public override bool RobotCollide(Robot robot) { foreach (Wall wall in env.walls) { if (EngineUtilities.collide(robot, wall)) { return(true); } } if (!agentCollide) { return(false); } foreach (Robot robot2 in rbts) { if (robot == robot2) { continue; } if (EngineUtilities.collide(robot, robot2)) { return(true); } } return(false); }
void IFitnessFunction.update(SimulatorExperiment Experiment, Environment environment, instance_pack ip) { // Initialize variables on first time step if (ip.timeSteps == 1) { livingCost = 0; rewards = 0; // Fitness values must be positive. Therefore, a high positive fitness is assigned in advance, // and the cost of living subtracts from it. // time / steps is the number of actual time steps, and the cost is multiplied by number of enemies fitness = (Experiment.evaluationTime / Experiment.timestep) * Experiment.numEnemies; } // Find closest active prey bool allCaptured = true; // becomes false if an active prey is found Robot evolved = ip.robots[0]; for (int i = 1; i < ip.robots.Count; i++) { // Assumes all but first robot are EnemyRobot instances EnemyRobot er = (EnemyRobot)ip.robots[i]; if (!er.disabled) // Not captured yet { //Console.WriteLine("Robot "+i+" not disabled"); allCaptured = false; // The collisionWithEvolved bool should always be the primary means of detecting these // collisions, but the other call is here as a precaution. This check is needed because // when the evolved bot normally collides with the enemy, the "undo" method is called, // which prevents the collision from being detected using normal means in this method. // Fortunately, the collisionWithEvolved member is used to remember when this collision // occurs. if (er.collisionWithEvolved || EngineUtilities.collide(evolved, er)) { // Reward evolved bot for colliding with prey, and disable prey er.disabled = true; er.stopped = true; rewards += PREY_REWARD; fitness += PREY_REWARD; // This is the value that matters //Console.WriteLine("\treward:" + rewards + " from " + PREY_REWARD); } else { // Each active prey punishes bot for not being caltured yet double distance = evolved.location.distance(er.location); double cost = distance / environment.maxDistance; livingCost += cost; fitness -= cost; // This is the value that matters //Console.WriteLine("\tCost: " + (distance / 1000.0) + " to be " + livingCost + " raw distance: " + distance); } } } // End evaluation and stop accruing negative fitness if all prey are captured if (allCaptured) { // Disabling prevents further action ip.elapsed = Experiment.evaluationTime; // force end time: only affects non-visual evaluation Experiment.running = false; // Ends visual evaluation } }
public override bool RobotCollide(Robot robot) { List <collision_grid_square> squares = grid.circle(robot.location.x, robot.location.y, robot.radius); List <Wall> checked_walls = new List <Wall>(); List <Robot> checked_robots = new List <Robot>(); foreach (collision_grid_square square in squares) { //TODO if (this.agentCollide) { foreach (SimulatorObject o in square.dynamic_objs) { Robot r = (Robot)o; if (r == robot) { continue; } if (!checked_robots.Contains(r)) { if (EngineUtilities.collide(r, robot)) { return(true); } checked_robots.Add(r); } } } foreach (SimulatorObject o in square.static_objs) { Wall w = (Wall)o; if (!checked_walls.Contains(w)) { if (EngineUtilities.collide(robot, w)) { return(true); } checked_walls.Add(w); } } } return(false); }
public static bool collide(Robot a, Wall b) { return(EngineUtilities.collide(b, a)); }