public WinningBean(Bot ship, double score, double age)
{
this.Ship = ship;
this.DNA = null;
this.Score = score;
this.Age = age;
}
private async void ShipBot1_Click(object sender, RoutedEventArgs e)
{
try
{
ClearBot_Click(this, e);
#region DNA
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = EnergyTank.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.44329742616787, -2.22044604925031E-16, -0.750606111984116), Scale = new Vector3D(1, 1, 1) });
parts.Add(new ShipPartDNA() { PartType = AmmoBox.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.44329742616787, -2.22044604925031E-16, -0.839035218662306), Scale = new Vector3D(1, 1, 1) });
parts.Add(new ShipPartDNA() { PartType = ProjectileGun.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(-0.139350859269598, -2.22044604925031E-16, 0.0736057604093046), Scale = new Vector3D(1, 1, 1) });
parts.Add(new ShipPartDNA() { PartType = CameraColorRGB.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(0.443930484830668, -2.22044604925031E-16, -0.0296267373083678), Scale = new Vector3D(1, 1, 1) });
parts.Add(new ShipPartDNA() { PartType = Brain.PARTTYPE, Orientation = Quaternion.Identity, Position = new Point3D(1.17108888679796, 2.22044604925031E-16, -0.787190712968899), Scale = new Vector3D(1, 1, 1) });
parts.Add(new BrainRGBRecognizerDNA() { PartType = BrainRGBRecognizer.PARTTYPE, Orientation = new Quaternion(3.91881768803066E-16, -0.264772715428398, 1.07599743798686E-16, 0.964310846752577), Position = new Point3D(0.977003177386146, 0, -0.204027736848604), Scale = new Vector3D(1, 1, 1) });
ShipDNA dna = ShipDNA.Create(parts);
dna.ShipLineage = Guid.NewGuid().ToString();
#endregion
ShipCoreArgs core = new ShipCoreArgs()
{
World = _world,
Material_Ship = _material_Bot,
Map = _map,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Projectile,
CameraPool = _cameraPool,
IsPhysicsStatic = true,
};
//DefenseBot bot = DefenseBot.GetNewDefenseBotAsync(dna, _world, _material_Bot, _map, extra).Result; // can't directly call result. it deadlocks this main thread
//DefenseBot bot = await DefenseBot.GetNewDefenseBotAsync(dna, _world, _material_Bot, _map, extra);
//bot.PhysicsBody.Position = new Point3D(0, 0, -12);
//_map.AddItem(bot);
//_bot = bot;
BotConstruction_Result result = BotConstructor.ConstructBot(parts, core, extra);
Bot botNew = new Bot(result);
botNew.Dispose();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
//TODO: Make a static method off of Ship, and don't rely on world: public static Visual3D CreateVisual(ShipDNA dna, bool isDesign)
private async Task RenderShipAsync(NewtonDynamics.World world)
{
ShipExtraArgs args = new ShipExtraArgs()
{
RunNeural = false,
RepairPartPositions = false,
};
//using (Ship ship = await Ship.GetNewShipAsync(this.ShipDNA, world, 0, null, args))
using (Bot bot = new Bot(BotConstructor.ConstructBot(this.ShipDNA, new ShipCoreArgs() { World = world }, args)))
{
if (bot.PhysicsBody.Visuals != null) // this will never be null
{
// The model coords may not be centered, so move the ship so that it's centered on the origin
Point3D minPoint, maxPoint;
bot.PhysicsBody.GetAABB(out minPoint, out maxPoint);
Vector3D offset = (minPoint + ((maxPoint - minPoint) / 2d)).ToVector();
bot.PhysicsBody.Position = (-offset).ToPoint();
// Add the visuals
foreach (Visual3D visual in bot.PhysicsBody.Visuals)
{
_viewport.Children.Add(visual);
}
// Pull the camera back to a good distance
_camera.Position = (_camera.Position.ToVector().ToUnit() * (bot.Radius * 2.1d)).ToPoint();
}
}
}
private static Cargo[] TransferCargo(Bot from, Bot to, List<ShipPartDNA> unaccountedParts)
{
if (from.CargoBays == null)
{
return new Cargo[0];
}
if (to.CargoBays == null)
{
return from.CargoBays.GetCargoSnapshot();
}
List<Cargo> retVal = new List<Cargo>();
foreach (Cargo cargo in from.CargoBays.GetCargoSnapshot())
{
if (cargo is Cargo_ShipPart && IsInList(unaccountedParts, ((Cargo_ShipPart)cargo).PartDNA, true))
{
// This cargo is now part of the ship. Don't transfer to the new cargo
continue;
}
if (!to.CargoBays.Add(cargo))
{
retVal.Add(cargo);
}
}
return retVal.ToArray();
}
private static void TransferContainers(Bot from, Bot to)
{
// Put as much quantity back as will fit. Overflow just gets thrown away
if (to.Energy != null && from.Energy != null)
{
to.Energy.QuantityCurrent = from.Energy.QuantityCurrent;
}
if (to.Plasma != null && from.Plasma != null)
{
to.Plasma.QuantityCurrent = from.Plasma.QuantityCurrent;
}
if (to.Fuel != null && from.Fuel != null)
{
to.Fuel.QuantityCurrent = from.Fuel.QuantityCurrent;
}
if (to.Ammo != null && from.Ammo != null)
{
to.Ammo.QuantityCurrent = from.Ammo.QuantityCurrent;
}
}
private const double MAXERROR = 100000000000; // need something excessively large, but less than double.max
#endregion
/// <summary>
