//-----------------------------ctor---------------------------------------
//
//------------------------------------------------------------------------
CController::CController(int cxClient,
int cyClient):
m_bSuccess(false),
m_vPadPos(SVector2D(RandFloat()*cxClient, 50)),
m_cxClient(cxClient),
m_cyClient(cyClient)
{
//create a starting postion for the landers
SVector2D vStartPos = SVector2D(WINDOW_WIDTH/2, cyClient-50);
//create the user controlled lander
m_pUserLander = new CLander(cxClient, cyClient, PI, vStartPos, m_vPadPos);
//set up the VB for the landing pad
for (int i=0; i<NumPadVerts; ++i)
{
m_vecPadVB.push_back(Pad[i]);
}
//setup the stars
for (int i=0; i<NumStars; ++i)
{
m_vecStarVB.push_back(SPoint(RandInt(0, cxClient), RandInt(100, cyClient)));
}
}
void CController::ResetEnvironment(){
m_vecSweepers.clear();
m_vecObjects.clear();
m_NumSweepers = CParams::iNumSweepers;
m_NumSuperMines = CParams::iNumSuperMines;
//let's create the mine sweepers
for (int i=0; i<m_NumSweepers; ++i)
{
m_vecSweepers.push_back(CMinesweeper());
}
//initialize super mines in random positions within the application window
// such that they aren't spawned on a sweeper
for (int i=0; i<m_NumSuperMines; ++i)
{
SVector2D position;
// don't spawn on sweepers. keep finding another location if they do.
boolean collision = false;
do{
position = SVector2D(RandFloat() * cxClient, RandFloat() * cyClient);
collision = false;
for(int i=0; i < m_vecSweepers.size(); i++){
if(Vec2DLengthSquared(position-m_vecSweepers[i].Position()) <= mineSpawnThreshold){
collision = true;
break;
}
}
}while(collision);
m_vecObjects.push_back(CCollisionObject(CCollisionObject::SuperMine, position));
}
// Spawn mines
for (int i=0; i<m_NumMines; ++i)
{
SVector2D position;
// don't spawn on super mines.
boolean collision = false;
do{
position = SVector2D(RandFloat() * cxClient, RandFloat() * cyClient);
collision = false;
for(int i=0; i < m_vecObjects.size(); i++){
if(m_vecObjects[i].getType() == CCollisionObject::SuperMine){
if(Vec2DLengthSquared(position-m_vecObjects[i].getPosition()) <= mineSpawnThreshold){
collision = true;
break;
}
}
}
}while(collision);
m_vecObjects.push_back(CCollisionObject(CCollisionObject::Mine, position));
}
}
void SceneController::updateSimulationOpenMP() {
// NN uses STL (it's not ported into the QTL)
auto mines = vecMines.toStdVector();
#pragma omp parallel for
for (int i = 0; i < vecSweepers.size(); ++i) {
int grabHit;
// update the NN and position
if (!vecSweepers[i].Update(mines)) {
// error in processing the neural net
gsInfo->setText("ERROR: Wrong amount of NN inputs!");
m_bInternalError = true;
continue;
}
// keep minesweepers in our viewport
vecSweepers[i].WarpWorld(0, 0, vpWidth, vpHeight);
#pragma omp critical
// see if it's found a mine
if ((grabHit = vecSweepers[i].CheckForMine(mines, MainWindow::s.dMineScale)) != -1) {
// mine found so replace the mine with another at a random position
vecMines[grabHit] = SVector2D(RandFloat() * vpWidth, RandFloat() * vpHeight);
// we have discovered a mine so increase fitness
vecSweepers[i].IncrementFitness();
}
// update the chromos fitness score
vecThePopulation[i].dFitness = vecSweepers[i].Fitness();
}
}
void Controller::checkCollision()
{
for(int i = 0; i < CParams::iNumSweepers; i++)
for(int j = 0; j < CParams::iNumMines; j++)
if(mineSweepers[i]->collidesWithItem(a_mines[j]))
if(a_mines[j] != NULL)
{
mineSweepers[i]->scene()->removeItem(a_mines[j]);
double x = RandFloat() * CParams::iWindowWidth;
double y = RandFloat() * CParams::iWindowHeight;
a_mines[j]->setPos(x,y);
v_mines[j] = SVector2D(SVector2D(x,y));
mineSweepers[i]->scene()->addItem(a_mines[j]);
mineSweepers[i]->increaseFitness(1);
}
}
//-------------------------------------------Reset()--------------------
