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Code Issues Releases Wiki Activity

reimplemented double vision

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This commit is contained in:
Enrico Fasoli 2015-07-05 16:59:59 +02:00
parent 5798bce060
commit b7dd099fdb
1 changed files with 106 additions and 59 deletions
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165
core/src/logic/Creature.java
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@ -20,7 +20,7 @@ public class Creature extends Element {
private Brain brain; private Brain brain;
private float dir, hp, prevHp, speed, sightRange, fov, fitness, rotSpeed, beak; private float dir, hp, prevHp, speed, sightRange, fov, fitness, rotSpeed, beak;
private boolean eating = false, killing = false; private boolean eating = false, killing = false;
private Sight sight; private Sight[] sights;
public Creature(float x, float y) { public Creature(float x, float y) {
super(x, y, default_radius); super(x, y, default_radius);
@ -32,7 +32,7 @@ public class Creature extends Element {
sightRange = 100; sightRange = 100;
fov = (float) Math.PI / 2.5f; fov = (float) Math.PI / 2.5f;
fitness = 0; fitness = 0;
brain = new Brain(6, 5, 2, 10); brain = new Brain(10, 5, 2, 10);
} }
@Override @Override
@ -78,37 +78,46 @@ public class Creature extends Element {
dir += 2 * Math.PI; dir += 2 * Math.PI;
} }
// read from sensors and interact with world // read from sensors and interact with world
sight = interactWithWorld(); sights = interactWithWorld();
// feed data to brain // feed data to brain
float[] values = new float[brain.getNeurons()[0].length]; float[] values = new float[brain.getNeurons()[0].length];
// 0: sight: see food? // VIEW: PLANTS
// 1: sight: see creat? // 0: sight(v): see food?
// 2: sight: distance // 1: sight(v): distance
// 3: sight: angle // 2: sight(v): angle
// 4: sight: size for vegetables, hunger for creatures // 3: sight(v): size
// 5: food sensor // VIEW: CREATS
if (sight == null || sight.getElement() == null) { // 4: sight(c): see food?
// See nothing // 5: sight(c): distance
values[0] = 0; // 6: sight(c): angle
values[1] = 0; // 8: sight(c): hunger
values[2] = 0; // 7: sight(c): beak
values[3] = 0; // OTHER:
values[4] = 0; // 9: food sensor
} else { int viewSensors = 4;
// See something for (int i = 0; i < sights.length; i++) {
values[2] = sight.getDistance() / sightRange; int mul = i * viewSensors;
values[3] = sight.getAngle(); if (sights[i] == null || sights[i].getElement() == null) {
if (sight.getElement() instanceof Vegetable) { // See nothing
values[0] = 1f; values[0 + mul] = 0;
values[1] = 0; values[1 + mul] = 0;
values[4] = sight.getElement().getSize() / default_radius; values[2 + mul] = 0;
values[3 + mul] = 0;
} else { } else {
values[0] = 0f; // See something
values[1] = 1f; values[1 + mul] = sights[i].getDistance() / sightRange;
values[4] = maxHp - ((Creature) sight.getElement()).getHp() / maxHp; values[2 + mul] = sights[i].getAngle();
if (sights[i].getElement() instanceof Vegetable) {
values[0 + mul] = 1f;
values[3 + mul] = sights[i].getElement().getSize() / default_radius;
} else {
values[0 + mul] = 1f;
values[3 + mul] = maxHp - ((Creature) sights[i].getElement()).getHp() / maxHp;
values[3 + mul] = ((Creature) sights[i].getElement()).getBeak() / max_beak;
}
} }
} }
values[5] = eating ? 1 : 0; values[9] = eating ? 1 : 0;
// compute behavior // compute behavior
float[] actions = null; float[] actions = null;
try { try {
@ -136,19 +145,25 @@ public class Creature extends Element {
// Vision // Vision
double relX = Math.cos(dir), relY = Math.sin(dir); double relX = Math.cos(dir), relY = Math.sin(dir);
float c = 0; float c = 0;
if (sight != null) {
c = sight.getDistance() / sightRange * 2 + sightRange;
} else {
s.setColor(1, 1, 1, 1);
}
float eyeX = (float) (relX * getSize() * 0.6f), eyeY = (float) (relY * getSize() * 0.6f); float eyeX = (float) (relX * getSize() * 0.6f), eyeY = (float) (relY * getSize() * 0.6f);
if (sight != null) { for (int i = 0; i < sights.length; i++) {
