public void Execute(LaplaceFilter pulseFilter, double direction)
{
Threshold += ThresholdSpike;
var newX = pulseFilter.RetinalPosition.X + (Math.Cos((Math.PI / 180) * direction) * 25);
var newY = pulseFilter.RetinalPosition.Y + (Math.Sin((Math.PI / 180) * direction) * 25);
GlobalLayersKnowledge.Muscle.MoveEye((int)newX, (int)newY);
}
public void ExecutePulse(LaplaceFilter pulseFilter, int xStart, int yStart)
{
GlobalLayersKnowledge.DirectionRouter.XNormal = xStart;
GlobalLayersKnowledge.DirectionRouter.YNormal = yStart;
foreach (var laplaceFilter in LaplaceFilterField)
{
laplaceFilter.DirectionFire();
}
//testing stuff past here
var environmentCopyOne = new Bitmap(GlobalLayersKnowledge.Environment);
if (GlobalLayersKnowledge.DirectionNodes.Max(x => x.Charge) > GlobalLayersKnowledge.DirectionPulsePlate.Threshold)
{
var highestNode =
GlobalLayersKnowledge.DirectionNodes.First(
x => (x.Charge == GlobalLayersKnowledge.DirectionNodes.Max(y => y.Charge)));
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
environmentCopyOne.SetPixel(Location.X + pulseFilter.RetinalPosition.X + x, Location.Y + pulseFilter.RetinalPosition.Y + y, Color.Crimson);
var endPointX = Location.X + pulseFilter.RetinalPosition.X + (Math.Cos((Math.PI / 180) * highestNode.Direction) * 25);
var endPointY = Location.Y + pulseFilter.RetinalPosition.Y + (Math.Sin((Math.PI / 180) * highestNode.Direction) * 25);
environmentCopyOne.SetPixel((int)endPointX + x, (int)endPointY + y, Color.Chartreuse);
}
}
string environmentFilePath = System.IO.Directory.GetCurrentDirectory() + "/Results/EdgeNode" + GlobalLayersKnowledge.Counter + ".png";
environmentCopyOne.Save(environmentFilePath);
GlobalLayersKnowledge.DirectionPulsePlate.Execute(pulseFilter, highestNode.Direction);
}
//end testing zone
}
public EyeBot(int receptorFieldWidth, int receptorFieldHeight)//BREAKS WHEN WIDTH AND HEIGHT ARE NOT SET TO IDENTICAL VALUES
{
GlobalLayersKnowledge.Muscle = new EyeMuscle(this);
ReceptorField = new List <Receptor>();
LaplaceFilterField = new List <LaplaceFilter>();
Location = new XYLocation((int)(GlobalLayersKnowledge.Randomer.NextDouble() * GlobalLayersKnowledge.Environment.Width), (int)(GlobalLayersKnowledge.Randomer.NextDouble() * GlobalLayersKnowledge.Environment.Height));
ReceptorFieldWidth = receptorFieldWidth;
ReceptorFieldHeight = receptorFieldHeight;
List <List <Receptor> > receptorLocationHolder = new List <List <Receptor> >();
List <List <LaplaceFilter> > laplaceFilterLocationHolder = new List <List <LaplaceFilter> >();
for (int i = (int)(-1 * (.5 * ReceptorFieldWidth)); i < (int)(.5 * ReceptorFieldWidth); i++)
{
receptorLocationHolder.Add(new List <Receptor>());
laplaceFilterLocationHolder.Add(new List <LaplaceFilter>());
for (int j = (int)(-1 * (.5 * ReceptorFieldHeight)); j < (int)(.5 * ReceptorFieldHeight); j++)
{
var newReceptor = new Receptor(i, j, this);
ReceptorField.Add(newReceptor);
receptorLocationHolder[i + (int)(.5 * ReceptorFieldWidth)].Add(newReceptor);
var newLaplaceFilter = new LaplaceFilter(i, j);
LaplaceFilterField.Add(newLaplaceFilter);
laplaceFilterLocationHolder[i + (int)(.5 * ReceptorFieldWidth)].Add(newLaplaceFilter);
}
}
foreach (Receptor receptor in ReceptorField)
{
for (int i = -1; i <= 1; i++)
{
for (int j = -1; j <= 1; j++)
{
if (i == 0 && j == 0)
{
receptor.SelfFilter =
laplaceFilterLocationHolder[receptor.RetinalPosition.Y + (int)(.5 * ReceptorFieldWidth) + i][
