/// <summary>
/// Draws the maze, robots, etc. to the screen.
/// </summary>
public override void draw(Graphics g, CoordinateFrame scale)
{
foreach (Robot robot in robots)
{
robot.draw(g, scale);
}
double[] obj = null;
if (environment != null)
{
environment.draw(g, scale);
}
instance_pack ip = new instance_pack();
ip.robots = robots;
ip.env = environment;
ip.timeSteps = this.timeSteps;
ip.agentBrain = agentBrain;
ip.collisionManager = collisionManager;
ip.elapsed = this.elapsedTime;
ip.ff = this.fitnessFunction;
ip.bc = this.behaviorCharacterization;
ip.timestep = timestep;
g.DrawString("Fitness: " + this.fitnessFunction.calculate(this, this.environment, ip, out obj), new Font("Tahoma", 12), Brushes.Black, 10, 90);
g.DrawString("Elapsed time: " + this.elapsedTime, new Font("Tahoma", 12), Brushes.Black, 10, 60);
}
public virtual void draw(Graphics g, CoordinateFrame frame)
{
Point a = frame.convertToDisplay((float)(Owner.Location.X), (float)(Owner.Location.Y));
Point b = frame.convertToDisplay((float)(Owner.Location.X + Math.Cos(Angle + Owner.Heading) * DistanceToClosestObject), (float)(Owner.Location.Y + Math.Sin(Angle + Owner.Heading) * DistanceToClosestObject));
g.DrawLine(EngineUtilities.GreendPen, a, b);
}
/// <summary>
/// Draws the wall to the screen.
/// </summary>
public void draw(Graphics graphics, CoordinateFrame frame)
{
float ax,ay,bx,by;
frame.convertToDisplay((float)Line.Endpoint1.X,(float)Line.Endpoint1.Y,out ax, out ay);
frame.convertToDisplay((float)Line.Endpoint2.X,(float)Line.Endpoint2.Y,out bx, out by);
if (Visible)
graphics.DrawLine(EngineUtilities.BluePen, ax,ay, bx,by);
else
graphics.DrawLine(EngineUtilities.GreendPen, ax,ay,bx, by);
}
/// <summary>
/// Draws the radar to the screen.
/// </summary>
public void draw(Graphics g, CoordinateFrame frame)
{
Brush b = new SolidBrush(Color.Green);
Size s = new Size((int)((MaxRange) / frame.Scale), (int)((MaxRange) / frame.Scale));
if (Type == "directedVoiceNOTASENSOR") // Special drawing rules for this Type of sensor (used for showing communication)
{
if (Activation < 0.1)
{
s = new Size((int)((MaxRange * 1.0) / frame.Scale), (int)((MaxRange * 1.0) / frame.Scale));
b = new SolidBrush(Color.FromArgb((int)(0), 128, 128, 128));
}
else
{
s = new Size((int)((MaxRange * Activation) / frame.Scale), (int)((MaxRange * Activation) / frame.Scale));
b = new SolidBrush(Color.FromArgb((int)(80), 200, 0, 200));
}
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
return;
}
Rectangle r = new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)), s);
if (Activation == 0)
{
if (Type == "goal")
{
g.DrawPie(EngineUtilities.GreendPen, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
else
{
g.DrawPie(EngineUtilities.RedPen, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
}
else
{
if (Type == "goal")
{
b = new SolidBrush(Color.FromArgb((int)(Activation * 255), 0, 255, 0));
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
else
{
b = new SolidBrush(Color.FromArgb((int)(Activation * 255), 255, 0, 0));
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
}
}
/// <summary>
/// Draws the wall to the screen.
/// </summary>
public void draw(Graphics graphics, CoordinateFrame frame)
{
float ax, ay, bx, by;
frame.convertToDisplay((float)Line.Endpoint1.X, (float)Line.Endpoint1.Y, out ax, out ay);
frame.convertToDisplay((float)Line.Endpoint2.X, (float)Line.Endpoint2.Y, out bx, out by);
if (Visible)
{
graphics.DrawLine(EngineUtilities.BluePen, ax, ay, bx, by);
}
else
{
graphics.DrawLine(EngineUtilities.GreendPen, ax, ay, bx, by);
}
}
/// <summary>
/// Draws the CurrentEnvironment to the screen.