//
// Resets the sweepers position, MinesGathered and rotation
//
//----------------------------------------------------------------------
void CMinesweeper::Reset(vector<CCollisionObject> &objects)
{
double threshold = (CParams::dMineScale+5)*(CParams::dMineScale+5);
boolean collision = false;
do{
//reset the sweepers positions but don't spawn on mines
m_vPosition = SVector2D((RandFloat() * CParams::WindowWidth),
(RandFloat() * CParams::WindowHeight));
collision = false;
for(int i=0; i < objects.size(); i++){
if(objects[i].getType() == CCollisionObject::SuperMine){
if(Vec2DLengthSquared(m_vPosition-objects[i].getPosition()) <= threshold){
collision = true;
break;
}
}
}
}while(collision);
//and the MinesGathered
m_dMinesGathered = 0;
m_dSuperMinesGathered = 0;
//and the rotation
m_dRotation = RandFloat()*CParams::dTwoPi;
minesLeft = minesRight = minesForwardLeft = minesForwardRight = false;
return;
}
int CMinesweeper::ResetTrial(int generation)
{
double reward = m_MemoryMap.TMazeRewardF(m_bReverse, m_vPosition.x, m_vPosition.y);
m_dFitness += generation > 0 ? reward : 0;
//m_dFitness += generation > 0 ? m_MemoryMap.TMazeReward(m_bReverse) : 0;
m_vPosition = SVector2D(180, 50);
m_dRotation = 0;
//reset its memory
m_MemoryMap.Reset();
m_bActive = true;
if (reward < 0.01) {
return 0;
}
if (m_bReverse) {
if (reward > 0.9) {
return -1;
}
else {
return 1;
}
} else {
if (reward > 0.9) {
return 1;
}
else {
return -1;
}
}
}
//------------------------------- NewRun ---------------------------------
//
// reinitializes all the variables for a new run
//------------------------------------------------------------------------
void CController::NewRun()
{
//change position of landing pad
m_vPadPos = SVector2D(50+ RandFloat()*(m_cxClient-100), 50);
//reset the spaceship
m_pUserLander->Reset(m_vPadPos);
}
//-----------------------------------constructor-------------------------
//
//-----------------------------------------------------------------------
CMinesweeper::CMinesweeper():
m_dRotation(RandFloat()*CParams::dTwoPi),
m_lTrack(0.16),
m_rTrack(0.16),
m_dFitness(0),
m_dScale(CParams::iSweeperScale),
m_iClosestMine(0)
{
//create a random start position
m_vPosition = SVector2D((RandFloat() * CParams::WindowWidth),
(RandFloat() * CParams::WindowHeight));
}
//-------------------------------------------Reset()--------------------
//
// Resets the sweepers position, fitness and rotation
//
//----------------------------------------------------------------------
void CMinesweeper::Reset()
{
//reset the sweepers positions
m_vPosition = SVector2D((RandFloat() * CParams::WindowWidth),
(RandFloat() * CParams::WindowHeight));
//and the fitness
m_dFitness = 0;
//and the rotation
m_dRotation = RandFloat()*CParams::dTwoPi;
return;
}
//-----------------------------Reset()------------------------------------
//
// Resets the sweepers position, energy level and rotation
//
//------------------------------------------------------------------------
void CMinesweeper::Reset()
{
//reset the sweepers positions
m_vPosition = SVector2D(180, 200);
//and the energy level
m_dFitness = 0;
//and the rotation
m_dRotation = RandFloat() * CParams::dTwoPi;
//reset its memory
m_MemoryMap.Reset();
}
//-----------------------------Reset()------------------------------------
//
// Resets the sweepers position, fitness and rotation
//
//------------------------------------------------------------------------
void CMinesweeper::Reset()
{
//reset the sweepers positions
m_vPosition = SVector2D(180, 200);
//and the fitness
m_dFitness = 0;
//and the rotation
m_dRotation = 0;
//reset its memory
m_MemoryMap.Reset();
}
//-----------------------------Reset()------------------------------------
//
