main.cpp

通过人工智能算法快速实现神经网络识别

#include "main.h"
#include "time.h"
//---------------------------------------------------------------------------
/*
Book:           AI for Game Developers
Authors:        David M. Bourg & Glenn Seemann
Example:        Pattern movement in continuous environments, Chapter 3
*/
//---------------------------------------------------------------------------

// Global Variables:
int				FrameCounter = 0;
RigidBody2D		Craft1, Craft2; // TODO: change Craft1 to Player and Craft2 to Computer
Vector			Target;

ControlData		PatrolPattern[_PATROL_ARRAY_SIZE];
StateChangeData	PatternTracking;
ControlData		ZigZagPattern[_ZIGZAG_ARRAY_SIZE];

ControlData		ComplexPattern[10];

#define		_TIMESTEP		0.0005
#define		_TOL			1e-10
#define		_FWDTIME		10
#define		_THRUSTFACTOR	1.0
#define     _CHASESETUP		true

bool	Initialize(void)
{
	
	Craft1.fMass = 10;
	Craft1.fInertia = 10;
	Craft1.fInertiaInverse = 1/10;
	Craft1.vPosition.x = _WINWIDTH-60;
	Craft1.vPosition.y = _WINHEIGHT*0.8;
	Craft1.fWidth = 10;
	Craft1.fLength = 20;
	Craft1.fHeight = 5;
	Craft1.fOrientation = 135;	
	Craft1.CD.y = -0.12*Craft1.fLength;		Craft1.CD.x = 0.0f;			// coordinates of the body center of drag
	Craft1.CT.y = -0.50*Craft1.fLength;		Craft1.CT.x = 0.0f;			// coordinates of the propeller thrust vector
	Craft1.CPT.y = 0.5*Craft1.fLength;		Craft1.CPT.x = -0.5*Craft1.fWidth;	// coordinates of the port bow thruster
	Craft1.CST.y = 0.5*Craft1.fLength;		Craft1.CST.x = 0.5*Craft1.fWidth;	// coordinates of the starboard bow thruster

	Craft1.ProjectedArea = (Craft1.fLength + Craft1.fWidth) * Craft1.fHeight;
	Craft1.ThrustForce = _THRUSTFORCE*1;


	Craft2.fMass = 10;
	Craft2.fInertia = 10;
	Craft2.fInertiaInverse = 1/10;
	if(_CHASESETUP)
	{
		Craft2.vPosition.x = 200;
		Craft2.vPosition.y = 250;//_WINHEIGHT*0.5;
	} else {
		Craft2.vPosition.x = Craft1.vPosition.x - Craft1.fLength*8;
		Craft2.vPosition.y = Craft1.vPosition.y - Craft1.fLength*4;
	}

	Craft2.fWidth = 10;
	Craft2.fLength = 20;
	Craft2.fHeight = 5;
	if(_CHASESETUP)
		Craft2.fOrientation = -90;
	else
		Craft2.fOrientation = 90;
	Craft2.CD.y = -0.12*Craft2.fLength;		Craft2.CD.x = 0.0f;			// coordinates of the body center of drag
	Craft2.CT.y = -0.50*Craft2.fLength;		Craft2.CT.x = 0.0f;			// coordinates of the propeller thrust vector
	Craft2.CPT.y = 0.5*Craft2.fLength;		Craft2.CPT.x = 0.5*Craft2.fWidth;	// coordinates of the port bow thruster
	Craft2.CST.y = 0.5*Craft2.fLength;		Craft2.CST.x = -0.5*Craft2.fWidth;	// coordinates of the starboard bow thruster

	Craft2.ProjectedArea = (Craft2.fLength + Craft2.fWidth) * Craft2.fHeight;
	Craft2.ThrustForce = _THRUSTFORCE*_THRUSTFACTOR;

	
	// initialize the patterns here:	
	PatrolPattern[0].LimitPositionChange = true;
	PatrolPattern[0].LimitHeadingChange = false;
	PatrolPattern[0].dHeadingLimit = 0;	
	PatrolPattern[0].dPositionLimit = 200;
	PatrolPattern[0].PThrusterActive = false;
	PatrolPattern[0].SThrusterActive = false;