/// </summary>
public void draw(Graphics g, CoordinateFrame frame)
{
float sx, sy;
float gx, gy;
frame.convertToDisplay((float)start_point.X, (float)start_point.Y, out sx, out sy);
frame.convertToDisplay((float)goal_point.X, (float)goal_point.Y, out gx, out gy);
Rectangle startrect = new Rectangle((int)sx - 3, (int)sy - 3, 6, 6);
Rectangle goalrect = new Rectangle((int)gx - 3, (int)gy - 3, 6, 6);
float rx, ry, rsx, rsy;
frame.convertToDisplay((float)AOIRectangle.X, (float)AOIRectangle.Y, out rx, out ry);
frame.convertToDisplayOffset((float)AOIRectangle.Width, (float)AOIRectangle.Height, out rsx, out rsy);
Rectangle AOIDisplay = new Rectangle((int)rx, (int)ry, (int)rsx, (int)rsy);
//Display Area of Interest rectangle
g.DrawRectangle(EngineUtilities.DashedPen, AOIDisplay);
g.DrawEllipse(EngineUtilities.BluePen, startrect);
g.DrawEllipse(EngineUtilities.RedPen, goalrect);
//Display Point Of Interests
int index = 0;
foreach (Point p in POIPosition)
{
Point p2 = frame.convertToDisplay(p);
g.DrawEllipse(EngineUtilities.GreendPen, new Rectangle((int)p2.X - 3, (int)p2.Y - 3, 6, 6));
g.DrawString(index.ToString(), new Font("Verdana", 8), new SolidBrush(Color.Black), p2.X, p2.Y);
index++;
}
foreach (Wall wall in walls)
{
wall.draw(g, frame);
}
}
public virtual void draw(Graphics g, CoordinateFrame scale) { }
public SimulatorVisualizer(string experimentName,string genome)
{
frame = new CoordinateFrame(0.0f, 0.0f, 5.0f, 0.0f);
ExperimentWrapper wr = ExperimentWrapper.load(experimentName);
experiment = wr.experiment;
if(genome!=null) {
experiment.loadGenome(genome);
}
experiment.initialize();
frame.syncFromEnvironment(experiment.environment);
selected_POI = -1;
bDrawFOV = false;
bDrawFOV = false;
bDrawLabel = true;
displayAOIRectangle = false;
displayEvolution = true;
bEvolve = false; //by default we are not evolving, just displaying the CurrentEnvironment
drawMode = drawModes.selectMode; //default mode is selecting and moving walls
selectMode = selectModes.dragMode;
display_tempwall = false; //no temporary wall exists at creation
display_snap = false; //we have nothing to snap to at creation
InitializeComponent();
this.Text = "MultiAgent-HyperSharpNEAT Simulator - " + experimentName;
//set up double buffering
this.SetStyle(
ControlStyles.AllPaintingInWmPaint |
ControlStyles.UserPaint |
ControlStyles.DoubleBuffer, true);
}
/// <summary>
/// Draws the robot to the screen.
/// </summary>
public virtual void draw(Graphics g, CoordinateFrame frame)
{
Point upperleft = frame.convertToDisplay((float)(AreaOfImpact.Position.X - Radius), (float)(AreaOfImpact.Position.Y - Radius));
int size = (int)((Radius * 2) / frame.Scale);
Rectangle r = new Rectangle(upperleft.X, upperleft.Y, size, size);
double voiceRadius = Radius + (CurrentVoiceLevel * 8.5 * Radius);
Point upperleftVoice = frame.convertToDisplay((float)(AreaOfImpact.Position.X - voiceRadius), (float)(AreaOfImpact.Position.Y - voiceRadius));
int sizeVoice = (int)((voiceRadius * 2) / frame.Scale);
Rectangle rv = new Rectangle(upperleftVoice.X, upperleftVoice.Y, sizeVoice, sizeVoice);
double maxVoiceRadius = Radius + (8.5 * Radius);
Point upperleftMaxVoice = frame.convertToDisplay((float)(AreaOfImpact.Position.X - maxVoiceRadius), (float)(AreaOfImpact.Position.Y - maxVoiceRadius));
int sizeMaxVoice = (int)((maxVoiceRadius * 2) / frame.Scale);
Rectangle rmv = new Rectangle(upperleftMaxVoice.X, upperleftMaxVoice.Y, sizeMaxVoice, sizeMaxVoice);
if (Disabled)
{
g.DrawEllipse(EngineUtilities.YellowPen, r);
}
else if (HasCollided)
{
g.DrawEllipse(EngineUtilities.RedPen, r);
}
else if (Stopped)
{
g.DrawEllipse(EngineUtilities.RedPen, r);
}
else
{
g.DrawEllipse(EngineUtilities.BluePen, r);
}
int sensCount = 0;
if (DisplayDebug)
{
// Print "other GoalSensors" not in the main GoalSensors list
foreach (RangeFinder rf in WallSensors)
{
rf.draw(g, frame);
}
foreach (float f in NetworkOutputCopy)
{
float f1 = (f + 1) / 2.0f;
Color col = Color.FromArgb(0, 0, (int)(f1 * 255));
SolidBrush newpen = new SolidBrush(col);
g.DrawString(f.ToString(), SystemFonts.DefaultFont, Brushes.Black, sensCount * 60 + 400, 500 + 10 * ID);
sensCount += 1;
}
sensCount = 0;
// Color in the voice level for this robot
g.FillEllipse(EngineUtilities.voiceColorBrush, rv);
}
float rad = (float)Radius * frame.Scale;
g.DrawLine(EngineUtilities.BluePen, frame.convertToDisplay((float)AreaOfImpact.Position.X, (float)AreaOfImpact.Position.Y), frame.convertToDisplay((float)AreaOfImpact.Position.X + (float)Math.Cos(Heading) * 2 * (float)(Radius), (float)AreaOfImpact.Position.Y + (float)Math.Sin(Heading) * 2 * (float)(Radius)));
}
/// <summary>
/// Draws the robot to the screen.