s.line(eyeX + getX(), getY() + eyeY, sight.getElement().getX(), sight.getElement().getY()); if (sights[i] != null) {
if (sight.getElement() instanceof Creature) { c = sights[i].getDistance() / sightRange * 2 + sightRange;
s.setColor(c, 0, 0, 1); } else {
} else if (sight.getElement() instanceof Vegetable) {
s.setColor(0, c, 0, 1);
} }
if (sights[i] != null) {
if (sights[i].getElement() instanceof Creature) {
s.setColor(c, 0, 0, 1);
} else if (sights[i].getElement() instanceof Vegetable) {
s.setColor(0, c, 0, 1);
}
s.line(eyeX + getX(), getY() + eyeY, sights[i].getElement().getX(), sights[i].getElement().getY());
}
}
if (sights[0] == null && sights[1] == null) {
s.setColor(1, 1, 1, 1);
} else {
s.setColor(sights[1] == null ? 0 : 1, sights[0] == null ? 0 : 1, 0, 1);
} }
s.circle(getX() + eyeX, getY() + eyeY, 3); s.circle(getX() + eyeX, getY() + eyeY, 3);
//FOV //FOV
@ -173,12 +188,56 @@ public class Creature extends Element {
s.line((float) (relX * getSize() * 0.8f + getX()), (float) (relY * getSize() * 0.8f + getY()), (float) (relX * getSize() * (1.5f + beak / max_beak) + getX()), (float) (relY * getSize() * (1.5f + beak / max_beak) + getY())); s.line((float) (relX * getSize() * 0.8f + getX()), (float) (relY * getSize() * 0.8f + getY()), (float) (relX * getSize() * (1.5f + beak / max_beak) + getX()), (float) (relY * getSize() * (1.5f + beak / max_beak) + getY()));
} }
public Sight interactWithWorld() { public Sight[] interactWithWorld() {
Sight[] newSights = new Sight[2];
// Try to see plant
Element seen = null; Element seen = null;
float dist = 0, angle = 0, ndir = dir - (float) Math.PI; float dist = 0, angle = 0, ndir = dir - (float) Math.PI;
killing = false; killing = false;
eating = false; eating = false;
for (Element e : Game.get().getWorld().getElements()) { for (Element e : Game.get().getWorld().getPlants()) {
float tempDist = distanceFrom(e);
if (tempDist > sightRange) {
continue;
}
//Log.log(Log.DEBUG,"TempDist "+tempDist+" SightRange "+sightRange);
float relAngle = (float) (Math.atan2(getY() - e.getY(), getX() - e.getX()));
if (tempDist < dist || seen == null) {
// Check if Visible
if (Math.abs(relAngle - ndir) < fov) {
// Visible
seen = e;
angle = relAngle - ndir;
dist = tempDist;
}
//Log.log(Log.DEBUG,"RelAngle "+relAngle+" Dir "+ndir);
}
// Check if eatable
if (tempDist < 0) {
// Eat
eating = true;
e.setSize(e.getSize() - 0.1f);
if (e.getSize() == 0) {
e.setSize(0);
}
hp++;
fitness++;
if (hp > maxHp) {
hp = maxHp;
}
}
}
if (seen != null) {
newSights[0] = new Sight(seen, dist, angle);
}
// Try to see creature
seen = null;
dist = 0;
angle = 0;
ndir = dir - (float) Math.PI;
killing = false;
eating = false;
for (Element e : Game.get().getWorld().getCreatures()) {
if (e == this) { if (e == this) {
continue; continue;
} }
@ -198,20 +257,6 @@ public class Creature extends Element {
} }
//Log.log(Log.DEBUG,"RelAngle "+relAngle+" Dir "+ndir); //Log.log(Log.DEBUG,"RelAngle "+relAngle+" Dir "+ndir);
} }
// Check if eatable
if (e instanceof Vegetable && tempDist < 0) {
// Eat
eating = true;
e.setSize(e.getSize() - 0.1f);
if (e.getSize() == 0) {
e.setSize(0);
}
hp++;
fitness++;
if (hp > maxHp) {
hp = maxHp;
}
}
// Check if attackable // Check if attackable
if (e instanceof Creature && beak > 5 && tempDist < beak * 1.5f && Math.abs(relAngle - ndir) < (float) Math.PI / 10f) { if (e instanceof Creature && beak > 5 && tempDist < beak * 1.5f && Math.abs(relAngle - ndir) < (float) Math.PI / 10f) {
// Attacking! // Attacking!
@ -224,13 +269,11 @@ public class Creature extends Element {
Creature c = (Creature) e; Creature c = (Creature) e;
c.setHp(c.getHp() - 0.2f); c.setHp(c.getHp() - 0.2f);
} }
} }
if (seen != null) { if (seen != null) {
return new Sight(seen, dist, angle); newSights[1] = new Sight(seen, dist, angle);
} else {
return null;
} }
return newSights;
} }
public void eat() { public void eat() {
@ -268,6 +311,10 @@ public class Creature extends Element {
hp = maxHp; hp = maxHp;
} }
public float getBeak() {
return beak;
}
public float getHp() { public float getHp() {
return hp; return hp;
} }