private void BalanceBot_Spin(ControlledThrustBot bot)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
if (bot.Thrusters == null || bot.Thrusters.Length == 0)
{
MessageBox.Show("This bot has no thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
Vector3D ideal = new Vector3D(1, 0, 0);
_cancelCurrentBalancer = new CancellationTokenSource();
var newBestFound = new Action <ThrusterMap>(o => bot.ForwardMap = o); // using forward map, even though this is spin
ThrustControlUtil.DiscoverSolutionAsync2(bot, null, ideal, _cancelCurrentBalancer.Token, null, newBestFound);
}
private void BalanceBot_Forward(ControlledThrustBot bot)
{
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
if (bot.Thrusters == null || bot.Thrusters.Length == 0)
{
MessageBox.Show("This bot has no thrusters", this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
return;
}
Vector3D ideal = new Vector3D(0, 0, 1);
_cancelCurrentBalancer = new CancellationTokenSource();
var newBestFound = new Action <ThrusterMap>(o => bot.ForwardMap = o);
var logGeneration = new Action <Tuple <ThrusterMap, double[]>[]>(o => _generation = o);
ThrustControlUtil.DiscoverSolutionAsync2(bot, ideal, null, _cancelCurrentBalancer.Token, newBestFound: newBestFound, logGeneration: logGeneration);
}
private void EnsureThrustKeysBuilt_Finish(KeyThrustRequest[] requests)
{
// Remember the mappings between key and desired thrust (this is used to drive the impulse engine)
_keyThrustRequests = requests;
if (this.Thrusters == null || this.Thrusters.Length == 0)
{
_isThrustMapDirty = false;
return;
}
if (_cancelCurrentBalancer != null)
{
_cancelCurrentBalancer.Cancel();
_cancelCurrentBalancer = null;
}
// Remember the current solutions, so they can help get a good start on the new solver
var previous = _thrustLines.Values.ToArray();
_thrustLines.Clear();
_cancelCurrentBalancer = new CancellationTokenSource();
ThrustContributionModel model = new ThrustContributionModel(this.Thrusters, this.PhysicsBody.CenterOfMass);
MassMatrix inertia = this.PhysicsBody.MassMatrix;
double mass = inertia.Mass;
// Several key combos may request the same direction, so group them
var grouped = requests.
ToLookup(KeyThrustRequestComparer);
foreach (var set in grouped)
{
// Create wrappers for this set
ThrusterSolution[] solutionWrappers = set.
Select(o => new ThrusterSolution(o, model, inertia, mass)).
ToArray();
// Store the wrappers
foreach (var wrapper in solutionWrappers)
{
_thrustLines.Add(Tuple.Create(wrapper.Request.Key, wrapper.Request.Shift), wrapper);
}
// This delegate gets called when a better solution is found. Distribute the map to the solution wrappers
var newBestFound = new Action <ThrusterMap>(o =>
{
ThrusterSolutionMap solutionMap = GetThrusterSolutionMap(o, model, inertia, mass);
foreach (ThrusterSolution wrapper in solutionWrappers)
{
wrapper.Map = solutionMap;
}
});
var options = new DiscoverSolutionOptions2 <Tuple <int, int, double> >()
{
//MaxIterations = 2000, //TODO: Find a reasonable stop condition
ThreadShare = _thrustWorkerThread,
};
// Find the previous solution for this request
var prevMatch = previous.FirstOrDefault(o => KeyThrustRequestComparer(set.Key, o.Request));
if (prevMatch != null && prevMatch.Map != null)
{
options.Predefined = new[] { prevMatch.Map.Map.Flattened };
}
// Find the combination of thrusters that push in the requested direction
//ThrustControlUtil.DiscoverSolutionAsync(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, null, options);
ThrustControlUtil.DiscoverSolutionAsync2(this, solutionWrappers[0].Request.Linear, solutionWrappers[0].Request.Rotate, _cancelCurrentBalancer.Token, model, newBestFound, options: options);
}
_isThrustMapDirty = false;
}