	PatrolPattern[1].LimitPositionChange = false;
	PatrolPattern[1].LimitHeadingChange = true;
	PatrolPattern[1].dHeadingLimit = 90;	
	PatrolPattern[1].dPositionLimit = 0;
	PatrolPattern[1].PThrusterActive = true;
	PatrolPattern[1].SThrusterActive = false;

/*	PatrolPattern[2].LimitPositionChange = true;
	PatrolPattern[2].LimitHeadingChange = false;
	PatrolPattern[2].dHeadingLimit = 0;	
	PatrolPattern[2].dPositionLimit = 200;
	PatrolPattern[2].PThrusterActive = false;
	PatrolPattern[2].SThrusterActive = false;

	PatrolPattern[3].LimitPositionChange = false;
	PatrolPattern[3].LimitHeadingChange = true;
	PatrolPattern[3].dHeadingLimit = 90;	
	PatrolPattern[3].dPositionLimit = 0;
	PatrolPattern[3].PThrusterActive = true;
	PatrolPattern[3].SThrusterActive = false;

	PatrolPattern[4].LimitPositionChange = true;
	PatrolPattern[4].LimitHeadingChange = false;
	PatrolPattern[4].dHeadingLimit = 0;	
	PatrolPattern[4].dPositionLimit = 200;
	PatrolPattern[4].PThrusterActive = false;
	PatrolPattern[4].SThrusterActive = false;

	PatrolPattern[5].LimitPositionChange = false;
	PatrolPattern[5].LimitHeadingChange = true;
	PatrolPattern[5].dHeadingLimit = 90;	
	PatrolPattern[5].dPositionLimit = 0;
	PatrolPattern[5].PThrusterActive = true;
	PatrolPattern[5].SThrusterActive = false;

	PatrolPattern[6].LimitPositionChange = true;
	PatrolPattern[6].LimitHeadingChange = false;
	PatrolPattern[6].dHeadingLimit = 0;	
	PatrolPattern[6].dPositionLimit = 200;
	PatrolPattern[6].PThrusterActive = false;
	PatrolPattern[6].SThrusterActive = false;

	PatrolPattern[7].LimitPositionChange = false;
	PatrolPattern[7].LimitHeadingChange = true;
	PatrolPattern[7].dHeadingLimit = 90;	
	PatrolPattern[7].dPositionLimit = 0;
	PatrolPattern[7].PThrusterActive = true;
	PatrolPattern[7].SThrusterActive = false;
*/

	ZigZagPattern[0].LimitPositionChange = true;
	ZigZagPattern[0].LimitHeadingChange = false;
	ZigZagPattern[0].dHeadingLimit = 0;	
	ZigZagPattern[0].dPositionLimit = 100;
	ZigZagPattern[0].PThrusterActive = false;
	ZigZagPattern[0].SThrusterActive = false;

	ZigZagPattern[1].LimitPositionChange = false;
	ZigZagPattern[1].LimitHeadingChange = true;
	ZigZagPattern[1].dHeadingLimit = 60;	
	ZigZagPattern[1].dPositionLimit = 0;
	ZigZagPattern[1].PThrusterActive = true;
	ZigZagPattern[1].SThrusterActive = false;

	ZigZagPattern[2].LimitPositionChange = true;
	ZigZagPattern[2].LimitHeadingChange = false;
	ZigZagPattern[2].dHeadingLimit = 0;	
	ZigZagPattern[2].dPositionLimit = 100;
	ZigZagPattern[2].PThrusterActive = false;
	ZigZagPattern[2].SThrusterActive = false;

	ZigZagPattern[3].LimitPositionChange = false;
	ZigZagPattern[3].LimitHeadingChange = true;
	ZigZagPattern[3].dHeadingLimit = 60;	
	ZigZagPattern[3].dPositionLimit = 0;
	ZigZagPattern[3].PThrusterActive = false;
	ZigZagPattern[3].SThrusterActive = true;