/// </summary>
public virtual void draw(Graphics g, CoordinateFrame frame)
{
Point upperleft = frame.convertToDisplay((float)(AreaOfImpact.Position.X - Radius), (float)(AreaOfImpact.Position.Y - Radius));
int size = (int)((Radius * 2) / frame.Scale);
Rectangle r = new Rectangle(upperleft.X, upperleft.Y, size, size);
double voiceRadius = Radius + (CurrentVoiceLevel * 8.5 * Radius);
Point upperleftVoice = frame.convertToDisplay((float)(AreaOfImpact.Position.X - voiceRadius), (float)(AreaOfImpact.Position.Y - voiceRadius));
int sizeVoice = (int)((voiceRadius * 2) / frame.Scale);
Rectangle rv = new Rectangle(upperleftVoice.X, upperleftVoice.Y, sizeVoice, sizeVoice);
double maxVoiceRadius = Radius + (8.5 * Radius);
Point upperleftMaxVoice = frame.convertToDisplay((float)(AreaOfImpact.Position.X - maxVoiceRadius), (float)(AreaOfImpact.Position.Y - maxVoiceRadius));
int sizeMaxVoice = (int)((maxVoiceRadius * 2) / frame.Scale);
Rectangle rmv = new Rectangle(upperleftMaxVoice.X, upperleftMaxVoice.Y, sizeMaxVoice, sizeMaxVoice);
if (Disabled)
g.DrawEllipse(EngineUtilities.YellowPen, r);
else if (HasCollided)
g.DrawEllipse(EngineUtilities.RedPen, r);
else if (Stopped)
g.DrawEllipse(EngineUtilities.RedPen, r);
else
{
g.DrawEllipse(EngineUtilities.BluePen, r);
}
int sensCount = 0;
if (DisplayDebug)
{
// Print "other GoalSensors" not in the main GoalSensors list
foreach (RangeFinder rf in WallSensors)
{
rf.draw(g, frame);
}
foreach (float f in NetworkOutputCopy)
{
float f1 = (f + 1) / 2.0f;
Color col = Color.FromArgb(0, 0, (int)(f1 * 255));
SolidBrush newpen = new SolidBrush(col);
g.DrawString(f.ToString(), SystemFonts.DefaultFont, Brushes.Black, sensCount * 60 + 400, 500 + 10 * ID);
sensCount += 1;
}
sensCount = 0;
// Color in the voice level for this robot
g.FillEllipse(EngineUtilities.voiceColorBrush, rv);
}
float rad = (float)Radius * frame.Scale;
g.DrawLine(EngineUtilities.BluePen, frame.convertToDisplay((float)AreaOfImpact.Position.X, (float)AreaOfImpact.Position.Y), frame.convertToDisplay((float)AreaOfImpact.Position.X + (float)Math.Cos(Heading) * 2 * (float)(Radius), (float)AreaOfImpact.Position.Y + (float)Math.Sin(Heading) * 2 * (float)(Radius)));
}
public virtual void draw(Graphics g, CoordinateFrame frame)
{
Point a = frame.convertToDisplay((float)(Owner.Location.X),(float)(Owner.Location.Y));
Point b = frame.convertToDisplay((float)(Owner.Location.X+Math.Cos(Angle+Owner.Heading)*DistanceToClosestObject), (float)(Owner.Location.Y+Math.Sin(Angle+Owner.Heading)*DistanceToClosestObject));
g.DrawLine(EngineUtilities.GreendPen, a, b);
}
/// <summary>
/// Draws the radar to the screen.
