public override bool equals(Action action)
{
BuildHubAction buildHubAction = (BuildHubAction)action;
return(equipt == buildHubAction.equipt &&
replace == buildHubAction.replace);
}
private List <Action> generateBuildHubActions()
{
List <Action> actions = new List <Action>();
BuildHubAction action1 = new BuildHubAction();
BuildHubAction action2 = new BuildHubAction();
BuildHubAction action3 = new BuildHubAction();
action1.equipt = true;
action2.replace = true;
actions.Add(action1);
actions.Add(action2);
actions.Add(action3);
return(actions);
}
private List <Action> actionsDataToActions(ActionData[] actions)
{
List <Action> actionList = new List <Action>();
foreach (BuildHubActionData actionData in actions)
{
BuildHubAction action = new BuildHubAction();
action.equipt = actionData.equipt;
action.replace = actionData.replace;
action.qValue = actionData.qValue;
actionList.Add(action);
}
return(actionList);
}
public void applyBuildHubRewards()
{
foreach (AIAgent agent in AI_AGENTS)
{
bool won = agent.getBot().getRemainingDurability() > 0;
List <BuildHubState> buildHubStates = agent.getBuildHubStates();
for (int stateIndex = 0; stateIndex < buildHubStates.Count; ++stateIndex)
{
int selectedActionIndex = buildHubStates[stateIndex].indexOfSelectedAction;
if (selectedActionIndex >= 0)
{
double reward = 0;
if (won)
{
reward = 20;
}
else
{
reward = -20;
}
double priorQValue = buildHubStates[stateIndex].actions[selectedActionIndex].qValue;
BuildHubAction optimalAction = (BuildHubAction)buildHubStates[stateIndex].actions[0];
foreach (Action action in buildHubStates[stateIndex].actions)
{
if (action.qValue > optimalAction.qValue)
{
optimalAction = (BuildHubAction)action;
}
}
buildHubStates[stateIndex].actions[selectedActionIndex].qValue += LEARNING_RATE * (reward + DISCOUNT_FACTOR * optimalAction.qValue - priorQValue);
double growth = Math.Pow(Math.E, -Math.Abs(buildHubStates[stateIndex].actions[selectedActionIndex].qValue - priorQValue) / INVERSE_SENSITIVITY);
buildHubStates[stateIndex].explorationRate = BUILD_HUB_EXPLORATION_RATE_ACTION_WEIGHT * (1.0 - growth) / (1.0 + growth) + (1.0 - BUILD_HUB_EXPLORATION_RATE_ACTION_WEIGHT) * buildHubStates[stateIndex].explorationRate;
if (buildHubStates[stateIndex].explorationRate > 1)
{
buildHubStates[stateIndex].explorationRate = 1;
}
if (buildHubStates[stateIndex].explorationRate < 0)
{
buildHubStates[stateIndex].explorationRate = 0;
}
}
}
}
}
private Robot generateRobot(int agentNumber)
{
List <Part> parts = new List <Part>();
int fastestCooling = int.MaxValue, fastestCharging = int.MaxValue, maxAttachments = 0;
double highestClimbAngle = 0, durability = 0, weight = 0, highestSpeed = 0, highestDamage = 0, maxForce = 0, credits = CREDITS;
bool invisible = false, hasEffect = false;
BuildHubState priorBuildHubState = new BuildHubState();
BuildHubAction priorBuildHubAction = new BuildHubAction();
foreach (Part part in PARTS)
{
BuildHubState buildHubState = new BuildHubState();
buildHubState.effectOnObstacle = EFFECT_ON_OBSTACLE;
buildHubState.canClimbObstacle = highestClimbAngle >= STEEPEST_OBSTACLE_ANGLE;
buildHubState.canMoveOnObstacle = maxForce >= weight && highestSpeed >= HIGHEST_FRICTION * weight;
buildHubState.durable = durability > 0 && durability >= highestDamage * 2;
buildHubState.invisible = invisible;
buildHubState.fast = maxForce >= weight && highestSpeed > 0 && highestSpeed >= weight * 2;
buildHubState.hasEffect = hasEffect;
buildHubState.heavyDamage = highestDamage > 0 && highestDamage >= durability / 4;
buildHubState.quickCooling = fastestCooling <= 1000;
buildHubState.quickCharging = fastestCharging <= 1000;
if ((BUILD_HUB_STATES.Count == 0) || !BUILD_HUB_STATES.Exists(s => s.Compare(buildHubState) == 0))
{
List <Action> buildHubActionsForState = default;
if ((BUILD_HUB_STATES.Count == 0) || (RANDOM.NextDouble() < priorBuildHubState.explorationRate))
{
buildHubActionsForState = generateBuildHubActions();
