public override void CalculateFuzzyLogic()
{
//START
harrier = ((HarrierSim)Globals.Simulator).Harrier;
double height;
if ( Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) )
height = harrier.Y - 23;
else
height = harrier.Y - 5;
double speedY = harrier.YVel;
double speedX = harrier.XVel;
double safeX = harrier.X - harrier.MidSafeX - 40;
//FuzzySet throttleOutput = ;
//FuzzySet thrustVectorOutput = ;
FuzzySet throttleOutput = new FuzzySet(ThrottleAccum["ThrottleOutput"]);
FuzzySet thrustVectorOutput = new FuzzySet(ThrustVecAccum["ThrustVector"]);
throttleOutput.Clear();
thrustVectorOutput.Clear();
throttleOutput.SetRangeWithPoints(0, 120);
thrustVectorOutput.SetRangeWithPoints(-5, 5);
//if height is high and speed is med, throttle soft :R1
//YourRuleSet["Rule0"] = Rule.AND(height, "Your Height Set[high]", speedY, "Your Y Speed Set[medium]", ref throttleOutput, "Your Throttle Set[soft]", YourRuleSet["Rule0"]);
#region Throttle Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.VeryHard))
{
#region Y Velocity Height Rules
// if Y vel is up then throttle is no
RuleSetThrottle["Rule0"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule0"]);
// if height is high and Y vel is high then throttle is medium
RuleSetThrottle["Rule1"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule1"]);
// if height is high and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule2"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule2"]);
// if height is high and Y vel is low then throttle is low
RuleSetThrottle["Rule3"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule3"]);
// if height is high and Y vel is safe then throttle is low
RuleSetThrottle["Rule4"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule4"]);
// if height is medium and Y vel is high then throttle is high
RuleSetThrottle["Rule5"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule5"]);
// if height is medium and Y vel is moderate then throttle is high
RuleSetThrottle["Rule6"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule6"]);
// if height is medium and Y vel is low then throttle is medium
RuleSetThrottle["Rule7"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule7"]);
// if height is medium and Y vel is safe then throttle is low
RuleSetThrottle["Rule8"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule8"]);
// if height is low and Y vel is high then throttle is high
RuleSetThrottle["Rule9"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule9"]);
// if height is low and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule10"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule10"]);
// if height is low and Y vel is low then throttle is medium
RuleSetThrottle["Rule11"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule11"]);
// if height is low and Y vel is safe then throttle is low
RuleSetThrottle["Rule12"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule12"]);
// if height is landing and Y vel is high then throttle is high
RuleSetThrottle["Rule13"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule13"]);
// if height is landing and Y vel is moderate then throttle is high
RuleSetThrottle["Rule14"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule14"]);
// if height is landing and Y vel is low then throttle is medium
RuleSetThrottle["Rule15"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule15"]);
// if height is landing and Y vel is safe then throttle is low
RuleSetThrottle["Rule16"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule16"]);
RuleSetThrottle["Rule17"] = Rule.IS(height + 23, HeightSets["Below Deck Height"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule17"]);
RuleSetThrottle["Rule18"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule18"]);
RuleSetThrottle["Rule19"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule19"]);
RuleSetThrottle["Rule20"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule20"]);
#endregion
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
#region Y Velocity Height Rules
// if Y vel is up then throttle is no
RuleSetThrottle["Rule0"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule0"]);
// if height is high and Y vel is high then throttle is medium
RuleSetThrottle["Rule1"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule1"]);
// if height is high and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule2"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule2"]);
// if height is high and Y vel is low then throttle is low
RuleSetThrottle["Rule3"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule3"]);
// if height is high and Y vel is safe then throttle is low
RuleSetThrottle["Rule4"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule4"]);
// if height is medium and Y vel is high then throttle is high
RuleSetThrottle["Rule5"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule5"]);
// if height is medium and Y vel is moderate then throttle is high
RuleSetThrottle["Rule6"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule6"]);
// if height is medium and Y vel is low then throttle is medium
RuleSetThrottle["Rule7"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule7"]);
// if height is medium and Y vel is safe then throttle is low
RuleSetThrottle["Rule8"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule8"]);
// if height is low and Y vel is high then throttle is high
RuleSetThrottle["Rule9"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule9"]);
// if height is low and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule10"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule10"]);
// if height is low and Y vel is low then throttle is medium
RuleSetThrottle["Rule11"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule11"]);
// if height is low and Y vel is safe then throttle is low
RuleSetThrottle["Rule12"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule12"]);
// if height is landing and Y vel is high then throttle is high
RuleSetThrottle["Rule13"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule13"]);
// if height is landing and Y vel is moderate then throttle is high
RuleSetThrottle["Rule14"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule14"]);
// if height is landing and Y vel is low then throttle is medium
RuleSetThrottle["Rule15"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule15"]);
// if height is landing and Y vel is safe then throttle is low
RuleSetThrottle["Rule16"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule16"]);
RuleSetThrottle["Rule17"] = Rule.IS(height + 23, HeightSets["Below Deck Height"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule17"]);
RuleSetThrottle["Rule18"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule18"]);
RuleSetThrottle["Rule19"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule19"]);
RuleSetThrottle["Rule20"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule20"]);
#endregion
}
#endregion
#region Thrust Vector Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.VeryHard))
{
#region X Velocity Left Dangerzone Rules
#region Rule 0: if distance is left high dangerzone then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.IS(safeX, DistanceSets["Left High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule0"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule1"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule2"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule3"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
#endregion
// if distance is left moderate dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left moderate dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule2"]);
