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/*** ***/
/*** AGENT SETUP ***/
/*** ***/
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//Organize the diamonds by height and platform
public List <DiamondInfo> setupDiamonds(CollectibleRepresentation[] collectiblesInfo, int[,] levelLayout)
{
List <DiamondInfo> Diamonds = new List <DiamondInfo>();
Platform platform;
int i;
foreach (CollectibleRepresentation diamond in collectiblesInfo)
{
//create diamond info
platform = getDiamondPlatform(diamond.X, diamond.Y);
//the levelLayout is used to calculate the areas of bias of the diamond
DiamondInfo diamondInfo = new DiamondInfo(diamond.X, diamond.Y, platform, levelLayout);
//add diamond to the list according to its position and platform - the highest diamonds on the highest platforms come first
i = 0;
if (Diamonds.Count == 0)
{
Diamonds.Add(diamondInfo);
}
else
{
foreach (DiamondInfo dInfo in Diamonds)
{
//if the diamond belongs to a higher platform
if (diamondInfo.getPlatform().getY() < dInfo.getPlatform().getY())
{
Diamonds.Insert(i, diamondInfo);
break;
}
else if (diamondInfo.getPlatform().getY() == dInfo.getPlatform().getY())
{
//if the diamond is in a platform at the same height but is higher than the other
if (diamondInfo.getY() < dInfo.getY())
{
Diamonds.Insert(i, diamondInfo);
break;
}
}
//if it is at the end of the list, then it is the lowest
if (i == Diamonds.Count - 1)
{
Diamonds.Add(diamondInfo);
break;
}
i++;
}
}
}
//give the diamonds their respective id
for (i = 0; i < Diamonds.Count; i++)
{
Diamonds[i].setId(i);
Diamonds[i].getPlatform().addDiamondOn(i);
}
return(Diamonds);
}
public Moves skillLowerPlatform(Node node, DiamondInfo dInfo)
{
State agent = node.getState();
Platform platform = dInfo.getPlatform();
//if the diamond cant be reached from its platform then this skill does not apply
if (Math.Abs(dInfo.getY() - (dInfo.getPlatform().getY() - dInfo.getPlatform().getHeight() / 2)) > agentMaxReach)
{
//TODO - create a new skill
return(utils.randomAction(node, rnd, morphBias));
}
//check if the agent is in between walls
bool leftWall = false;
bool rightWall = false;
Platform agentPlatform = utils.onPlatform(agent.getPosX(), agent.getPosY(), 50, 10);
if (agentPlatform != null && utils.obstacleBetween(agent.getPosX(), agentPlatform.getX() - agentPlatform.getWidth() / 2, agentPlatform))
{
leftWall = true;
}
if (agentPlatform != null && utils.obstacleBetween(agent.getPosX(), agentPlatform.getX() + agentPlatform.getWidth() / 2, agentPlatform))
{
rightWall = true;
}
//if the agent is completely stuck
//TODO make a new skill to differentiate the cases when the agent is completely stuck from the ones when it only has one wall
if (leftWall || rightWall)
{
//TODO - create a new skill
return(utils.randomAction(node, rnd, morphBias));
}
//roll to the one of the sides
if (node.getRemainingMoves().Exists(x => x == Moves.MOVE_LEFT))
{
return(Moves.MOVE_LEFT);
}
else if (node.getRemainingMoves().Exists(x => x == Moves.MOVE_RIGHT))
{
return(Moves.MOVE_RIGHT);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
public Moves skillHigherPlatform(Node node, DiamondInfo dInfo)
{
State agent = node.getState();
Platform platform = dInfo.getPlatform();
//check if agent can jump to the platform
if (Math.Abs(agent.getPosY() - (platform.getY() - platform.getHeight() / 2)) < circleMaxJump)
{
//if agent is under the platform - roll to one of the sides
if (agent.getPosX() >= platform.getX() - platform.getWidth() / 2 && agent.getPosX() <= platform.getX() + platform.getWidth() / 2)
{
//TODO - check the there isn't a wall
if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_LEFT))
{
return(Moves.ROLL_LEFT);
}
else if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_RIGHT))
{
return(Moves.ROLL_RIGHT);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
else
{
//TODO - check if there isn't another platform in the way of the jump
//if the agent is at the platform's left, roll right or jump
if (agent.getPosX() < platform.getX())
{
if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_RIGHT))
{
return(Moves.ROLL_RIGHT);
}
else if (node.getRemainingMoves().Exists(x => x == Moves.JUMP))
{
return(Moves.JUMP);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
//if the agent is at the platform's right, roll left or jump
else
{
if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_LEFT))
{
return(Moves.ROLL_LEFT);
}
else if (node.getRemainingMoves().Exists(x => x == Moves.JUMP))
{
return(Moves.JUMP);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
}
}
else
{
return(utils.randomAction(node, rnd, jumpBias));
}
}
public Moves skillCatchDiamond(Node node, DiamondInfo dInfo)
{
//if the agent is below the diamond at a very low velocity then jump
if (Math.Abs(dInfo.getX() - node.getState().getPosX()) <= skillXmargin &&
Math.Abs(node.getState().getVelX()) < skillVelMargin)
{
if (node.getRemainingMoves().Exists(x => x == Moves.JUMP))
{
return(Moves.JUMP);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
//if the diamond is at the agents left
else if (dInfo.getX() < node.getState().getPosX())// && Math.Abs(dInfo.getX() - node.getState().getPosX()) > skillXmargin)
{
//if it is at the same level - go left
if (Math.Abs(dInfo.getY() - node.getState().getPosY()) < skillYmargin)
{
if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_LEFT))
{
return(Moves.ROLL_LEFT);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
//if not, then it will be necessary to jump at some point
else
{
if ((rnd.NextDouble() > skillJumpBias ||
node.getState().getVelX() > 0) && node.getRemainingMoves().Exists(x => x == Moves.ROLL_LEFT))
{
return(Moves.ROLL_LEFT);
}
else
{
//make sure that it wont try the action jump if moving right
if (node.getRemainingMoves().Exists(x => x == Moves.JUMP) && node.getState().getVelX() < 0)
{
return(Moves.JUMP);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
}
}
//if the diamond is at the agents right
if (dInfo.getX() > node.getState().getPosX())// && Math.Abs(dInfo.getX() - node.getState().getPosX()) > skillXmargin)
{
//if it is at the same level - go right
if (Math.Abs(dInfo.getY() - node.getState().getPosY()) < skillYmargin)
{
if (node.getRemainingMoves().Exists(x => x == Moves.ROLL_RIGHT))
{
return(Moves.ROLL_RIGHT);
}
else
{
return(Moves.NO_ACTION);
}
}
//if not, then it will be necessary to jump at some point
else
{
if ((rnd.NextDouble() > skillJumpBias ||
node.getState().getVelX() < 0) && node.getRemainingMoves().Exists(x => x == Moves.ROLL_RIGHT))
{
return(Moves.ROLL_RIGHT);
}
else
{
//make sure that it wont try the action jump if moving left
if (node.getRemainingMoves().Exists(x => x == Moves.JUMP) && node.getState().getVelX() > 0)
{
return(Moves.JUMP);
}
else
{
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}
}
}
}
node.noRemainingSTPActions();
return(Moves.NO_ACTION);
}