Exemplo n.º 1
0
        public void UpdatePosition()
        {
            double foodDist = 0;
            double leftTrack;
            double rightTrack;
            double curSpeed;

            myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood);
            double[] input = new double[4];
            input[0] = Math.Cos(dir);              //could be sin also; doesn't matter aslong as its between 0 and 1
            input[1] = Math.Cos(dir);
            input[2] = (myFood.X - x) / foodDist;  //let the ant know about nearest food
            input[3] = (myFood.Y - y) / foodDist;  //same
            double[] output = net.FeedData(input); //feed input into network and get output
            leftTrack      = output[0];
            rightTrack     = output[1];
            dir           += (rightTrack - leftTrack) * (Cosmos.maxForce / 100); //find the direction
            curSpeed       = (rightTrack + leftTrack) / 2;
            x             += Math.Sin(dir) * Cosmos.maxSpeed * curSpeed / 10;    //max speed is just a twaking parameter; don't get confused by it
            y             -= Math.Cos(dir) * Cosmos.maxSpeed * curSpeed / 10;    //try varying it in simulation
            finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
            if (x < 0)
            {
                x = clientSize.Width;
            }
            if (x > clientSize.Width)
            {
                x = 0;
            }
            if (y < 0)
            {
                y = clientSize.Height;
            }
            if (y > clientSize.Height)
            {
                y = 0;
            }

            if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
                (myFood.X <= (x + Cosmos.foodTolerance)) &&
                (myFood.Y >= (y - Cosmos.foodTolerance)) &&
                (myFood.Y <= (y + Cosmos.foodTolerance)))
            {
                foodCollected++;
                myWorld.NewFood(indMyFood);
            }
        }
Exemplo n.º 2
0
        /*public void UpdatePosition(Polygon[] polygons, int numFood)
         * {
         *  double foodDist = 0;
         *  double leftTrack;
         *  double rightTrack;
         *  double curSpeed;
         *
         *
         *
         *  myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood, myFoodCollected);
         *  double[] input = new double[4];
         *  input[0] = Math.Cos(dir);   //could be sin also; doesn't matter aslong as its between 0 and 1
         *  input[1] = Math.Cos(dir);
         *  input[2] = (myFood.X - x) / foodDist;   //let the ant know about nearest food
         *  input[3] = (myFood.Y - y) / foodDist;   //same
         *  double[] output = net.FeedData(input);  //feed input into network and get output
         *  leftTrack = output[0];
         *  rightTrack = output[1];
         *  dir += (rightTrack - leftTrack) * (Cosmos.maxForce / 100);   //find the direction
         *  curSpeed = (rightTrack + leftTrack) / 2;
         *  x += Math.Sin(dir) * antMaxSpeed * curSpeed / 10;       //max speed is just a twaking parameter; don't get confused by it
         *  y -= Math.Cos(dir) * antMaxSpeed * curSpeed / 10;       //try varying it in simulation
         *
         *  Vector2 velocity = new Vector2((float)x, (float)y);
         *
         *  int tx, ty, lx, ly, rx, ry;
         *  tx = (int)(Ants.AntTopX * Math.Cos(dir) - Ants.AntTopY * Math.Sin(dir) + x);
         *  ty = (int)(Ants.AntTopY * Math.Cos(dir) + Ants.AntTopX * Math.Sin(dir) + y);
         *  lx = (int)(Ants.AntLeftX * Math.Cos(dir) - Ants.AntLeftY * Math.Sin(dir) + x);
         *  ly = (int)(Ants.AntLeftY * Math.Cos(dir) + Ants.AntLeftX * Math.Sin(dir) + y);
         *  rx = (int)(Ants.AntRightX * Math.Cos(dir) - Ants.AntRightY * Math.Sin(dir) + x);
         *  ry = (int)(Ants.AntRightY * Math.Cos(dir) + Ants.AntRightX * Math.Sin(dir) + y);
         *  //g.FillPolygon(Cosmos.whiteBrush, new Point[] { new Point(tx, ty), new Point(lx, ly), new Point(rx, ry) });
         *
         *  Polygon agent = new Polygon();
         *  agent.Points.Add(new Vector2(tx, ty));
         *  agent.Points.Add(new Vector2(lx, ly));
         *  agent.Points.Add(new Vector2(rx, ry));
         *  agent.BuildEdges();
         *  Vector2 playerTranslation = velocity;
         *
         *  for (int m = 0; m < polygons.Length; m++)
         *  {
         *      PolygonCollisionResult r = PolygonCollision(agent, polygons[m], velocity);
         *
         *      if (r.WillIntersect)
         *      {
         *          playerTranslation = velocity + r.MinimumTranslationVector;
         *          x = x + playerTranslation.X/2;
         *          y = y + playerTranslation.Y/2;
         *
         *          // y = y + playerTranslation.Y;
         *          break;
         *      }
         *  }
         *
         *
         *  Vector2 finish = new Vector2();
         *
         *  if (agentType != null && agentType.Equals("calm"))
         *  {
         *      finish = new Vector2(finishPosition.X, finishPosition.Y);
         *      Vector2 target = new Vector2(myFood.X,myFood.Y);
         *      Vector2 current = new Vector2((float)x,(float)y);
         *      Vector2 steerForce = SteeringBehaviours.Seek(ref target,ref current , ref velocity, 10);
         *      steerForce = Vector2.Truncate(steerForce, 10);
         *      Random random = new Random();
         *      Vector2 acceleration = steerForce / (random.Next(20, 80));
         *      velocity = Vector2.Truncate(velocity + acceleration,10);
         *      finish = Vector2.Add(velocity, finish);
         *      finishPosition = new PointF((float)finish.X, (float)finish.Y);
         *  }
         *  else
         *  finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
         *
         *
         *
         *  if (x < 0)
         *      x = clientSize.Width;
         *  if (x > clientSize.Width)
         *      x = 0;
         *  if (y < 0)
         *      y = clientSize.Height;
         *  if (y > clientSize.Height)
         *      y = 0;
         *
         *
         *
         *  if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
         *      (myFood.X <= (x + Cosmos.foodTolerance)) &&
         *      (myFood.Y >= (y - Cosmos.foodTolerance)) &&
         *      (myFood.Y <= (y + Cosmos.foodTolerance)))
         *  {
         *      if (myFoodCollected[indMyFood] != 1)
         *      {
         *          foodCollected++;
         *          myFoodCollected[indMyFood] = 1;
         *      }
         *
         *      // agent disappears when they have reached the total number of goals
         *      if(foodCollected == numFood)
         *          invisible = true;
         *      myWorld.NewFood(indMyFood);
         *  }
         * } */



