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