public void Render(SpriteBatch spriteBatch, Environment env, GameTime time, Rectangle mapDest, float posLerp)
{
int tile;
Rectangle destination;
int x = mapDest.X, y = mapDest.Y;
int tileWidth = mapDest.Width / Environment.mazeSize_;
int tileHeight = mapDest.Height / Environment.mazeSize_;
for (int i = 0; i < Environment.mazeSize_; ++i)
for (int j = 0; j < Environment.mazeSize_; ++j)
{
tile = env.maze_[i][j];
destination = new Rectangle(x + j * tileWidth, y + i * tileHeight, tileWidth, tileHeight);
if (tile == -1)
spriteBatch.Draw(WallTex, destination, Color.White);
else
{
spriteBatch.Draw(FloorTex, destination, Color.White);
spriteBatch.Draw(DirtTex, destination, Color.Lerp(Color.Transparent, Color.White, tile / MAX_DIRT));
}
}
destination = new Rectangle(x + env.agentPosY_ * tileWidth, y + env.agentPosX_ * tileHeight,
tileWidth, tileHeight);
switch (env.preAction_)
{
case ActionType.actIDLE:
spriteBatch.Draw(CleanerTex, destination, Color.Yellow);
break;
case ActionType.actSUCK:
spriteBatch.Draw(CleanerTex, destination, Color.Green);
break;
case ActionType.actUP:
spriteBatch.Draw(CleanerTex, destination, env.isJustBump ? Color.Red : Color.White);
break;
case ActionType.actRIGHT:
destination.Offset(tileWidth, 0);
spriteBatch.Draw(CleanerTex, destination, null, env.isJustBump ? Color.Red : Color.White,
MathHelper.PiOver2, Vector2.Zero, SpriteEffects.None, 0f);
break;
case ActionType.actDOWN:
destination.Offset(tileWidth, tileHeight);
spriteBatch.Draw(CleanerTex, destination, null, env.isJustBump ? Color.Red : Color.White,
MathHelper.Pi, Vector2.Zero, SpriteEffects.None, 0f);
break;
case ActionType.actLEFT:
destination.Offset(0, tileHeight);
spriteBatch.Draw(CleanerTex, destination, null, env.isJustBump ? Color.Red : Color.White,
-MathHelper.PiOver2, Vector2.Zero, SpriteEffects.None, 0f);
break;
}
}
public void Eval(ActionType action, Environment env)
{
if (action == ActionType.actSUCK)
consumedEnergy_ += 2;
else if (action != ActionType.actIDLE)
consumedEnergy_ += 1;
cleanedDirty_ += env.getCleanedDirty;
newDirty_ = env.getNewDirty;
totalDirtyDegree_ += newDirty_;
dirtyDegree_ = 0;
for (int row = 0; row < Environment.mazeSize_; row++)
{
for (int col = 0; col < Environment.mazeSize_; col++)
{
long da = env.DirtAmount(row, col);
dirtyDegree_ += da;
}
}
}
public void Render(SpriteBatch spriteBatch, Environment env, GameTime time, Rectangle mapDest, float posLerp)
{
Vector2 currentPos = new Vector2(env.agentPosX_, env.agentPosY_);
if (LastPos.X == float.NaN)
{
LastPos = currentPos;
CurPos = LastPos;
}
if (posLerp == 0.0f)
{
LastPos = CurPos;
CurPos = currentPos;
}
if (System.Math.Abs(LastPos.X - currentPos.X + LastPos.Y - currentPos.Y) > 1.5f)
posLerp = 1.0f;
Vector2 lerpPos = Vector2.Lerp(LastPos, currentPos, posLerp);
if (posLerp > 0.5f)
System.Console.WriteLine();
int tile;
float x = -Environment.mazeSize_ * 0.5f, z = -Environment.mazeSize_ * 0.5f;
Matrix worldTransform = Matrix.Identity;
Matrix wvp;
ModelMesh wallMesh = Wall.Meshes[0];
ModelMesh floorMesh = FloorTile.Meshes[0];
ModelMesh dirtMesh = Dirt.Meshes[0];
Effect wallEffect = wallMesh.Effects[0];
BasicEffect floorEffect = (BasicEffect)floorMesh.Effects[0];
Effect dirtEffect = dirtMesh.Effects[0];
DepthStencilState oldDss = GraphicsDevice.DepthStencilState;