        public void UpdatePosition(Polygon[] polygons, int numFood)
        {
            double foodDist = 0;
            double leftTrack;
            double rightTrack;
            double curSpeed;

            myFood = myWorld.FindClosestFood(x, y, ref foodDist, ref indMyFood, myFoodCollected);



            double[] input = new double[4];
            input[0] = Math.Cos(dir);              //could be sin also; doesn't matter aslong as its between 0 and 1
            input[1] = Math.Cos(dir);
            input[2] = (myFood.X - x) / foodDist;  //let the ant know about nearest food
            input[3] = (myFood.Y - y) / foodDist;  //same
            double[] output = net.FeedData(input); //feed input into network and get output
            leftTrack  = output[0];
            rightTrack = output[1];
            double olddir = dir;

            dir     += (rightTrack - leftTrack) * (Cosmos.maxForce / 100); //find the direction
            curSpeed = (rightTrack + leftTrack) / 2;
            x       += Math.Sin(dir) * antMaxSpeed * curSpeed / 10;        //max speed is just a twaking parameter; don't get confused by it
            y       -= Math.Cos(dir) * antMaxSpeed * curSpeed / 10;        //try varying it in simulation
            //      finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);


            if (((x - 15) <= 5) || ((x + 15) >= 1090))
            {
                if ((x - 15) <= 5)
                {
                    x += 15;
                }
                else
                {
                    x -= 15;
                }
            }


            if (((y - 15) <= 5) || ((y + 15) >= 667))
            {
                if ((y - 15) <= 5)
                {
                    y += 15;
                }
                else
                {
                    y -= 15;
                }
            }

