void Stage::updateTeamVision(
Team **teams, int numTeams, Ship** ships, int numShips, bool** teamVision) {
for (int x = 0; x < numTeams; x++) {
Team *team = teams[x];
for (int y = 0; y < numShips; y++) {
Ship *ship = ships[y];
teamVision[x][y] =
(x != ship->teamIndex) && (team->shipsAlive > 0) && (ship->alive);
}
}
if (numInnerWallLines_ == 0) {
return;
}
for (int x = 0; x < numTeams; x++) {
Team *team = teams[x];
for (int y = 0; y < numShips; y++) {
Ship *visibleShip = ships[y];
if (x != visibleShip->teamIndex && visibleShip->alive) {
bool teamHasVision = false;
for (int z = 0; z < team->numShips && !teamHasVision; z++) {
int teamShipIndex = team->firstShipIndex + z;
Ship *teamShip = ships[teamShipIndex];
if (teamShip->alive) {
Line2D visionLine(
teamShip->x, teamShip->y, visibleShip->x, visibleShip->y);
teamHasVision = hasVision(&visionLine);
}
}
teamVision[x][y] = teamHasVision;
}
}
}
}
void ObservationGenerator::generateLineObservations() {
getSelf(gtSelf,obsSelf,player_);
int seenLines = 0;
for (int i = WO_OPP_GOAL_LINE; i <= WO_BOTTOM_SIDE_LINE; i++) {
if (seenLines >= 4) break;
WorldObject& truthWO = gt_object_->objects_[i];
Line2D visionLine(gtSelf.loc, gtSelf.orientation);
Point2D point = truthWO.lineLoc.getSegmentIntersection(visionLine);
int idx = WO_UNKNOWN_FIELD_LINE_1+seenLines;
if(i == WO_CENTER_LINE) idx = WO_CENTER_LINE;
auto& obsWO = obs_object_->objects_[idx];
float bearing = gtSelf.loc.getBearingTo(point, gtSelf.orientation);
float distance = gtSelf.loc.getDistanceTo(point);
float pan = joint_->values_[HeadPan];
if (fabs(pan - bearing) > FOVx/2.0)
continue;
float missedObsRate = 1.0/3.0;
float randPct = rand_.sampleU();
// see lines up to 2.5 m
if (randPct > (missedObsRate * MISSED_OBS_FACTOR) && distance < 2500) {
// seen
seenLines++;
float maxleft = gtSelf.orientation + pan + FOVx/2;
float maxright = gtSelf.orientation + pan - FOVx/2;
LineSegment vline = truthWO.lineLoc.getVisiblePortion(gtSelf.loc, gtSelf.orientation + pan, FOVx);
vline = vline.globalToRelative(gtSelf.loc, gtSelf.orientation);
float xnoise = rand_.sampleU(.95,1.05);
float ynoise = rand_.sampleU(.95,1.05);
float tnoise = rand_.sampleU(-10 * DEG_T_RAD, 10 * DEG_T_RAD);
vline.start.x *= xnoise;
vline.end.x *= xnoise;
vline.start.y *= ynoise;
vline.end.y *= ynoise;
vline.computeCenter();
obsWO.visionPt1 = vline.start;
obsWO.visionPt2 = vline.end;
obsWO.visionLine = vline;
Point2D robot(0,0);
Point2D closest = vline.getPointOnSegmentClosestTo(robot);
obsWO.visionDistance = closest.getMagnitude();
obsWO.visionBearing = closest.getDirection();
obsWO.visionConfidence = 1.0;
float diff = joint_->values_[HeadPan] - bearing;
obsWO.imageCenterX = iparams_.width/2.0 + (diff / (FOVx/2.0) * iparams_.width/2.0);
obsWO.imageCenterY = iparams_.height/2.0;
obsWO.seen = true;
point = point.globalToRelative(gtSelf.loc, gtSelf.orientation);
} // line was seen with random prob
} // line loop
}