// Resets the sweepers position, fitness and rotation
//
//------------------------------------------------------------------------
void CMinesweeper::Reset()
{
//reset the sweepers positions
m_vPosition = SVector2D(180, 50);
//and the fitness
m_dFitness = 0;
//and the rotation
m_dRotation = 0;
m_bReverse = false;
//reset its memory
m_MemoryMap.Reset();
m_bActive = true;
}
//-----------------------------------constructor-------------------------
//
//-----------------------------------------------------------------------
CMinesweeper::CMinesweeper():
m_dRotation(RandFloat()*CParams::dTwoPi),
m_dMinesGathered(0),
m_dSuperMinesGathered(0),
m_dScale(CParams::iSweeperScale),
m_iClosestMine(0),
m_iClosestSuperMine(0),
minesForwardLeft(false),
minesForwardRight(false),
minesLeft(false),
minesRight(false),
active(true)
{
//create a random start position
m_vPosition = SVector2D((RandFloat() * CParams::WindowWidth),
(RandFloat() * CParams::WindowHeight));
}
//---------------------------------------constructor---------------------
//
// initilaize the sweepers, their brains and the GA factory
//
//-----------------------------------------------------------------------
CController::CController(vector<Bot*> bots): m_NumSweepers(CParams::iNumSweepers),
m_pGA(NULL),
m_bFastRender(false),
m_iTicks(0),
m_NumMines(CParams::iNumMines),
m_iGenerations(0),
cxClient(CParams::WindowWidth),
cyClient(CParams::WindowHeight)
{
//let's create the mine sweepers
for (int i=0; i<m_NumSweepers; ++i)
{
m_vecSweepers.push_back(bots[i]);
}
//get the total number of weights used in the sweepers
//NN so we can initialise the GA
m_NumWeightsInNN = m_vecSweepers[0]->GetNumberOfWeights();
//calculate the neuron placement in the weight vector
vector<int> SplitPoints = m_vecSweepers[0]->CalculateSplitPoints();
//initialize the Genetic Algorithm class
m_pGA = new CGenAlg(m_NumSweepers,
CParams::dMutationRate,
CParams::dCrossoverRate,
m_NumWeightsInNN,
SplitPoints);
//Get the weights from the GA and insert into the sweepers brains
m_vecThePopulation = m_pGA->GetChromos();
for (int i=0; i<m_NumSweepers; i++)
m_vecSweepers[i]->PutWeights(m_vecThePopulation[i].vecWeights);
//initialize mines in random positions within the application window
for (int i=0; i<m_NumMines; ++i)
{
m_vecMines.push_back(SVector2D(RandFloat() * cxClient,
RandFloat() * cyClient));
}
}
// Synchronize the number of mine objects with the given value.
void SceneController::updateMineObjects(int number) {
int diff = number - vecMines.size();
if (diff > 0) {
// initialize mines in random positions within the viewport
for (int i = diff; i; --i)
vecMines.push_back(SVector2D(RandFloat() * vpWidth, RandFloat() * vpHeight));
}
else if (diff < 0)
vecMines.resize(number);
// wrap mines around the current viewport
for (auto i = vecMines.begin(); i < vecMines.end(); ++i) {
i->x = fmod(i->x, vpWidth);
i->y = fmod(i->y, vpHeight);
}
}
//--------------------------------- ctor ---------------------------------
//
//------------------------------------------------------------------------
CGun::CGun(): m_iTicksToNextBullet(CParams::iFiringRate),
m_dScale(CParams::dGunScale),
m_bAutoGun(true)
{
//set its position
m_vPos = SVector2D(CParams::WindowWidth/2, 20);
//create the vertex buffer
for (int i=0; i<NumGunVerts; ++i)
{
m_vecGunVB.push_back(gun[i]);
}
//create the bullets
for (i=0; i<CParams::iMaxBullets; ++i)
{
m_vecBullets.push_back(CBullet());
}
}
//-----------------------------------constructor-------------------------
//
//-----------------------------------------------------------------------
CMinesweeper::CMinesweeper():
m_dRotation(RandFloat() * CParams::dTwoPi),
m_lTrack(0),
m_rTrack(0),
m_dFitness(0),
m_dScale(CParams::iSweeperScale),
m_bCollided(false)
{
//create a static start position
