void Agent::SetPosition(const Clarity::Vector2& p)
{
position = p;
sprite->SetPosition(ToGF1Vector(p));
sensorBounds.SetCentre(this->position);
sensorBounds.SetCentre(position);
BuildFeelers();
BuildBounds();
}
bool DBrush::GetBounds(vec3_t min, vec3_t max)
{
BuildBounds();
if(!bBoundsBuilt)
return FALSE;
VectorCopy(bbox_min, min);
VectorCopy(bbox_max, max);
return TRUE;
}
void Agent::Update(float t)
{
if (this->hasFailed == false)
{
// Our NN inputs are the intersection depths normalised and then fliped.
// Eg if the intersection depth is the feeler length, then we normalise it
// and subtract it from one. This way we get a gauge of how far the feeler is
// into the wall.
std::vector<float> inputs;
for (unsigned int i = 0; i < FEELER_COUNT; i++)
{
// Normalise the depth value.
float depth = intersectionDepths[i] / FEELER_LENGTH;
// Subtract the normalised depth from 1 to end up with how close a wall is.
// If a feeler has sensed no wall it will be FEELER_LENGTH for intersection depth.
// So dividing depth / FEELER_LENGTH will result in 1.
// If we then subtract the normalised depth from 1 -> 1 - 1 == 0.
// Using this as our input for our NNet, it will guarentee that input to not fire.
inputs.push_back(1 - depth);
}
neuralNet->SetInput(inputs);
neuralNet->Update();
// Retrieve outputs. These will be normalised 0 - 1 values.
float leftForce = neuralNet->GetOutput(NN_OUTPUT_LEFT_FORCE);
float rightForce = neuralNet->GetOutput(NN_OUTPUT_RIGHT_FORCE);
// Convert the outputs to a proportion of how much to turn.
float leftTheta = MAX_ROTATION_PER_SECOND * leftForce;
float rightTheta = MAX_ROTATION_PER_SECOND * rightForce;
headingAngle += (leftTheta - rightTheta) * t;
float speed = (fabs(leftForce + rightForce)) / 2;
speed *= SPEED;
speed = Clamp(speed, -SPEED, SPEED);
Clarity::Vector2 heading;
heading.x = -sin(Clarity::RADIANS_PER_DEGREE *headingAngle);
heading.y = cos(Clarity::RADIANS_PER_DEGREE *headingAngle);
heading *= speed * t;
distanceDelta = heading.Magnitude();
this->position += heading;
// Setup the agents sensors.
sensorBounds.SetCentre(position);
BuildFeelers();
BuildBounds();
}
}
__inline VOID
SortSL (
LPSL lpsl
)
{
WORD coff = lpsl->cLnOff;
LPUL rgoff = lpsl->offset;
LPW rgln = (LPW) &lpsl->offset [ coff ];
WORD cbnds = 0;
LPBNDS rgbnds = NULL;
rgbnds = BuildBounds (coff, rgoff, &cbnds);
if (rgbnds != NULL) {
SortOffFromBounds (cbnds, rgbnds, coff, rgoff);
SortLnFromBounds (cbnds, rgbnds, coff, rgln );
MHFree (rgbnds);
}
}
void Agent::Initilise(float headingIn)
{
headingAngle = headingIn;
BuildBounds();
}