	ComplexPattern[0].LimitPositionChange = true;
	ComplexPattern[0].LimitHeadingChange = false;
	ComplexPattern[0].dHeadingLimit = 0;	
	ComplexPattern[0].dPositionLimit = 200;
	ComplexPattern[0].PThrusterActive = false;
	ComplexPattern[0].SThrusterActive = false;

	ComplexPattern[1].LimitPositionChange = false;
	ComplexPattern[1].LimitHeadingChange = true;
	ComplexPattern[1].dHeadingLimit = 135;	
	ComplexPattern[1].dPositionLimit = 0;
	ComplexPattern[1].PThrusterActive = true;
	ComplexPattern[1].SThrusterActive = false;

	ComplexPattern[2].LimitPositionChange = false;
	ComplexPattern[2].LimitHeadingChange = true;
	ComplexPattern[2].dHeadingLimit = 135;	
	ComplexPattern[2].dPositionLimit = 0;
	ComplexPattern[2].PThrusterActive = false;
	ComplexPattern[2].SThrusterActive = true;

	ComplexPattern[3].LimitPositionChange = true;
	ComplexPattern[3].LimitHeadingChange = false;
	ComplexPattern[3].dHeadingLimit = 0;	
	ComplexPattern[3].dPositionLimit = 50;
	ComplexPattern[3].PThrusterActive = false;
	ComplexPattern[3].SThrusterActive = false;

	ComplexPattern[4].LimitPositionChange = false;
	ComplexPattern[4].LimitHeadingChange = true;
	ComplexPattern[4].dHeadingLimit = 80;	
	ComplexPattern[4].dPositionLimit = 0;
	ComplexPattern[4].PThrusterActive = false;
	ComplexPattern[4].SThrusterActive = true;

	ComplexPattern[5].LimitPositionChange = true;
	ComplexPattern[5].LimitHeadingChange = false;
	ComplexPattern[5].dHeadingLimit = 0;	
	ComplexPattern[5].dPositionLimit = 200;
	ComplexPattern[5].PThrusterActive = false;
	ComplexPattern[5].SThrusterActive = false;

	ComplexPattern[6].LimitPositionChange = false;
	ComplexPattern[6].LimitHeadingChange = true;
	ComplexPattern[6].dHeadingLimit = 90;	
	ComplexPattern[6].dPositionLimit = 0;
	ComplexPattern[6].PThrusterActive = false;
	ComplexPattern[6].SThrusterActive = true;

	ComplexPattern[7].LimitPositionChange = true;
	ComplexPattern[7].LimitHeadingChange = false;
	ComplexPattern[7].dHeadingLimit = 0;	
	ComplexPattern[7].dPositionLimit = 250;
	ComplexPattern[7].PThrusterActive = false;
	ComplexPattern[7].SThrusterActive = false;

	ComplexPattern[8].LimitPositionChange = false;
	ComplexPattern[8].LimitHeadingChange = true;
	ComplexPattern[8].dHeadingLimit = 90;	
	ComplexPattern[8].dPositionLimit = 0;
	ComplexPattern[8].PThrusterActive = false;
	ComplexPattern[8].SThrusterActive = true;

	ComplexPattern[9].LimitPositionChange = true;
	ComplexPattern[9].LimitHeadingChange = false;
	ComplexPattern[9].dHeadingLimit = 0;	
	ComplexPattern[9].dPositionLimit = 50;
	ComplexPattern[9].PThrusterActive = false;
	ComplexPattern[9].SThrusterActive = false;



	InitializePatternTracking();

	
	return true;
}


void	UpdateSimulation(void)
{
	double	dt = _TIMESTEP;
	RECT	r;
	
	Craft1.SetThrusters(false, false, 1);
	
	if (IsKeyDown(VK_UP))
		Craft1.ModulateThrust(true);
	
	if (IsKeyDown(VK_DOWN))
		Craft1.ModulateThrust(false);
		
	if (IsKeyDown(VK_RIGHT))
		Craft1.SetThrusters(true, false, 1);

	if (IsKeyDown(VK_LEFT))
		Craft1.SetThrusters(false, true, 1);