m_vPosition = SVector2D(180, 200);
//create the sensors
CreateSensors(m_Sensors, CParams::iNumSensors, CParams::dSensorRange);
//initialize its memory
m_MemoryMap.Init(CParams::WindowWidth,
CParams::WindowHeight);
}
void Controller::init()
{
for(int i = 0; i < CParams::iNumMines; i++)
{
a_mines[i] = new mines();
double x = (RandFloat() * CParams::iWindowWidth);
double y = (RandFloat() * CParams::iWindowHeight);
a_mines[i]->setPos(x,y);
v_mines.push_back(SVector2D(x,y));
}
int a = CParams::iNumSweepers;
for (int i = 0; i < CParams::iNumSweepers; ++i) {
mineSweepers[i] = new Minesweeper();
SVector2D pos(RandFloat() * CParams::iWindowWidth, RandFloat() * CParams::iWindowHeight);
mineSweepers[i]->setPos(pos.x,pos.y);
mineSweepers[i]->setPosition(pos);
mineSweepers[i]->setMines(v_mines);
}
numWeightsInNN = mineSweepers[0]->GetNumOfWeights();
gAlgo = new CGenAlg(CParams::iNumSweepers, CParams::dMutationRate, CParams::dCrossoverRate, numWeightsInNN);
}
//-----------------------------------constructor-------------------------
//
//-----------------------------------------------------------------------
CMinesweeper::CMinesweeper():
m_dRotation(0),
m_lTrack(0),
//m_rTrack(0),
m_dFitness(0),
m_dScale(CParams::iSweeperScale),
m_bCollided(false)
{
m_Color = CreatePen(PS_SOLID, 1, RGB(rand() % 205 + 50, rand() % 205 + 50, rand() % 205 + 50));
//create a static start position
m_vPosition = SVector2D(180, 50);
//create the sensors
CreateSensors(m_Sensors, CParams::iNumSensors, CParams::dSensorRange);
//initialize its memory
m_MemoryMap.Init(CParams::WindowWidth,
CParams::WindowHeight);
}
CLander::CLander(int cxClient,
int cyClient,
double rot,
SVector2D pos,
SVector2D pad):m_vPos(pos),
m_vPadPos(pad),
m_vVelocity(SVector2D(0,0)),
m_dRotation(rot),
m_dMass(SHIPS_MASS),
m_dScale(LANDER_SCALE),
m_cxClient(cxClient),
m_cyClient(cyClient),
m_dFitness(0),
m_cTick(0),
m_iPadX(cxClient/2),
m_bCheckedIfLanded(false)
{
m_vStartPos = m_vPos;
m_dStartRotation = rot;
//set up the vertex buffer for the lander shape
for (int i=0; i<NumLanderVerts; ++i)
{
m_vecShipVB.push_back(lander[i]);
}
m_vecShipVBTrans = m_vecShipVB;
//and for the jet shape
for (i=0; i<NumJetVerts; ++i)
{
m_vecJetVB.push_back(jet[i]);
}
m_vecJetVBTrans = m_vecJetVB;
}
//-------------------------------------Update-----------------------------
//
// This is the main workhorse. The entire simulation is controlled from here.
//
// The comments should explain what is going on adequately.
//-------------------------------------------------------------------------
bool CController::Update()
{
if (!hasTrained)
{
if (hasRendered)
{
mlp.Train();
hasTrained = true;
}
}
//run the sweepers through CParams::iNumTicks amount of cycles. During
//this loop each sweeper is constantly updated with the appropriate
//information from its surroundings. The output from the learning algorithm is obtained
//and the sweeper is moved. If it encounters a mine its MinesGathered is
//updated appropriately,
if (m_iTicks++ < CParams::iNumTicks)
{
for (int i=0; i<m_vecSweepers.size(); ++i)
{
if(!m_vecSweepers[i].IsActive())
continue;
//update the position
if (!m_vecSweepers[i].Update(m_vecObjects, m_vecSweepers, mlp))
{
//error in processing the learning algorithm
MessageBox(m_hwndMain, "An error occured while processing!", "Error", MB_OK);
return false;
}
//see if it's found an object
int GrabHit = m_vecSweepers[i].CheckForMine(m_vecObjects, CParams::dMineScale);
if (GrabHit >= 0)
{
if(m_vecObjects[GrabHit].getType() == CCollisionObject::Mine)
{
//we have discovered a mine so increase MinesGathered
m_vecSweepers[i].IncrementMinesGathered();
SVector2D newPosition;
// object hit, so respawn it, but not on super mines
boolean collision = false;
do{
