SimulationProcessor.ProjectileHitsVehicle(controlledState.DynamicTransform, controlledPrototype, projectile, mDeltaTime))
{
DynamicPosition2 updatedProjectile = new DynamicPosition2(projectile.Position + mDeltaTime * projectile.Velocity, projectile.Velocity);
mEnemyProjectiles.Add(projectile);
}
}
}
mOptions.Clear();
controlledPrototype.ControlConfig.GetPossibleControlChanges(controlledState.ControlState, mDeltaTime, mControlOptionCache);
foreach (var driveControlOption in mControlOptionCache)
{
VehicleControls controlOption = new VehicleControls(driveControlOption);
DynamicTransform2 resultingDynamicState = controlledPrototype.VehicleDrive(controlledState.DynamicTransform, driveControlOption, mDeltaTime);
VehicleState resultingVehicleState = new VehicleState(resultingDynamicState, driveControlOption); //We should not care for the gun state... I thnk...
Option option = new Option(controlOption, resultingVehicleState);
mOptions.Add(option);
}
mControlOptionCache.Clear();
mIterations = 0;
}
private static VehicleDriveControls GetRandomControl(VehicleState fromState, VehiclePrototype prototype, Random randomizer, float deltaTime)
{
int randomChoice = randomizer.Next(0, prototype.ControlConfig.PossibleDeltas.Length);
return(prototype.ControlConfig.GetControlFromDeltas(prototype.ControlConfig.PossibleDeltas[randomChoice], fromState.ControlState, deltaTime));
}
private uint SpawnVehicle(VehiclePrototype prototype, DynamicTransform2 placement)
{
VehicleState initialState = new VehicleState(placement, prototype.ControlConfig.DefaultControl);
return(mMTSGame.AddVehicle(prototype, initialState));
}
