vehicle.cs

AI Life (Neural Networks, Genetic Algorithms, Steering Behaviours)

using System;
using System.Collections.Generic;
using System.Text;
using System.Drawing;

namespace AI_Life
{

    public struct Obstacles
    {
        public PointF Location;
        public int Size;
        public Obstacles(PointF location, int size)
        {
            Location = location;
            Size = size;
        }
    }


    enum SpecialPaths
    {
        AI
    }

    enum SB
    {
        None,
        Seek,
        Flee,
        Arrive,
        Pursuit,
        Evade,
        Wander,
        PathFollowing,
        Cohesion,
        Alignment,
        Separation,
        CF,
        FCAS,
        FCS,
        CS,
        CA,
        CAS
    }


    //represents a single vehicle
    class Vehicle
    {
        private static Vehicle[] allCars;

        //=========================================================//
        //general variables
        public static bool enableSpecialPath = false;
        private bool targetChanged;
        private float mass;
        private int max_speed, max_force, vehicleNo;
        private Vector2 currentPosition, velocity, acceleration, heading, steerForce, targetPosition;
        private Brush brushBack, brushWhite, brushCar;
        private Pen whitePen;
        private Graphics g;
        private static Random random;
        private Size clientSize;
        private SB SB;
        public static Obstacles[] obstacles = new Obstacles[10];    //not used
        //=========================================================//

        //=========================================================//
        //wander specific variables
        private Vector2 wanderTarget;
        public static float WanderRadius = 40, WanderDistance = 80;
        public static int WanderJitter = 10;
        //=========================================================//

        //=========================================================//
        //arrive specific variables
        public static int ArriveRadius = 100;
        //=========================================================//

        //=========================================================//
        //pathfollowing specific varibles
        Point[] specialPathPoints, pathPoints, sP1, sP2;
        int currentPathPoint, maxSpecialPathPoints, maxPathPoints;

        //=========================================================//
        //cohesion specific variables
        public static int CohesionRadius = 100;
        //=========================================================//

        //=========================================================//
        //flee specific variables
        public static int FOV = 100;    //field of view
        //=========================================================//

        public static bool weightedSum = true;
        //the constructor
        public Vehicle(Graphics GraphicsObject, Size ClientSize, SB SteeringBehavior, int VehicleNumber)
        {
            //=========================================================//
            //general initialization
            g = GraphicsObject;
            clientSize = ClientSize;
            random = new Random();
            mass = random.Next(20, 80);
            max_force = 20;
            vehicleNo = VehicleNumber;
            max_speed = 10;
            if (mainForm.identicalVehicles)
            {
                velocity = new Vector2(5, 5);
            }
            else
            {
                velocity = new Vector2(random.Next(0, 10), random.Next(0, 10));
            }
            acceleration = new Vector2(0, 0);
            heading = Vector2.Normalize(velocity);
            currentPosition = new Vector2(random.Next(clientSize.Width), random.Next(clientSize.Height));
            steerForce = new Vector2(0);
            targetPosition = SBC.targetPosition;
            brushBack = Brushes.Black;
            brushWhite = Brushes.White;
            brushCar = Brushes.Blue;
            whitePen = Pens.White;
            targetChanged = false;
            SB = SteeringBehavior;
            //=========================================================//

            //=========================================================//
            //wander specific variables
            wanderTarget = new Vector2(0);
            //=========================================================//

            //=========================================================//

            //=========================================================//
            //pathfollowing s
            maxSpecialPathPoints = 40;
            maxPathPoints = 10;
            currentPathPoint = 0;
            specialPathPoints = new Point[maxSpecialPathPoints];
            pathPoints = new Point[maxPathPoints];
            sP1 = new Point[22];
            sP2 = new Point[18];
            NewPath();

        }

        //=========================================================//




        #region Properties
        public Vector2 Velocity
        {
            get
            {
                return velocity;
            }
        }

        public Vector2 CurrentPosition
        {
            get
            {
                return currentPosition;
            }
        }

        public SB SteeringBehaviour
        {
            get { return SB; }
            set { SB = value; }
        }

        public bool TargetChanged
        {
            get { return targetChanged; }
            set { targetChanged = value; }
        }

        public int MaxPathPoints
        {
            get { return maxSpecialPathPoints; }
            set { maxSpecialPathPoints = value; }
        }

        public Vector2 TargetPosition
        {
            get { return targetPosition; }
            set { targetPosition = value; }
        }

        public int MaxForce
        {
            get { return max_force; }
            set { max_force = value; }
        }

        public int MaxSpeed
        {
            get { return max_speed; }
            set { max_speed = value; }
        }

        public float Mass
        {
            get { return mass; }
            set { mass = value; }
        } 
        #endregion

        //=========================================================//


        private void DrawToBuffer()
        {
            PointF top = new PointF(heading.X * 14 + currentPosition.X, heading.Y * 14 + currentPosition.Y);
            PointF left = new PointF(heading.Y * (-5) + currentPosition.X, heading.X * 5 + currentPosition.Y);
            PointF right = new PointF(heading.Y * 5 + currentPosition.X, heading.X * (-5) + currentPosition.Y);
            switch (random.Next(1, 4))
            {
                case 0:
                    brushCar = Brushes.Black;
                    break;
                case 1:
                    brushCar = Brushes.Red;
                    break;
                case 2:
                    brushCar = Brushes.White;
                    break;
                case 3:
                    brushCar = Brushes.Blue;
                    break;
                case 4:
                    brushCar = Brushes.LightGreen;
                    break;