// if distance is left moderate dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left moderate dangerzone and X vel is neutral then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule4"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule4"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule5"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule5"]);
// if distance is left low dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule6"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule6"]);
// if distance is left low dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule7"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule7"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule8"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule8"]);
#endregion
#region X Velocity Safezone Rules
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
#endregion
#region X Velocity Right Dangerzone Rules
#region Rule 16: if distance is right high dangerzone then thrust vector is backward high thrust
RuleSetThrustVec["Rule16"] = Rule.IS(safeX, DistanceSets["Right High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule16"]);
/*
// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
*/
#endregion
// if distance is right moderate dangerzone and X vel is high right then thrust vector is backward high thrust
RuleSetThrustVec["Rule17"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule17"]);
// if distance is right moderate dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule18"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule18"]);
// if distance is right moderate dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule19"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule19"]);
// if distance is right moderate dangerzone and X vel is neutral then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule20"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule20"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule21"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule21"]);
// if distance is right low dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule22"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule22"]);
// if distance is right low dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule23"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule23"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule24"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule24"]);
#endregion
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
#region X Velocity Left Dangerzone Rules
#region Rule 0: if distance is left high dangerzone then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.IS(safeX, DistanceSets["Left High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule0"]);
//// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule0"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
//// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule29"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule29"]);
//// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule30"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule30"]);
//// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule31"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule31"]);
#endregion
// if distance is left moderate dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left moderate dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule2"]);
// if distance is left moderate dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left moderate dangerzone and X vel is neutral then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule4"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule4"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule5"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule5"]);
// if distance is left low dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule6"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule6"]);
// if distance is left low dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule7"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule7"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule8"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule8"]);
#endregion
#region X Velocity Safezone Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy))
{
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
}
#endregion
#region X Velocity Right Dangerzone Rules
#region Rule 16: if distance is right high dangerzone then thrust vector is backward high thrust
RuleSetThrustVec["Rule16"] = Rule.IS(safeX, DistanceSets["Right High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule16"]);
//// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule25"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule25"]);
//// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule26"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule26"]);
//// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule27"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule27"]);
//// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule28"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule28"]);
#endregion
// if distance is right moderate dangerzone and X vel is high right then thrust vector is backward high thrust
RuleSetThrustVec["Rule17"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule17"]);
// if distance is right moderate dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule18"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule18"]);
// if distance is right moderate dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule19"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule19"]);
// if distance is right moderate dangerzone and X vel is neutral then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule20"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule20"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule21"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule21"]);
// if distance is right low dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule22"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule22"]);
// if distance is right low dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule23"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule23"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule24"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule24"]);
#endregion
}
#endregion
ThrottleAccum["ThrottleOutput"] = new FuzzySet(throttleOutput);
ThrustVecAccum["ThrustVector"] = new FuzzySet(thrustVectorOutput);
//Switch for how to adjust throttle settings ('AutoPilot' Checkbox on form)
if (!Manual)
{
harrier.Throttle = _throttle;
harrier.ThrustVector = _tv;
}
else
{
harrier.Throttle = Operations.DeFuzzifyCOG(ThrottleAccum["ThrottleOutput"]);
harrier.ThrustVector = Operations.DeFuzzifyCOG(ThrustVecAccum["ThrustVector"]);
}
//THESE ARE UP TO YOU TO TUNE!!
harrier.Throttle += 20;
harrier.ThrustVector += 90;
//END
((HarrierSim) Globals.Simulator).Harrier = harrier;
}
public override SimFrame Init(Vec2 rez)
{
TracePath = new List<PrintText>();
#region Initializes the Harrier Simulator
//set up the sea background
/* _sea = new Sprite("sea")
{
Picture = SpriteList.SeaSurface,
Scale = new Vec2(3, 3),
};*/
Harrier = new SimVars.HarrierVars();
Harrier.GroundEffect = false;
Harrier.MetersToPixels = 2.5;
Harrier.PixelsToMeters = 1 / Harrier.MetersToPixels;
Harrier.TickPerSecond = 3;
Harrier.MaxWindGust = 0;
InitDifficulty();
Harrier.Landed = false;
Harrier.Boom = false;
Harrier.MaxFuelIn1Sec = 0.5;
Harrier.MinFuelIn1Sec = 0.1;
Harrier.Mass = 5655 + Harrier.Fuel; // 5655 + fuel
Harrier.Boom = false;
Harrier.Landed = false;
#endregion
State = SimulatorStateEnum.Initialised;
return new SimFrame();
}