receptor.RetinalPosition.X + (int)(.5 * ReceptorFieldHeight) + j];
}
if (receptor.RetinalPosition.Y >= -(int)(.5 * ReceptorFieldHeight) + 1 && receptor.RetinalPosition.Y < (int)(.5 * ReceptorFieldHeight) - 1 && receptor.RetinalPosition.X >= -(int)(.5 * ReceptorFieldWidth) + 1 && receptor.RetinalPosition.X < (int)(.5 * ReceptorFieldWidth) - 1)
{
receptor.AdjacentFilters.Add(
laplaceFilterLocationHolder[receptor.RetinalPosition.Y + (int)(.5 * ReceptorFieldWidth) + i][
receptor.RetinalPosition.X + (int)(.5 * ReceptorFieldHeight) + j]);
}
}
}
}
List <MacroSector> macroSectors = new List <MacroSector>();
List <List <MacroSector> > macroSectorLocationHolder = new List <List <MacroSector> >();
var counter = 0;
for (int i = (int)(-1 * (.5 * ReceptorFieldWidth)); i < (int)(.5 * ReceptorFieldWidth); i = i + (int)(.1 * ReceptorFieldWidth))
{
macroSectorLocationHolder.Add(new List <MacroSector>());
for (int j = (int)(-1 * (.5 * ReceptorFieldHeight)); j < (int)(.5 * ReceptorFieldHeight); j = j + (int)(.1 * ReceptorFieldHeight))
{
var newMacroSector = new MacroSector(i + ((int)(.05 * ReceptorFieldHeight)), j + ((int)(.05 * ReceptorFieldWidth))); //haxorz
macroSectorLocationHolder[counter].Add(newMacroSector);
macroSectors.Add(newMacroSector);
}
counter++;
}
//micro version copy
List <MicroSector> microSectors = new List <MicroSector>();
List <List <MicroSector> > microSectorLocationHolder = new List <List <MicroSector> >();
var microCounter = 0;
for (int i = (int)(-1 * (.05 * ReceptorFieldWidth)); i < (int)(.05 * ReceptorFieldWidth); i = i + (int)(.01 * ReceptorFieldWidth))
{
microSectorLocationHolder.Add(new List <MicroSector>());
for (int j = (int)(-1 * (.05 * ReceptorFieldHeight)); j < (int)(.05 * ReceptorFieldHeight); j = j + (int)(.01 * ReceptorFieldHeight))
{
var newMicroSector = new MicroSector(i + ((int)(.005 * ReceptorFieldHeight)), j + ((int)(.005 * ReceptorFieldWidth))); //haxorz
microSectorLocationHolder[microCounter].Add(newMicroSector);
microSectors.Add(newMicroSector);
}
microCounter++;
}
//end copy
foreach (LaplaceFilter laplaceFilter in LaplaceFilterField)
{
laplaceFilter.PulsePlate = GlobalLayersKnowledge.DirectionPulsePlate;
if ((Math.Abs(laplaceFilter.RetinalPosition.X) < .05 * ReceptorFieldWidth) &&
(Math.Abs(laplaceFilter.RetinalPosition.Y) < .05 * ReceptorFieldHeight))
{
var receptorXDivisor = (int)(.01 * ReceptorFieldWidth);
var receptorYDivisor = (int)(.01 * ReceptorFieldHeight);
var xIndex = (int)(((double)laplaceFilter.RetinalPosition.X / (double)receptorXDivisor) + 5);
var yIndex = (int)(((double)laplaceFilter.RetinalPosition.Y / (double)receptorYDivisor) + 5);
laplaceFilter.Sector = microSectorLocationHolder[yIndex][xIndex];
microSectorLocationHolder[yIndex][xIndex].LaplaceFilters.Add(laplaceFilter);
}
else
{
var receptorXDivisor = (int)(.1 * ReceptorFieldWidth);
var receptorYDivisor = (int)(.1 * ReceptorFieldHeight);
var xIndex = (int)(((double)laplaceFilter.RetinalPosition.X / (double)receptorXDivisor) + 5);
var yIndex = (int)(((double)laplaceFilter.RetinalPosition.Y / (double)receptorYDivisor) + 5);
laplaceFilter.Sector = macroSectorLocationHolder[yIndex][xIndex];
macroSectorLocationHolder[yIndex][xIndex].LaplaceFilters.Add(laplaceFilter);
}
}
GlobalLayersKnowledge.Receptors = ReceptorField;
GlobalLayersKnowledge.LaplaceFilters = LaplaceFilterField;
GlobalLayersKnowledge.MacroSectors = macroSectors;
GlobalLayersKnowledge.MicroSectors = microSectors;
}