            Vector2 targetPosition  = new Vector2(myFood);
            Vector2 currentPosition = new Vector2((float)x, (float)y);
            Vector2 desired_V       = Vector2.Normalize(Vector2.Subtract(targetPosition, currentPosition)) * (int)antMaxSpeed;
            Vector2 velocity        = new Vector2(1, 1);
            Vector2 steerForce      = Vector2.Subtract(desired_V, velocity);

            steerForce = Vector2.Truncate(steerForce, (int)Cosmos.maxForce);
            float   mass         = 21;
            Vector2 acceleration = steerForce / mass;

            velocity        = Vector2.Truncate(velocity + acceleration, (int)antMaxSpeed);
            currentPosition = Vector2.Add(velocity, currentPosition);
            finishPosition  = new PointF((float)currentPosition.X + finishPosition.X, (float)currentPosition.Y + finishPosition.Y);
            x = (float)currentPosition.X;
            y = (float)currentPosition.Y;

            int tx, ty, lx, ly, rx, ry;

            tx = (int)(Ants.AntTopX * Math.Cos(dir) - Ants.AntTopY * Math.Sin(dir) + x);
            ty = (int)(Ants.AntTopY * Math.Cos(dir) + Ants.AntTopX * Math.Sin(dir) + y);
            lx = (int)(Ants.AntLeftX * Math.Cos(dir) - Ants.AntLeftY * Math.Sin(dir) + x);
            ly = (int)(Ants.AntLeftY * Math.Cos(dir) + Ants.AntLeftX * Math.Sin(dir) + y);
            rx = (int)(Ants.AntRightX * Math.Cos(dir) - Ants.AntRightY * Math.Sin(dir) + x);
            ry = (int)(Ants.AntRightY * Math.Cos(dir) + Ants.AntRightX * Math.Sin(dir) + y);
            Polygon agent = new Polygon();

            agent.Points.Add(new Vector2(tx, ty));
            agent.Points.Add(new Vector2(lx, ly));
            agent.Points.Add(new Vector2(rx, ry));
            agent.BuildEdges();
            Vector2 playerTranslation = velocity;

            for (int m = 0; m < polygons.Length; m++)
            {
                if ((rx + 270) >= polygons[m].Points[3].X)
                {
                    PolygonCollisionResult r = PolygonCollision(agent, polygons[m], velocity);

                    if (r.WillIntersect)
                    {
                        playerTranslation = velocity + r.MinimumTranslationVector;
                        x = x + playerTranslation.X / 2;
                        y = y + playerTranslation.Y / 2;

                        dir = olddir;
                        // y = y + playerTranslation.Y;
                        break;
                    }
                }
            }

            /*for (int m = 0; m < polygons.Length; m++)
             * {
             * RectangleF rf = new RectangleF(polygons[m].Points[0].X,polygons[m].Points[0].Y, Math.Abs(polygons[m].Points[1].X - polygons[m].Points[0].X),Math.Abs(polygons[m].Points[2].Y - polygons[m].Points[1].Y));
             *
             * if(IsIntersected(new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y),(float)6, rf))
             * {
             *   // playerTranslation = velocity + r.MinimumTranslationVector;
             *    //x = x + playerTranslation.X / 2;
             *    //y = y + playerTranslation.Y / 2;
             *     x = x + 50;
             *     y = y + 50;
             *
             *    // y = y + playerTranslation.Y;
             *    break;
             * }
             * } */


            //finishPosition = new PointF((float)x + finishPosition.X, (float)y + finishPosition.Y);
            if (x < 0)
            {
                x = clientSize.Width;
            }
            if (x > clientSize.Width)
            {
                x = 0;
            }
            if (y < 0)
            {
                y = clientSize.Height;
            }
            if (y > clientSize.Height)
            {
                y = 0;
            }


            if ((myFood.X >= (x - Cosmos.foodTolerance)) &&
                (myFood.X <= (x + Cosmos.foodTolerance)) &&
                (myFood.Y >= (y - Cosmos.foodTolerance)) &&
                (myFood.Y <= (y + Cosmos.foodTolerance)))
            {
                foodCollected++;

                invisible = true;
                //myWorld.NewFood(indMyFood);
            }
        }