main.cpp

通过人工智能算法快速实现神经网络识别

	double f;
	if(pPattern[i].LimitHeadingChange)
		f = 1 - PatternTracking.dHeading / pPattern[i].dHeadingLimit;
	else
		f = 1;

	if(f < 0.05) f = 0.05;

	Craft2.SetThrusters(pPattern[i].PThrusterActive, pPattern[i].SThrusterActive, f);


	return true;	
		
}



void	DrawCraft(RigidBody2D	craft, COLORREF clr)
{
	Vector	vList[5];
	double	wd, lg;
	int		i;
	Vector	v1;

	wd = craft.fWidth;
	lg = craft.fLength;
	vList[0].y = lg/2;	vList[0].x = wd/2;
	vList[1].y = -lg/2;	vList[1].x = wd/2;
	vList[2].y = -lg/2;	vList[2].x = -wd/2;
	vList[3].y = lg/2;	vList[3].x = -wd/2;
	vList[4].y = lg/2*1.5; vList[4].x = 0;
	for(i=0; i<5; i++)
	{
		v1 = VRotate2D(craft.fOrientation, vList[i]);
		vList[i] = v1 + craft.vPosition;			
	}

	DrawLine(vList[0].x, vList[0].y, vList[1].x, vList[1].y, 2, clr);
	DrawLine(vList[1].x, vList[1].y, vList[2].x, vList[2].y, 2, clr);
	DrawLine(vList[2].x, vList[2].y, vList[3].x, vList[3].y, 2, clr);
	DrawLine(vList[3].x, vList[3].y, vList[4].x, vList[4].y, 2, clr);
	DrawLine(vList[4].x, vList[4].y, vList[0].x, vList[0].y, 2, clr);

	if(ShowVectors)
	{
		Vector	v, u;
		double	f = 5;

		// Show velocity vectors in green
		DrawLine(craft.vPosition.x, craft.vPosition.y, craft.vPosition.x+craft.vVelocity.x, craft.vPosition.y+craft.vVelocity.y, 3, RGB(0,255,0));
		
		// Show force vectors in black
		// thrust vector
		v.x = 0;
		v.y = craft.ThrustForce*f;
		v = VRotate2D(craft.fOrientation, v);
		u.x = craft.CT.x;
		u.y = craft.CT.y;
		u = VRotate2D(craft.fOrientation, u);
		DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));

		// port steering force
		v.x = craft.PThrust.x*f;
		v.y = craft.PThrust.y*f;
		v = VRotate2D(craft.fOrientation, v);
		u.x = craft.CPT.x;
		u.y = craft.CPT.y;
		u = VRotate2D(craft.fOrientation, u);
		DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));

		// stbd steering force
		v.x = craft.SThrust.x*f;
		v.y = craft.SThrust.y*f;
		v = VRotate2D(craft.fOrientation, v);
		u.x = craft.CST.x;
		u.y = craft.CST.y;
		u = VRotate2D(craft.fOrientation, u);
		DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));

		// applied force
		v.x = craft.Fa.x*f;
		v.y = craft.Fa.y*f;
		v = VRotate2D(craft.fOrientation, v);
		u.x = craft.Pa.x;
		u.y = craft.Pa.y;
		u = VRotate2D(craft.fOrientation, u);
		DrawLine(craft.vPosition.x+u.x, craft.vPosition.y+u.y, craft.vPosition.x + u.x + v.x, craft.vPosition.y + u.y + v.y, 1, RGB(0,0,0));

	}

}

void	DoCraft2Chase(void)
{
	Vector	u, v;
	bool	p = false;
	bool	s = false;
	
	u = VRotate2D(-Craft2.fOrientation, (Craft1.vPosition - Craft2.vPosition));
	u.Normalize();

	Target = Craft1.vPosition;

	if(u.x < -_TOL)
		p = true;
	else if(u.x > _TOL)
		s = true;
		