/// This is a wrapper of UtilityAI.DiscoverSolution
/// </summary>
public static void DiscoverSolutionAsync(Bot bot, Vector3D? idealLinear, Vector3D? idealRotation, CancellationToken? cancel = null, ThrustContributionModel model = null, Action<ThrusterMap> newBestFound = null, Action<ThrusterMap> finalFound = null, DiscoverSolutionOptions<Tuple<int, int, double>> options = null)
{
long token = bot.Token;
// Cache Thrusters
Thruster[] allThrusters = bot.Thrusters;
if (allThrusters == null || allThrusters.Length == 0)
{
throw new ArgumentException("This bot has no thrusters");
}
// Ensure model is created (if the caller wants to find solutions for several directions at the same time, it would be
// more efficient to calculate the model once, and pass to all the solution finders)
model = model ?? new ThrustContributionModel(bot.Thrusters, bot.PhysicsBody.CenterOfMass);
// Figure out how much force can be generated in the ideal directions
double maxForceLinear = idealLinear == null ? 0d : ThrustControlUtil.GetMaximumPossible_Linear(model, idealLinear.Value);
double maxForceRotate = idealRotation == null ? 0d : ThrustControlUtil.GetMaximumPossible_Rotation(model, idealRotation.Value);
// Mutate 2% of the elements, with a 10% value drift
MutateUtility.MuateArgs mutateArgs = new MutateUtility.MuateArgs(false, .02, new MutateUtility.MuateFactorArgs(MutateUtility.FactorType.Distance, .1));
#region delegates
//NOTE: While breeding/mutating, they don't get normalized. But error calculation and returned maps need them normalized
var delegates = new DiscoverSolutionDelegates<Tuple<int, int, double>>()
{
GetNewSample = new Func<Tuple<int, int, double>[]>(() =>
{
ThrusterMap map = ThrustControlUtil.GenerateRandomMap(allThrusters, token);
return map.Flattened;
}),
GetError = new Func<Tuple<int, int, double>[], SolutionError>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o), allThrusters, token);
return ThrustControlUtil.GetThrustMapScore(map, model, idealLinear, idealRotation, maxForceLinear, maxForceRotate);
}),
Mutate = new Func<Tuple<int, int, double>[], Tuple<int, int, double>[]>(o =>
{
ThrusterMap map = new ThrusterMap(o, allThrusters, token);
return ThrustControlUtil.Mutate(map, mutateArgs, false).Flattened;
}),
};
if (cancel != null)
{
delegates.Cancel = cancel.Value;
}
if (newBestFound != null)
{
delegates.NewBestFound = new Action<SolutionResult<Tuple<int, int, double>>>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o.Item), allThrusters, token);
newBestFound(map);
});
}
if (finalFound != null)
{
delegates.FinalFound = new Action<SolutionResult<Tuple<int, int, double>>>(o =>
{
ThrusterMap map = new ThrusterMap(ThrustControlUtil.Normalize(o.Item), allThrusters, token);
finalFound(map);
});
}
#endregion
// Do it
//NOTE: If options.ThreadShare is set, then there's no reason to do this async, but there's no harm either
Task.Run(() => UtilityAI.DiscoverSolution(delegates, options));
}
private void ClearCurrent()
{
ClearBalanceVisualizer();
foreach (Visual3D visual in _currentVisuals)
{
_viewport.Children.Remove(visual);
}
_currentVisuals.Clear();
if (_currentBody != null)
{
_currentBody.Dispose();
_currentBody = null;
}
if (_bot != null)
{
_map.RemoveItem(_bot, true);
_bot.Dispose();
_bot = null;
}
_shipDNA = null;
if (_thrustController != null)
{
_thrustController.Dispose();
_thrustController = null;
}
}
private async void btnLoadShip_Click(object sender, RoutedEventArgs e)
{
try
{
string errMsg;
ShipDNA shipDNA = ShipEditorWindow.LoadShip(out errMsg);
if (shipDNA == null)
{
if (!string.IsNullOrEmpty(errMsg))
{
MessageBox.Show(errMsg, this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
}
return;
}
EnsureWorldStarted();
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = chkLoadRepairPositions.IsChecked.Value,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
if (_bot.Fuel != null)
{
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
}
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private async void btnShipChallenge2_Click(object sender, RoutedEventArgs e)
{
try
{
EnsureWorldStarted();
ClearCurrent();
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Position = new Point3D(0.611527511599856, 0, 0.0153375982352619), Orientation = new Quaternion(0, -0.706493084706277, 0, 0.707719945502605), Scale = new Vector3D(4.70545346938791, 4.70545346938791, 1.04748080326409) });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-1.48216852903668, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(1.65021551755816, 1.65021551755816, 1.65021551755816), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two), ThrusterType = ThrusterType.Two });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-2.60730396412872, 1.18811621237628, -0.0147591913688635), Orientation = new Quaternion(0, 0, -0.846976393198269, 0.531630500784946), Scale = new Vector3D(0.71390056433019, 0.71390056433019, 0.71390056433019), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two_Two_One), ThrusterType = ThrusterType.Two_Two_One });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-2.60721450068017, -1.18828382189838, -0.0147591913688617), Orientation = new Quaternion(0, 0, -0.496864090131338, 0.867828367788216), Scale = new Vector3D(0.71390056433019, 0.71390056433019, 0.71390056433019), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two_Two_One), ThrusterType = ThrusterType.Two_Two_One });
