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 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;
}
public VehicleState(DynamicTransform2 transform, VehicleDriveControls controlState) : this(transform, controlState, new GunState())
{
}
public VehicleState(DynamicTransform2 transform, VehicleDriveControls controlState, GunState gunState)
{
DynamicTransform = transform;
ControlState = controlState;
GunState = gunState;
}
private uint SpawnVehicle(VehiclePrototype prototype, DynamicTransform2 placement)
{
VehicleState initialState = new VehicleState(placement, prototype.ControlConfig.DefaultControl);
return(mMTSGame.AddVehicle(prototype, initialState));
}