	Craft2.SetThrusters(p,s, 1);
}

void	DoCraft2Evade(void)
{
	Vector	u, v;
	bool	p = false;
	bool	s = false;
	
	u = VRotate2D(-Craft2.fOrientation, (Craft1.vPosition - Craft2.vPosition));
	u.Normalize();

	if(u.x > 0)
		p = true;
	else if(u.x < 0)
		s = true;

	Craft2.SetThrusters(p,s, 1);

	Target = Craft2.vPosition;
}

void	DoCraft2Intercept(void)
{
	Vector	u1, u2, u;
	Vector	s1, s2;
	Vector  Vr;
	double	t1, t2;
	Vector	s1unit, s2unit;
	bool	p = false;
	bool	s = false;

	Vr = Craft1.vVelocity - Craft2.vVelocity;

	s2 = GetVelocityIntersection() - Craft2.vPosition;
	s2unit = s2;
	s2unit.Normalize();
	u2 = VRotate2D(-Craft2.fOrientation, s2);
	t2 = s2.Magnitude()/(Vr * s2unit);
	
	s1 = Craft1.vPosition - Craft2.vPosition;
	s1unit = s1;
	s1unit.Normalize();
	u1 = VRotate2D(-Craft2.fOrientation, s1);
	t1 = s1.Magnitude()/(Vr * s1unit);

	if(t1 < 0.0)
	{
		u = u2;
		Target = s2 + Craft2.vPosition;
	} else if(t2 < 0.0) {
		u = u1;
		Target = s1 + Craft2.vPosition;
	} else if(t2 < t1)
	{
		u = u2;
		Target = s2 + Craft2.vPosition;
	} else {
		u = u1;
		Target = s1 + Craft2.vPosition;
	}
	u.Normalize();

	if(u.x < -_TOL)
		p = true;
	else if(u.x > _TOL)
		s = true;

	Craft2.SetThrusters(p,s, 1);
}

/*Old version
void	DoCraft2Intercept(void)
{
	Vector	u1, u2, u3, u;
	Vector	s1, s2, s3;
	Vector  Vr1, Vr2, Vr3;
	double	t1, t2, t3;
	bool	p = false;
	bool	s = false;

	// todo: change variable subscripts to  be consistent with craft #...

	s3 = Craft1.vPosition - Craft2.vPosition;
	u3 = VRotate2D(-Craft2.fOrientation, s3);
	if(u3.y < -_TOL)
	{
		if(GetRandomNumber(0, 10, true) < 5)
			p = true;
		else
			s = true;
		Craft2.SetThrusters(p,s);
		Target = Craft2.vPosition;
		return;
	}



	Vr1 = Craft1.vVelocity - Craft2.vVelocity;
	Vr2 = Craft1.vVelocity - Craft2.vVelocity;

	s1 = GetVelocityIntersection() - Craft2.vPosition;
	u1 = VRotate2D(-Craft2.fOrientation, s1);
	t1 = s1.Magnitude()/(Vr1 * s1);
	
	s2 = Craft1.vPosition - Craft2.vPosition;
	u2 = VRotate2D(-Craft2.fOrientation, s2);
	t2 = s2.Magnitude()/(Vr2 * s2);

	if(t1 < t2)
	{
		u = u1;
		Target = s1 + Craft2.vPosition;
	} else {
		u = u2;
		Target = s2 + Craft2.vPosition;
	}
	u.Normalize();

	if(u.x < -_TOL)
		p = true;
	else if(u.x > _TOL)
		s = true;
	else if(u.x == _TOL) {
		if(GetRandomNumber(0, 10, true) < 5)
			p = true;
		else
			s = true;
	}

	Craft2.SetThrusters(p,s);
}*/


void	DoCraft2InterceptAlt(void)
{
	Vector	u;
	Vector	s1, s2, s12;
	bool	p = false;
	bool	s = false;
	double	tClose;	
	Vector	Vr12;
	double	vr;
	
