void MotionRequest::draw() const
{
DECLARE_DEBUG_DRAWING("representation:MotionRequest", "drawingOnField"); // drawing of a request walk vector
if(motion == walk)
{
switch(walkRequest.mode)
{
case WalkRequest::targetMode:
{
LINE("representation:MotionRequest", 0, 0, walkRequest.target.translation.x(), walkRequest.target.translation.y(), 0, Drawings::solidPen, ColorRGBA(0xcd, 0, 0));
CROSS("representation:MotionRequest", walkRequest.target.translation.x(), walkRequest.target.translation.y(), 50, 0, Drawings::solidPen, ColorRGBA(0xcd, 0, 0));
Vector2f rotation(500.f, 0.f);
rotation.rotate(walkRequest.target.rotation);
ARROW("representation:MotionRequest", walkRequest.target.translation.x(), walkRequest.target.translation.y(), walkRequest.target.translation.x() + rotation.x(), walkRequest.target.translation.y() + rotation.y(), 0, Drawings::solidPen, ColorRGBA(0xcd, 0, 0, 127));
break;
}
case WalkRequest::speedMode:
case WalkRequest::percentageSpeedMode:
{
Vector2f translation = walkRequest.mode == WalkRequest::speedMode ? walkRequest.speed.translation * 10.f : walkRequest.speed.translation * 1000.f;
ARROW("representation:MotionRequest", 0, 0, translation.x(), translation.y(), 0, Drawings::solidPen, ColorRGBA(0xcd, 0, 0));
if(walkRequest.target.rotation != 0.0f)
{
translation.x() = translation.norm();
translation.y() = 0;
translation.rotate(walkRequest.speed.rotation);
ARROW("representation:MotionRequest", 0, 0, translation.x(), translation.y(), 0, Drawings::solidPen, ColorRGBA(0xcd, 0, 0, 127));
}
break;
}
}
}
}
void World::processOutputs()
{
//assign meaning
for (Agent & agent : agents)
{
agent.color.red = agent.out[OutputType::RED];
agent.color.green = agent.out[OutputType::GREEN];
agent.color.blue = agent.out[OutputType::BLUE];
agent.wheel_left = agent.out[OutputType::WHEEL_LEFT]; //-(2*agent.out[0]-1);
agent.wheel_right = agent.out[OutputType::WHEEL_RIGHT]; //-(2*agent.out[1]-1);
agent.boost = agent.out[OutputType::BOOST] > 0.5;
agent.soundmul = agent.out[OutputType::SOUND_MULTIPLIER];
agent.give = agent.out[OutputType::GIVING];
//spike length should slowly tend towards out[OutputType::SPIKE]
float g = agent.out[OutputType::SPIKE];
if (agent.spikeLength < g)
agent.spikeLength += conf::SPIKESPEED;
else if (agent.spikeLength > g)
agent.spikeLength = g; //its easy to retract spike, just hard to put it up
}
//move bots
//#pragma omp parallel for
for (size_t i = 0; i < agents.size(); ++i)
{
Agent &agent = agents[i];
Vector2f v(conf::BOTRADIUS / 2, 0);
v.rotate(agent.angle + M_PI / 2);
Vector2f w1p = agent.pos + v; //wheel positions
Vector2f w2p = agent.pos - v;
float BW1 = conf::BOTSPEED * agent.wheel_left;
float BW2 = conf::BOTSPEED * agent.wheel_right;
if (agent.boost)
{
BW1 = BW1 * conf::BOOSTSIZEMULT;
BW2 = BW2 * conf::BOOSTSIZEMULT;
}
//move bots
Vector2f vv = w2p - agent.pos;
vv.rotate(-BW1);
agent.pos = w2p - vv;
agent.angle -= BW1;
if (agent.angle < -M_PI)
agent.angle = M_PI - (-M_PI - agent.angle);
vv = agent.pos - w1p;
vv.rotate(BW2);
agent.pos = w1p + vv;
agent.angle += BW2;
if (agent.angle > M_PI)
agent.angle = -M_PI + (agent.angle - M_PI);
//wrap around the map