RasterizerState oldRs = GraphicsDevice.RasterizerState;
GraphicsDevice.DepthStencilState = dss;
GraphicsDevice.RasterizerState = rs;
GraphicsDevice.SamplerStates[0] = ss;
for (int i = 0; i < Environment.mazeSize_; ++i)
for (int j = 0; j < Environment.mazeSize_; ++j)
{
tile = env.maze_[i][j];
worldTransform.M41 = x + i;
worldTransform.M42 = 0.0f;
worldTransform.M43 = z + j;
Matrix.Multiply(ref worldTransform, ref Camera.ViewProj, out wvp);
if (tile == -1)
{
wallEffect.Parameters["WorldViewProj"].SetValue(wvp);
wallMesh.Draw();
}
else
{
floorEffect.Parameters["WorldViewProj"].SetValue(wvp);
floorEffect.DiffuseColor = Vector3.Lerp((Vector3)floorEffect.Tag, Vector3.Zero, tile * MAX_DIRT);
floorMesh.Draw();
////worldTransform.M42 = MathHelper.Lerp(0.04f, 0.8f, tile * MAX_DIRT);
////Matrix.Multiply(ref worldTransform, ref Camera.ViewProj, out wvp);
//dirtEffect.Parameters["WorldViewProj"].SetValue(wvp);
//dirtMesh.Draw();
}
}
worldTransform.M41 = x + lerpPos.X;
worldTransform.M42 = 0.0f;
worldTransform.M43 = z + lerpPos.Y + 0.5f;
float rotation = 0f;
Color col = Color.White;
switch (env.preAction_)
{
case ActionType.actIDLE:
rotation = LastRot;
col = Color.Yellow;
break;
case ActionType.actSUCK:
col = Color.Green;
break;
case ActionType.actUP:
if (env.isJustBump)
col = Color.Red;
break;
case ActionType.actRIGHT:
if (env.isJustBump)
col = Color.Red;
rotation = MathHelper.PiOver2;
break;
case ActionType.actDOWN:
if (env.isJustBump)
col = Color.Red;
rotation = MathHelper.Pi;
break;
case ActionType.actLEFT:
if (env.isJustBump)
col = Color.Red;
rotation = -MathHelper.PiOver2;
break;
}
var val1 = (float)System.Math.Cos(rotation);
var val2 = (float)System.Math.Sin(rotation);
worldTransform.M11 = val1;
worldTransform.M13 = -val2;
worldTransform.M31 = val2;
worldTransform.M33 = val1;
ModelMesh cleanerMesh = Cleaner.Meshes[0];
Matrix.Multiply(ref worldTransform, ref Camera.ViewProj, out wvp);
foreach (BasicEffect effect in cleanerMesh.Effects)
{
effect.DiffuseColor = (Vector3)effect.Tag * col.ToVector3();
effect.Parameters["WorldViewProj"].SetValue(wvp);
}
cleanerMesh.Draw();
GraphicsDevice.DepthStencilState = oldDss;
GraphicsDevice.RasterizerState = oldRs;
}
public void Perceive(Environment env)
{
bump_ = env.isJustBump;
dirty_ = env.IsCurrentPosDirty();
}
/// <summary>
/// Reinitialize evaluator, agent, environment and statistics (used when go to next run)
/// </summary>
void StartLifecycle()
{
Environment = new Environment(SelectedMap);
RNG = new RandomNumGen(Environment.RandomSeed + CurrentRun);
Evaluator = new Evaluator();
switch (AgentName)
{
case "RandomAgent":
CurrentAgent = new RandomAgent();
break;
case "ModelAgent":
CurrentAgent = new ModelAgent();
break;
case "ModelAgentNoIdle":
CurrentAgent = new ModelAgentNoIdle();
break;
}
TotalStepsDone = 0;
StepsDone = 0;
OverallDirty = 0;
ConsumedEnergy = 0;
DirtyOnMap = 0;
CleanedDirty = 0;
Displaying = false;
RunStatsLbls[(int)RunStatistics.Action].Text = "";
RunStatsLbls[(int)RunStatistics.TimeStep].Text = TotalStepsDone.ToString();
DoOneStepBtn.Enabled = true;
DoOneRunBtn.Enabled = true;
DoAllRunBtn.Enabled = true;
NextRunBtn.Enabled = false;
GrpBox.Enabled = true;
MapControl.Environment = Environment;
}
public void Perceive(Environment env)
{
IsBump = env.isJustBump;
IsDirty = env.IsCurrentPosDirty();
}