	// turn around if we get ahead of the prey...
	s12 = Craft1.vPosition - Craft2.vPosition;
	u = VRotate2D(-Craft2.fOrientation, s12);
	if(u.y < -_TOL)
	{
		//if(GetRandomNumber(0, 10, true) < 5)
			p = true;
		//else
		//	s = true;
		Craft2.SetThrusters(p,s, 1);
		Target = Craft2.vPosition;
		return;
	}

	Vr12 = Craft1.vVelocity-Craft2.vVelocity; // closing velocity
	s12 = Craft1.vPosition - Craft2.vPosition; // range to close
	tClose = s12.Magnitude() / Vr12.Magnitude(); // time to close

	s1 = Craft1.vPosition + (Craft1.vVelocity * tClose);
	Target = s1;
	s2 = s1 - Craft2.vPosition;	
	u = VRotate2D(-Craft2.fOrientation, s2);	

	u.Normalize();
	if(u.x < -_TOL)
		p = true;
	else if(u.x > _TOL)
		s = true;

	Craft2.SetThrusters(p,s, 1);
	
}



void	DoAttractCraft2(void)
{
	// Apply Leonard-Jones potential force to Craft2
	// todo: make sure rigidbody calcloads function handles it
	Vector	r = Craft2.vPosition - Craft1.vPosition;
	Vector  u = r;

	u.Normalize();

	double	k1 = 0.5e2; // repel
	double	k2 = 1.0e2; // attract

	Craft2.Fa = VRotate2D( -Craft2.fOrientation, ((k1*pow(Craft2.fLength*5/r.Magnitude(), 4) - k2*pow(Craft2.fLength*3/r.Magnitude(), 2)) ) * u);
	Craft2.Pa.x = 0;
	Craft2.Pa.y = Craft2.fLength / 2;

	Target = Craft1.vPosition;
	
}

Vector	GetVelocityIntersection(void)
{
	double s, t, num, denom;
	Vector	a,b,c,d;

	a = Craft1.vPosition;
	b = a+Craft1.vVelocity;
	c = Craft2.vPosition;
	d = c+Craft2.vVelocity;

	denom = a.x * (d.y-c.y) +
			b.x * (c.y-d.y) +
			d.x * (b.y-a.y) +
			c.x * (a.y-b.y);

	if(denom == 0)
		return Vector(a.x, a.y, 0);

	num =	a.x * (d.y-c.y) +
			c.x * (a.y-d.y) +
			d.x * (c.y-a.y);
	s = num/denom;

	num =	-( a.x * (c.y-b.y) +
			   b.x * (a.y-c.y) +
			   c.x * (b.y-a.y) );
	t = num/denom;

	if( (s >= 0) && (t >= 0) )
		return Vector(a.x+s*(b.x-a.x), a.y+s*(b.y-a.y),0);
	else
		return Vector(a.x, a.y, 0);

}



int GetRandomNumber(int min, int max, bool seed)
{
	int	number;	

	if(seed)
		srand( (unsigned)time( NULL ) );
		
    number = (((abs(rand())%(max-min+1))+min));    
    
    if(number>max)
		number = max;

    if(number<min)
    	number = min;
		
	return number;
}

void	DoCraft2ModulateThrust(void)
{
	Vector	r = Craft1.vPosition - Craft2.vPosition;
	double	dmax = Craft2.fLength * 10;

	if((Craft2.PThrust.Magnitude() > 0) || (Craft2.SThrust.Magnitude() > 0)) // turning
	{
		if(r.Magnitude() > dmax)
			Craft2.ThrustForce = _MAXTHRUST;
		else
			Craft2.ThrustForce = r.Magnitude() / dmax * _MAXTHRUST;
	} else {		
		// todo: check how close we are to target and adjust speed to stay with it
		Craft2.ThrustForce = _MAXTHRUST;
	}

}