}
else
{
buildHubActionsForState = getClosestBuildHubState(buildHubState).getActions();
}
buildHubState.setActions(buildHubActionsForState);
BUILD_HUB_STATES.Add(buildHubState);
}
else
{
buildHubState = BUILD_HUB_STATES.Find(s => s.Compare(buildHubState) == 0);
}
if ((buildHubState.explorationRate > 0) && (RANDOM.NextDouble() < buildHubState.explorationRate))
{
buildHubState.indexOfSelectedAction = RANDOM.Next(buildHubState.getActions().Count);
priorBuildHubAction = (BuildHubAction)buildHubState.getActions()[buildHubState.indexOfSelectedAction];
}
else
{
BuildHubAction optimalAction = (BuildHubAction)buildHubState.getActions()[0];
for (int actionIndex = 1; actionIndex < buildHubState.getActions().Count; ++actionIndex)
{
Action action = buildHubState.getActions()[actionIndex];
if (action.qValue > optimalAction.qValue)
{
optimalAction = (BuildHubAction)action;
buildHubState.indexOfSelectedAction = actionIndex;
}
}
priorBuildHubAction = optimalAction;
}
if (priorBuildHubAction.equipt)
{
int costNewPart = PERFORMANCE_METRIC_CALCULATOR.calculateCost(part);
if (!parts.Exists(p => p.GetType() == part.GetType()))
{
if ((!(part is Attachment) || ((part is Attachment) && (maxAttachments > 0))) && ((weight + part.getWeight()) < maxForce) && (credits >= costNewPart))
{
credits -= costNewPart;
--maxAttachments;
weight += part.getWeight();
durability += part.getDurability();
if (part is Body && (maxAttachments < ((Body)part).getMaxAttachments()))
{
maxAttachments = ((Body)part).getMaxAttachments();
}
if (part is Mobility)
{
highestClimbAngle = ((Mobility)part).getClimbAngle();
highestSpeed = ((Mobility)part).getMaxSpeed();
maxForce = ((Mobility)part).getMaxForce();
}
parts.Add(part);
if (part is Attachment)
{
if (fastestCooling > ((Attachment)part).getMinCoolingTime())
{
fastestCooling = ((Attachment)part).getMinCoolingTime();
}
if (fastestCharging > ((Attachment)part).getMinChargeTime())
{
fastestCharging = ((Attachment)part).getMinChargeTime();
}
if (highestDamage < ((Attachment)part).getMaxDamage())
{
highestDamage = ((Attachment)part).getMaxDamage();
}
if (!invisible && ((Attachment)part).isInvisible())
{
invisible = true;
}
if (!hasEffect && ((Attachment)part).getEffect() != default)
{
hasEffect = true;
}
}
}
else
{
buildHubState.indexOfSelectedAction += 2;
}
}
else
{
int partIndex = parts.FindIndex(p => p.GetType() == part.GetType());
int costOldPart = PERFORMANCE_METRIC_CALCULATOR.calculateCost(parts[partIndex]);
if ((!(part is Attachment) || ((part is Attachment) && (maxAttachments > 0))) && ((weight + part.getWeight()) < maxForce) && ((credits + costOldPart) >= costNewPart))
{
credits += costOldPart;
credits -= costNewPart;
--maxAttachments;
weight -= parts[partIndex].getWeight();
weight += part.getWeight();
durability -= parts[partIndex].getDurability();
durability += part.getDurability();
if (part is Body && (maxAttachments < ((Body)part).getMaxAttachments()))
{
maxAttachments = ((Body)part).getMaxAttachments();
}
if (part is Mobility)
{
highestClimbAngle = ((Mobility)part).getClimbAngle();
highestSpeed = ((Mobility)part).getMaxSpeed();
maxForce = ((Mobility)part).getMaxForce();
}
parts[partIndex] = part;
if (part is Attachment)
{
fastestCooling = int.MaxValue;
fastestCharging = int.MaxValue;
highestDamage = 0;
invisible = false;
hasEffect = false;
foreach (Part currentPart in parts)
{
if (currentPart is Attachment)
{
if (fastestCooling > ((Attachment)currentPart).getMinCoolingTime())
{
fastestCooling = ((Attachment)part).getMinCoolingTime();
}
if (fastestCharging > ((Attachment)currentPart).getMinChargeTime())
{
fastestCharging = ((Attachment)currentPart).getMinChargeTime();
}
if (highestDamage < ((Attachment)currentPart).getMaxDamage())
{
highestDamage = ((Attachment)currentPart).getMaxDamage();
}
if (!invisible && ((Attachment)currentPart).isInvisible())
{
invisible = true;
}
if (!hasEffect && ((Attachment)currentPart).getEffect() != default)
