PilotAction OrbitalPilot::getCourse(SimFrame *frame, int depth)
{
PilotAction bestAction;
bestAction.score = evaluateAction(frame, NULL_ACTION, depth);
if(frame->deltaV() == 0)
return bestAction;
//double horizonAngle = atan2( frame->position.x, frame->position.y) + PI/2;
// search state space for optimal throttle value
//double throttle = 1.0;
for(double throttle = frame->config->params.throttleStep; throttle <= 1.0; throttle += frame->config->params.throttleStep)
{
// search state space for optimal orientation
for(double angle = 0.0; angle < 2*PI; angle += frame->config->params.radialStep)
{
glm::dvec2 orientation( sin(angle), cos(angle) );
PilotAction a = {orientation, throttle, 0.0};
// anticipate consequences
a.score = evaluateAction(frame, a, depth);
// select best outcome
if(frame->time == 0 && depth == frame->config->params.searchDepth){
double angle = acos( glm::dot(a.orientation, glm::dvec2(frame->position.y, -frame->position.x))
/ glm::length(frame->position) ) * 180/PI;
printf("testing %.2lf, %.2lf -> %lf against %lf\n", a.throttle, angle, a.score, bestAction.score);
}
if(a.score < bestAction.score){
if(frame->time == 0 && depth == frame->config->params.searchDepth)
printf("new best score: %lf\n", a.score);
bestAction = a;
}
}
}
if(depth == frame->config->params.searchDepth){
double angle = acos( glm::dot(bestAction.orientation, glm::dvec2(frame->position.y, -frame->position.x))
/ glm::length(frame->position) ) * 180/PI;
printf("[%.2lf] %.2lf, %.2lf -> %lf\n", frame->time, bestAction.throttle, angle, bestAction.score);
}
return bestAction;
}
/* Evaluates a state: all conditions for all actions until a true is found and returns the next state id*/
int evaluateState(int state, tKey* key, tObject* kid, tRoom* room) {
int i=state;
while (!evaluateAction(i,key,kid,room)) i++;
return i;
}