	// Do craft 2 AI

	Craft2.Fa.x = 0;
	Craft2.Fa.y = 0;
	Craft2.Pa.x = 0;
	Craft2.Pa.y = 0;

	if(BasicChase)
	{
		DoCraft2Chase();
		DoCraft2ModulateThrust();
	}
	if(BasicEvade)
		DoCraft2Evade();
	if(InterceptChase)
	{		
		DoCraft2InterceptAlt();	
	}
	if(PotentialChase)
		DoAttractCraft2();

	if(Patrol)
	{
		if(!DoPattern(PatrolPattern, _PATROL_ARRAY_SIZE))
			InitializePatternTracking();
	}
	
	if(ZigZag)
	{
		if(!DoPattern(ComplexPattern/*ZigZagPattern*/, 10/*_ZIGZAG_ARRAY_SIZE*/))
			InitializePatternTracking();
	}
	
	// update the simulation 
	//Craft1.UpdateBodyEuler(dt);
	Craft2.UpdateBodyEuler(dt);

	if(FrameCounter >= _RENDER_FRAME_COUNT)
	{	
		
		// update the display
		if(!ShowTrails)
			ClearBackBuffer();

		DrawCraft(Craft1, RGB(0,0,255));
		DrawCraft(Craft2, RGB(255,0,0));

		RECT	r;
		
		r.left = (int) (Target.x-3);
		r.top = (int) (Target.y-3);
		r.right = (int) (Target.x+3);
		r.bottom = (int) (Target.y+3);
		DrawEllipse(&r, 1, RGB(0,255,0));

		CopyBackBufferToWindow();
		FrameCounter = 0;

	} else
		FrameCounter++;

	if(Craft1.vPosition.x > _WINWIDTH) Craft1.vPosition.x = 0;
	if(Craft1.vPosition.x < 0) Craft1.vPosition.x = _WINWIDTH;
	if(Craft1.vPosition.y > _WINHEIGHT) Craft1.vPosition.y = 0;
	if(Craft1.vPosition.y < 0) Craft1.vPosition.y = _WINHEIGHT;

	if(Craft2.vPosition.x > _WINWIDTH) Craft2.vPosition.x = 0;
	if(Craft2.vPosition.x < 0) Craft2.vPosition.x = _WINWIDTH;
	if(Craft2.vPosition.y > _WINHEIGHT) Craft2.vPosition.y = 0;
	if(Craft2.vPosition.y < 0) Craft2.vPosition.y = _WINHEIGHT;


}

void	InitializePatternTracking(void) 
{
	PatternTracking.CurrentControlID = 0;
	PatternTracking.dPosition = 0;
	PatternTracking.dHeading = 0;

	PatternTracking.InitialPosition = Craft2.vPosition;
	PatternTracking.InitialHeading = Craft2.vVelocity;	
	PatternTracking.InitialHeading.Normalize();
}

bool	DoPattern(ControlData *pPattern, int size)
{
	int		i = PatternTracking.CurrentControlID;
	Vector	u;
	
	if( (pPattern[i].LimitPositionChange && (PatternTracking.dPosition >= pPattern[i].dPositionLimit)) ||
		(pPattern[i].LimitHeadingChange && (PatternTracking.dHeading >= pPattern[i].dHeadingLimit)) )
	{
		InitializePatternTracking();
		i++;
		PatternTracking.CurrentControlID = i;
		if(PatternTracking.CurrentControlID >= size)
			return false;
	}
	
	if(pPattern[i].LimitHeadingChange)
	{
		u = Craft2.vVelocity;
		u.Normalize();
		double P;
		P = PatternTracking.InitialHeading * u;
		/*if(P < 1)
			PatternTracking.dHeading = fabs(acos(PatternTracking.InitialHeading * u) * 180 / pi);
		else
			PatternTracking.dHeading = 0;*/
		
		PatternTracking.dHeading = fabs(acos(PatternTracking.InitialHeading * u) * 180 / pi);

	
		
	}
		
	if(pPattern[i].LimitPositionChange)
	{
		u = Craft2.vPosition - PatternTracking.InitialPosition;
		PatternTracking.dPosition = u.Magnitude();
	}