/// </summary>
public void draw(Graphics g, CoordinateFrame frame)
{
Brush b = new SolidBrush(Color.Green);
Size s = new Size((int)((MaxRange) / frame.Scale), (int)((MaxRange) / frame.Scale));
if (Type == "directedVoiceNOTASENSOR") // Special drawing rules for this Type of sensor (used for showing communication)
{
if (Activation < 0.1)
{
s = new Size((int)((MaxRange * 1.0) / frame.Scale), (int)((MaxRange * 1.0) / frame.Scale));
b = new SolidBrush(Color.FromArgb((int)(0), 128, 128, 128));
}
else
{
s = new Size((int)((MaxRange * Activation) / frame.Scale), (int)((MaxRange * Activation) / frame.Scale));
b = new SolidBrush(Color.FromArgb((int)(80), 200, 0, 200));
}
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
return;
}
Rectangle r = new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)),s);
if (Activation == 0)
{
if(Type == "goal")
g.DrawPie(EngineUtilities.GreendPen, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
else
g.DrawPie(EngineUtilities.RedPen, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
else
{
if (Type == "goal")
{
b = new SolidBrush(Color.FromArgb((int)(Activation * 255), 0, 255, 0));
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
else
{
b = new SolidBrush(Color.FromArgb((int)(Activation * 255), 255, 0, 0));
g.FillPie(b, new Rectangle(frame.convertToDisplay((float)(Owner.AreaOfImpact.Position.X), (float)(Owner.AreaOfImpact.Position.Y)) - new Size(s.Width / 2, s.Height / 2), s), (float)StartAngle + (float)(Owner.Heading * 57.2957795), (float)(EndAngle - StartAngle));
}
}
}
/// <summary>
/// Draws the CurrentEnvironment to the screen.
/// </summary>
public void draw(Graphics g, CoordinateFrame frame)
{
float sx, sy;
float gx, gy;
frame.convertToDisplay((float)start_point.X, (float)start_point.Y, out sx, out sy);
frame.convertToDisplay((float)goal_point.X, (float)goal_point.Y, out gx, out gy);
Rectangle startrect = new Rectangle((int)sx - 3, (int)sy - 3, 6, 6);
Rectangle goalrect = new Rectangle((int)gx - 3, (int)gy - 3, 6, 6);
float rx, ry, rsx, rsy;
frame.convertToDisplay((float)AOIRectangle.X, (float)AOIRectangle.Y, out rx, out ry);
frame.convertToDisplayOffset((float)AOIRectangle.Width, (float)AOIRectangle.Height, out rsx, out rsy);
Rectangle AOIDisplay = new Rectangle((int)rx, (int)ry, (int)rsx, (int)rsy);
//Display Area of Interest rectangle
g.DrawRectangle(EngineUtilities.DashedPen, AOIDisplay);
g.DrawEllipse(EngineUtilities.BluePen, startrect);
g.DrawEllipse(EngineUtilities.RedPen, goalrect);
//Display Point Of Interests
int index = 0;
foreach (Point p in POIPosition)
{
Point p2 = frame.convertToDisplay(p);
g.DrawEllipse(EngineUtilities.GreendPen, new Rectangle((int)p2.X - 3, (int)p2.Y - 3, 6, 6));
g.DrawString(index.ToString(), new Font("Verdana", 8), new SolidBrush(Color.Black), p2.X, p2.Y);
index++;
}
foreach (Wall wall in walls)
{
wall.draw(g, frame);
}
}
/// <summary>
/// Draws the maze, robots, etc. to the screen.
/// </summary>
public override void draw(Graphics g, CoordinateFrame scale)
{
foreach (Robot robot in robots)
{
robot.draw(g, scale);
}
double[] obj = null;
if (environment != null)
{
environment.draw(g, scale);
}
instance_pack ip = new instance_pack();
ip.robots = robots;
ip.env = environment;
ip.timeSteps = this.timeSteps;
ip.agentBrain = agentBrain;
ip.collisionManager = collisionManager;
ip.elapsed = this.elapsedTime;
ip.ff = this.fitnessFunction;
ip.bc = this.behaviorCharacterization;
ip.timestep = timestep;
g.DrawString("Fitness: " + this.fitnessFunction.calculate(this, this.environment, ip, out obj), new Font("Tahoma", 12), Brushes.Black, 10, 90);
g.DrawString("Elapsed time: " + this.elapsedTime, new Font("Tahoma", 12), Brushes.Black, 10, 60);
}
public virtual void draw(Graphics g, CoordinateFrame scale)
{
}
