public static void Repel(Robot rob1, Robot rob2)
{
double fixedSep;
DoubleVector fixedSepVector;
var e = SimOpt.SimOpts.CoefficientElasticity;
var normal = rob2.Position - rob1.Position;
var currDist = normal.Magnitude();
//If both bots are fixed or not moving and they overlap, move their positions directly. Fixed bots can overlap when shapes sweep them together
//or when they teleport or materialize on top of each other. We move them directly apart as they are assumed to have no velocity
//by scaling the normal vector by the amount they need to be separated. Each bot is moved half of the needed distance without taking into consideration
//mass or size.
if (rob1.IsFixed && rob2.IsFixed || rob1.Velocity.Magnitude() < 0.0001 && rob2.Velocity.Magnitude() < 0.0001)
{
fixedSep = (rob1.GetRadius(SimOpt.SimOpts.FixedBotRadii) + rob2.GetRadius(SimOpt.SimOpts.FixedBotRadii) - currDist) / 2;
fixedSepVector = normal.Unit() * fixedSep;
rob1.Position -= fixedSepVector;
rob2.Position += fixedSepVector;
}
else
{
var totalMass = rob1.Mass + rob2.Mass;
fixedSep = rob1.GetRadius(SimOpt.SimOpts.FixedBotRadii) + rob2.GetRadius(SimOpt.SimOpts.FixedBotRadii) - currDist;
fixedSepVector = normal.Unit() * (fixedSep / (1 + Math.Pow(55, 0.3 - e)));
rob1.Position -= fixedSepVector * (rob2.Mass / totalMass);
rob2.Position += fixedSepVector * (rob1.Mass / totalMass);
}
if (!double.IsFinite(1.0 / normal.Magnitude()))
{
return;
}
var m1 = rob1.Mass;
var m2 = rob2.Mass;
//If a bot is fixed, all the collision energy should be translated to the non-fixed bot so for
//the purposes of calculating the force applied to the non-fixed bot, treat the fixed one as if it is very massive
if (rob1.IsFixed)
{
m1 = 32000;
}
if (rob2.IsFixed)
{
m2 = 32000;
}
var unit = normal.Unit();
var vel1 = rob1.Velocity;
var vel2 = rob2.Velocity;
//Project the bot's direction vector onto the unit vector and scale by velocity
//These represent vectors we subtract from the bot's velocity to push the bot in a direction
//appropriate to the collision. This would be all we needed if the bots all massed the same.
//It's possible the bots are already moving away from each other having "collided" last cycle. If so,
//we don't want to reverse them again and we don't want to add too much more further acceleration
var projection = DoubleVector.Dot(vel1, unit) * 0.99;
if (projection <= 0)
{ // bots are already moving away from one another
projection = 0.000001;
}
var v1 = unit * projection;
projection = DoubleVector.Dot(vel2, unit) * 0.99; // try damping things down a little
if (projection >= 0)
{ // bots are already moving away from one another
projection = -0.000001;
}
var v2 = unit * projection;
//Now we need to factor in the mass of the bots. These vectors represent the resistance to movement due
//to the bot's mass
var v1F = (v2 * (e + 1) * m2 + v1 * (m1 - e * m2)) * (1 / (m1 + m2));
var v2F = (v1 * (e + 1) * m1 + v2 * (m2 - e * m1)) * (1 / (m1 + m2));
//No reason to try to try to accelerate fixed bots
if (!rob1.IsFixed)
{
rob1.Velocity -= v1 + v1F;
}
if (!rob2.IsFixed)
{
rob2.Velocity -= v2 + v2F;
}
//Update the touch senses
Senses.Touch(rob1, rob2.Position.X, rob2.Position.Y);
Senses.Touch(rob2, rob1.Position.X, rob1.Position.Y);
//Update last touch variables
rob1.LastTouched = rob2;
rob2.LastTouched = rob1;
//Update the refvars to reflect touching bots.