{
hasEffect = true;
}
}
}
}
buildHubState.indexOfSelectedAction += 1;
}
else
{
buildHubState.indexOfSelectedAction += 2;
}
}
}
else if (priorBuildHubAction.replace)
{
int costNewPart = PERFORMANCE_METRIC_CALCULATOR.calculateCost(part);
if (!parts.Exists(p => p.GetType() == part.GetType()))
{
if ((!(part is Attachment) || ((part is Attachment) && (maxAttachments > 0))) && ((weight + part.getWeight()) < maxForce) && (credits >= costNewPart))
{
credits -= costNewPart;
--maxAttachments;
weight += part.getWeight();
durability += part.getDurability();
if (part is Body && (maxAttachments < ((Body)part).getMaxAttachments()))
{
maxAttachments = ((Body)part).getMaxAttachments();
}
if (part is Mobility)
{
highestClimbAngle = ((Mobility)part).getClimbAngle();
highestSpeed = ((Mobility)part).getMaxSpeed();
maxForce = ((Mobility)part).getMaxForce();
}
parts.Add(part);
if (part is Attachment)
{
if (fastestCooling > ((Attachment)part).getMinCoolingTime())
{
fastestCooling = ((Attachment)part).getMinCoolingTime();
}
if (fastestCharging > ((Attachment)part).getMinChargeTime())
{
fastestCharging = ((Attachment)part).getMinChargeTime();
}
if (highestDamage < ((Attachment)part).getMaxDamage())
{
highestDamage = ((Attachment)part).getMaxDamage();
}
if (!invisible && ((Attachment)part).isInvisible())
{
invisible = true;
}
if (!hasEffect && ((Attachment)part).getEffect() != default)
{
hasEffect = true;
}
}
buildHubState.indexOfSelectedAction -= 1;
}
else
{
buildHubState.indexOfSelectedAction += 1;
}
}
else
{
int partIndex = parts.FindIndex(p => p.GetType() == part.GetType());
int costOldPart = PERFORMANCE_METRIC_CALCULATOR.calculateCost(parts[partIndex]);
if ((!(part is Attachment) || ((part is Attachment) && (maxAttachments > 0))) && ((weight + part.getWeight()) < maxForce) && ((credits + costOldPart) >= costNewPart))
{
credits += costOldPart;
credits -= costNewPart;
--maxAttachments;
weight -= parts[partIndex].getWeight();
weight += part.getWeight();
durability -= parts[partIndex].getDurability();
durability += part.getDurability();
if (part is Body && (maxAttachments < ((Body)part).getMaxAttachments()))
{
maxAttachments = ((Body)part).getMaxAttachments();
}
if (part is Mobility)
{
highestClimbAngle = ((Mobility)part).getClimbAngle();
highestSpeed = ((Mobility)part).getMaxSpeed();
maxForce = ((Mobility)part).getMaxForce();
}
parts[partIndex] = part;
if (part is Attachment)
{
fastestCooling = int.MaxValue;
fastestCharging = int.MaxValue;
highestDamage = 0;
invisible = false;
hasEffect = false;
foreach (Part currentPart in parts)
{
if (currentPart is Attachment)
{
if (fastestCooling > ((Attachment)currentPart).getMinCoolingTime())
{
fastestCooling = ((Attachment)part).getMinCoolingTime();
}
if (fastestCharging > ((Attachment)currentPart).getMinChargeTime())
{
fastestCharging = ((Attachment)currentPart).getMinChargeTime();
}
if (highestDamage < ((Attachment)currentPart).getMaxDamage())
{
highestDamage = ((Attachment)currentPart).getMaxDamage();
}
if (!invisible && ((Attachment)currentPart).isInvisible())
{
invisible = true;
}
if (!hasEffect && ((Attachment)currentPart).getEffect() != default)
{
hasEffect = true;
}
}
}
}
}
else
{
buildHubState.indexOfSelectedAction += 1;
}
}
}
priorBuildHubState = buildHubState;
}
List <Part> baseParts = new List <Part>();
baseParts.AddRange(BASE_PARTS);
if (!parts.Exists(p => p is Head))
{
parts.Add(baseParts.Find(p => p is Head));
}
if (!parts.Exists(p => p is Body))
{
parts.Add(baseParts.Find(p => p is Body));
}
if (!parts.Exists(p => p is Mobility))
{
parts.Add(baseParts.Find(p => p is Mobility));
}
if (!parts.Exists(p => (p is Attachment) && ((Attachment)p).isWeapon()))
{
parts.Add(baseParts.Find(p => p is Blaster));
}
for (int partIndex = 0; partIndex < parts.Count; ++partIndex)
{
parts[partIndex] = parts[partIndex].clone(false);
}
return(new Robot(AGENT_PREFIX + agentNumber, false, parts.ToArray()));
}