newPosition = SVector2D(RandFloat() * cxClient, RandFloat() * cyClient);
collision = false;
for(int i=0; i < m_vecObjects.size(); i++){
if(m_vecObjects[i].getType() == CCollisionObject::SuperMine){
if(Vec2DLengthSquared(newPosition-m_vecObjects[i].getPosition()) <= mineSpawnThreshold){
collision = true;
break;
}
}
}
}while(collision);
m_vecObjects[GrabHit].setPosition(newPosition);
}
}
GrabHit = m_vecSweepers[i].CheckForSuperMine(m_vecObjects, CParams::dMineScale);
if (GrabHit >= 0)
{
if(m_vecObjects[GrabHit].getType() == CCollisionObject::SuperMine)
{
m_vecObjects.erase(m_vecObjects.begin()+GrabHit);
// Set sweeper inactive so we dont update it anymore
m_vecSweepers[i].SetInactive();
}
}
}
}
//Time to update the sweepers for the next iteration
else
{
// Update MinesGathered average and max
int max = 0;
int total = 0;
for (int i=0; i<m_vecSweepers.size(); ++i)
{
int mg = m_vecSweepers[i].MinesGathered();
total += mg;
if (mg > max) max = mg;
}
double average = ((double)total / m_NumSweepers);
m_vecAvMinesGathered.push_back(average);
m_vecMaxMinesGathered.push_back(total);
// Update minesweepers remaining
total = 0;
for (int i=0; i<m_vecSweepers.size(); ++i)
{
if(m_vecSweepers[i].IsActive())
total++;
}
m_vecSweepersActive.push_back(total);
//increment the iteration counter
++m_iIterations;
//reset cycles
m_iTicks = 0;
// Respawn SuperMines Each Generation
ResetEnvironment();
}
if(isFirstTick) isFirstTick = false;
return true;
}
// This is the main workhorse. The entire simulation is controlled from here.
// The comments should explain what is going on adequately.
void SceneController::updateSimulation() {
// Run the sweepers through iNumTicks amount of cycles. During this loop
// each sweepers NN is constantly updated with the appropriate information
// from its surroundings. The output from the NN is obtained and the sweeper
// is moved. If it encounters a mine its fitness is updated appropriately.
if (m_iTicks++ < MainWindow::s.iNumTicks) {
if (MainWindow::s.bMultithreading)
// For multi-threaded simulation we are using a helper function,
// which incorporates OpenMP instructions.
updateSimulationOpenMP();
else {
// NN uses STL (it's not ported into the QTL)
auto mines = vecMines.toStdVector();
for (int i = 0; i < vecSweepers.size(); ++i) {
int grabHit;
// update the NN and position
if (!vecSweepers[i].Update(mines)) {
// error in processing the neural net
gsInfo->setText("ERROR: Wrong amount of NN inputs!");
m_bInternalError = true;
return;
}
// keep minesweepers in our viewport
vecSweepers[i].WarpWorld(0, 0, vpWidth, vpHeight);
// see if it's found a mine
if ((grabHit = vecSweepers[i].CheckForMine(mines, MainWindow::s.dMineScale)) != -1) {
// mine found so replace the mine with another at a random position
vecMines[grabHit] = SVector2D(RandFloat() * vpWidth, RandFloat() * vpHeight);
// we have discovered a mine so increase fitness
vecSweepers[i].IncrementFitness();
}
// update the chromos fitness score
vecThePopulation[i].dFitness = vecSweepers[i].Fitness();
}
}
}
// Another generation has been completed.
// Time to run the GA and update the sweepers with their new NNs
else {
// run the GA to create a new population
// NN uses STL (it's not ported into the QTL)
auto population = vecThePopulation.toStdVector();
vecThePopulation = QVector<SGenome>::fromStdVector(m_pGA->Epoch(population));
// emit current generation stats
emit generationStats(m_iGenerations,
m_pGA->BestFitness(), m_pGA->AverageFitness());
// insert the new (hopefully) improved brains back into the sweepers
for (int i = 0; i < vecSweepers.size(); ++i) {
vecSweepers[i].PutWeights(vecThePopulation[i].vecWeights);
vecSweepers[i].Respawn();
}
// increment the generation counter
++m_iGenerations;
// reset cycles
m_iTicks = 0;
}
}