Senses.LookOccurr(rob1, rob2);
Senses.LookOccurr(rob2, rob1);
}
private static void aggiungirob(IRobotManager robotManager, IBucketManager bucketManager)
{
if (!SimOpt.SimOpts.Specie.Any(s => CheckVegStatus(robotManager, s)))
{
return;
}
int r;
do
{
r = ThreadSafeRandom.Local.Next(0, SimOpt.SimOpts.Specie.Count); // start randomly in the list of species
} while (!CheckVegStatus(robotManager, SimOpt.SimOpts.Specie[r]));
var x = ThreadSafeRandom.Local.Next(Robot.RobSize / 2, SimOpt.SimOpts.FieldWidth - Robot.RobSize / 2);
var y = ThreadSafeRandom.Local.Next(Robot.RobSize / 2, SimOpt.SimOpts.FieldHeight - Robot.RobSize / 2);
if (SimOpt.SimOpts.Specie[r].Name == "" || SimOpt.SimOpts.Specie[r].Path == "Invalid Path")
{
return;
}
var a = DnaManipulations.RobScriptLoad(robotManager, bucketManager, System.IO.Path.Join(SimOpt.SimOpts.Specie[r].Path,
SimOpt.SimOpts.Specie[r].Name));
if (a == null)
{
SimOpt.SimOpts.Specie[r].Native = false;
return;
}
//Check to see if we were able to load the bot. If we can't, the path may be wrong, the sim may have
//come from another machine with a different install path. Set the species path to an empty string to
//prevent endless looping of error dialogs.
if (!a.Exists)
{
SimOpt.SimOpts.Specie[r].Path = "Invalid Path";
return;
}
a.IsVegetable = SimOpt.SimOpts.Specie[r].Veg;
if (a.IsVegetable)
{
a.Chloroplasts = SimOptions.StartChlr;
}
a.IsFixed = SimOpt.SimOpts.Specie[r].Fixed;
a.CantSee = SimOpt.SimOpts.Specie[r].CantSee;
a.DnaDisabled = SimOpt.SimOpts.Specie[r].DisableDna;
a.MovementSysvarsDisabled = SimOpt.SimOpts.Specie[r].DisableMovementSysvars;
a.CantReproduce = SimOpt.SimOpts.Specie[r].CantReproduce;
a.IsVirusImmune = SimOpt.SimOpts.Specie[r].VirusImmune;
a.IsCorpse = false;
a.IsDead = false;
a.Body = 1000;
a.Mutations = 0;
a.OldMutations = 0;
a.LastMutation = 0;
a.SonNumber = 0;
a.Parent = null;
Array.Clear(a.Memory, 0, a.Memory.Length);
if (a.IsFixed)
{
a.Memory[216] = 1;
}
a.Position = new DoubleVector(x, y);
a.Aim = ThreadSafeRandom.Local.NextDouble() * Math.PI * 2;
a.Memory[MemoryAddresses.SetAim] = (int)a.Aim * 200;
//Bot is already in a bucket due to the prepare routine
bucketManager.UpdateBotBucket(a);
a.Energy = SimOpt.SimOpts.Specie[r].Stnrg;
a.MutationProbabilities = SimOpt.SimOpts.Specie[r].Mutables;
a.VirusTimer = 0;
a.VirusShot = null;
a.NumberOfGenes = DnaManipulations.CountGenes(a.Dna);
a.GenMut = (double)a.Dna.Count / RobotsManager.GeneticSensitivity;
a.Memory[MemoryAddresses.DnaLenSys] = a.Dna.Count;
a.Memory[MemoryAddresses.GenesSys] = a.NumberOfGenes;
a.ChloroplastsDisabled = SimOpt.SimOpts.Specie[r].NoChlr;
for (var i = 0; i < 7; i++)
{
a.Skin[i] = SimOpt.SimOpts.Specie[r].Skin[i];
}
a.Color = SimOpt.SimOpts.Specie[r].Color;
Senses.MakeOccurrList(a);
}