if (agent.pos.x < 0)
agent.pos.x = conf::WIDTH + agent.pos.x;
if (agent.pos.x >= conf::WIDTH)
agent.pos.x = agent.pos.x - conf::WIDTH;
if (agent.pos.y < 0)
agent.pos.y = conf::HEIGHT + agent.pos.y;
if (agent.pos.y >= conf::HEIGHT)
agent.pos.y = agent.pos.y - conf::HEIGHT;
}
// process food intake for herbivores
for (size_t i = 0; i < agents.size(); ++i)
{
int cx = (int) agents[i].pos.x / conf::CZ;
int cy = (int) agents[i].pos.y / conf::CZ;
float f = food[cx][cy];
if (f > 0 && agents[i].health < 2)
{
// agent eats the food
float itk = min(f, conf::FOODINTAKE);
float speedmul = (1 - (abs(agents[i].wheel_left) + abs(agents[i].wheel_right)) / 2) * 0.7 + 0.3;
itk = itk * agents[i].herbivore * speedmul; //herbivores gain more from ground food
agents[i].health += itk;
agents[i].repcounter -= 3 * itk;
food[cx][cy] -= min(f, conf::FOODWASTE);
}
}
//process giving and receiving of food
for (size_t i = 0; i < agents.size(); ++i)
{
agents[i].dfood = 0;
}
for (size_t i = 0; i < agents.size(); ++i)
{
if (agents[i].give > 0.5)
{
for (size_t j = 0; j < agents.size(); ++j)
{
float d = (agents[i].pos - agents[j].pos).length();
if (d < conf::FOOD_SHARING_DISTANCE)
{
//initiate transfer
if (agents[j].health < 2)
agents[j].health += conf::FOODTRANSFER;
agents[i].health -= conf::FOODTRANSFER;
agents[j].dfood += conf::FOODTRANSFER; //only for drawing
agents[i].dfood -= conf::FOODTRANSFER;
}
}
}
}
// Process spike dynamics for carnivores
// we dont need to do this TOO often. can save efficiency here since this is n^2 op in #agents
if (modcounter % 2 == 0)
{
for (size_t i = 0; i < agents.size(); ++i)
{
// NOTE: herbivore cant attack. TODO: hmmmmm
// for now ok: I want herbivores to run away from carnivores, not kill them back
if (agents[i].herbivore > 0.8 || agents[i].spikeLength < 0.2 || agents[i].wheel_left < 0.5 || agents[i].wheel_right < 0.5)
continue;
for (size_t j = 0; j < agents.size(); ++j)
{
if (i == j) continue;
float d = (agents[i].pos - agents[j].pos).length();
if (d < 2 * conf::BOTRADIUS)
{
//these two are in collision and agent i has extended spike and is going decent fast!
Vector2f v(1, 0);
v.rotate(agents[i].angle);
float diff = v.angle_between(agents[j].pos - agents[i].pos);
if (fabs(diff) < M_PI / 8)
{
//bot i is also properly aligned!!! that's a hit
/*float mult = 1;
if (agents[i].boost)
mult = conf::BOOSTSIZEMULT;*/
float DMG = conf::SPIKEMULT * agents[i].spikeLength * max(fabs(agents[i].wheel_left), fabs(agents[i].wheel_right)) * conf::BOOSTSIZEMULT;
agents[j].health -= DMG;
CeilingCap(&agents[i].health, 2.0f); // cap health at 2
agents[i].spikeLength = 0; //retract spike back down
agents[i].initEvent(40 * DMG, 1, 1, 0); //yellow event means bot has spiked other bot. nice!
Vector2f v2(1, 0);
v2.rotate(agents[j].angle);
float adiff = v.angle_between(v2);
if (fabs(adiff) < M_PI / 2)
{
//this was attack from the back. Retract spike of the other agent (startle!)
//this is done so that the other agent cant right away "by accident" attack this agent
agents[j].spikeLength = 0;
}
agents[j].spiked = true; //set a flag saying that this agent was hit this turn
}
}
}
}
}
}