ShipDNA shipDNA = ShipDNA.Create(parts);
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = false,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
//double mass = _ship.PhysicsBody.Mass;
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
//mass = _ship.PhysicsBody.Mass;
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private async void btnShipWackyFlyer_Click(object sender, RoutedEventArgs e)
{
try
{
EnsureWorldStarted();
ClearCurrent();
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Position = new Point3D(0, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(3, 3, 1) });
ThrusterType thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(1, 0, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-1, 0, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(0, 1, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(0, -1, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
ShipDNA shipDNA = ShipDNA.Create(parts);
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = false,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
//double mass = _ship.PhysicsBody.Mass;
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
//mass = _ship.PhysicsBody.Mass;
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private async void btnShipBasic_Click(object sender, RoutedEventArgs e)
{
try
{
EnsureWorldStarted();
ClearCurrent();
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Position = new Point3D(-.75, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(1, 1, 1) });
parts.Add(new ShipPartDNA() { PartType = EnergyTank.PARTTYPE, Position = new Point3D(.75, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(1, 1, 1) });
ShipDNA shipDNA = ShipDNA.Create(parts);
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = false,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Ship, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_map.AddItem(_bot);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
public ThrustController(Bot bot, Viewport3D viewport, ItemOptions itemOptions)
{
_bot = bot;
_thrusters = bot.Thrusters;
_viewport = viewport;
_itemOptions = itemOptions;
_lines = new ScreenSpaceLines3D();
_lines.Color = Colors.Orange;
_lines.Thickness = 2d;
_viewport.Children.Add(_lines);
}
private static Visual3D GetShipCompassBlip(Bot ship)
{
ScreenSpaceLines3D retVal = new ScreenSpaceLines3D(true);
retVal.Thickness = 2d;
retVal.Color = Colors.DodgerBlue;
retVal.AddLine(new Point3D(0, 170, 20), new Point3D(0, 1000, 20));
// Exit Function
return retVal;
}
private static Visual3D GetShipBlip(Bot ship)
{
//TODO: This makes an arrow that always points north, which is just annoying. Instead, make the ship a dot, but put the arrow along the edge
// of the minimap (just translate the arrow by a certain Y)
// Material
MaterialGroup materials = new MaterialGroup();
materials.Children.Add(new DiffuseMaterial(new SolidColorBrush(Colors.DodgerBlue)));
materials.Children.Add(new SpecularMaterial(Brushes.RoyalBlue, 20d));
// Geometry Model
GeometryModel3D geometry = new GeometryModel3D();
geometry.Material = materials;
geometry.BackMaterial = materials;
List<TubeRingDefinition_ORIG> rings = new List<TubeRingDefinition_ORIG>();
rings.Add(new TubeRingDefinition_ORIG(30, 18, 0, true, false));
rings.Add(new TubeRingDefinition_ORIG(5, false));
geometry.Geometry = UtilityWPF.GetMultiRingedTube_ORIG(3, rings, false, true);
Transform3DGroup transform = new Transform3DGroup();
transform.Children.Add(new TranslateTransform3D(0, 0, 20));
transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), 90)));
geometry.Transform = transform;
// Model Visual
ModelVisual3D retVal = new ModelVisual3D();
retVal.Content = geometry;
// Exit Function
return retVal;
}
public void ShipDied(Bot ship)
{
_removedTokens.Add(ship.PhysicsBody.Token);
}
public void ShipCreated(long candidateToken, Bot ship)
{
// Find the candidate list that this referes to
TrackingCandidate finalist = _finalists.Where(o => o.Token == candidateToken).FirstOrDefault();
if (finalist == null)
{
throw new ArgumentException("Didn't find the candidate referenced by the token");
}
// Store the ship's token
finalist.StartedShip(ship.PhysicsBody.Token);
}