?? ccontroller.cpp
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#include "CController.h"
//these hold the geometry of the sweepers and the mines
const int NumSweeperVerts = 16;
const SPoint sweeper[NumSweeperVerts] = {SPoint(-1, -1),
SPoint(-1, 1),
SPoint(-0.5, 1),
SPoint(-0.5, -1),
SPoint(0.5, -1),
SPoint(1, -1),
SPoint(1, 1),
SPoint(0.5, 1),
SPoint(-0.5, -0.5),
SPoint(0.5, -0.5),
SPoint(-0.5, 0.5),
SPoint(-0.25, 0.5),
SPoint(-0.25, 1.75),
SPoint(0.25, 1.75),
SPoint(0.25, 0.5),
SPoint(0.5, 0.5)};
const int NumObjectVerts = 42;
const SPoint objects[NumObjectVerts] = {SPoint(80, 60),
SPoint(200,60),
SPoint(200,60),
SPoint(200,100),
SPoint(200,100),
SPoint(160,100),
SPoint(160,100),
SPoint(160,200),
SPoint(160,200),
SPoint(80,200),
SPoint(80,200),
SPoint(80,60),
SPoint(250,100),
SPoint(300,40),
SPoint(300,40),
SPoint(350,100),
SPoint(350,100),
SPoint(250, 100),
SPoint(220,180),
SPoint(320,180),
SPoint(320,180),
SPoint(320,300),
SPoint(320,300),
SPoint(220,300),
SPoint(220,300),
SPoint(220,180),
SPoint(12,15),
SPoint(380, 15),
SPoint(380,15),
SPoint(380,360),
SPoint(380,360),
SPoint(12,360),
SPoint(12,360),
SPoint(12,340),
SPoint(12,340),
SPoint(100,290),
SPoint(100,290),
SPoint(12,240),
SPoint(12,240),
SPoint(12,15)};
//---------------------------------------constructor---------------------
//
// initilaize the sweepers, their brains and the GA factory
//
//-----------------------------------------------------------------------
CController::CController(HWND hwndMain): m_NumSweepers(CParams::iNumSweepers),
m_pGA(NULL),
m_bFastRender(false),
m_iTicks(0),
m_hwndMain(hwndMain),
m_iGenerations(0),
cxClient(CParams::WindowWidth),
cyClient(CParams::WindowHeight)
{
//let's create the mine sweepers
for (int i=0; i<m_NumSweepers; ++i)
{
m_vecSweepers.push_back(CMinesweeper());
}
//get the total number of weights used in the sweepers
//NN so we can initialise the GA
m_NumWeightsInNN = m_vecSweepers[0].GetNumberOfWeights();
//calculate the neuron placement in the weight vector
vector<int> SplitPoints = m_vecSweepers[0].CalculateSplitPoints();
//initialize the Genetic Algorithm class
m_pGA = new CGenAlg(m_NumSweepers,
CParams::dMutationRate,
CParams::dCrossoverRate,
m_NumWeightsInNN,
SplitPoints);
//Get the weights from the GA and insert into the sweepers brains
m_vecThePopulation = m_pGA->GetChromos();
for (i=0; i<m_NumSweepers; i++)
{
m_vecSweepers[i].PutWeights(m_vecThePopulation[i].vecWeights);
}
//create pens for the graph drawing
m_BluePen = CreatePen(PS_SOLID, 1, RGB(0, 0, 255));
m_RedPen = CreatePen(PS_SOLID, 1, RGB(255, 0, 0));
m_GreenPen = CreatePen(PS_SOLID, 1, RGB(0, 255, 0));
m_GreyPenDotted = CreatePen(PS_DOT, 1, RGB(200, 200, 200));
m_RedPenDotted = CreatePen(PS_DOT, 1, RGB(250, 200, 200));
m_OldPen = NULL;
//and the brushes
m_BlueBrush = CreateSolidBrush(RGB(0,0,244));
m_RedBrush = CreateSolidBrush(RGB(150,0,0));
//fill the vertex buffers
for (i=0; i<NumSweeperVerts; ++i)
{
m_SweeperVB.push_back(sweeper[i]);
}
for (i=0; i<NumObjectVerts; ++i)
{
m_ObjectsVB.push_back(objects[i]);
}
}
//--------------------------------------destructor-------------------------------------
//
//--------------------------------------------------------------------------------------
CController::~CController()
{
if(m_pGA)
{
delete m_pGA;
}
DeleteObject(m_BluePen);
DeleteObject(m_RedPen);
DeleteObject(m_GreenPen);
DeleteObject(m_OldPen);
DeleteObject(m_GreyPenDotted);
DeleteObject(m_RedPenDotted);
DeleteObject(m_BlueBrush);
DeleteObject(m_RedBrush);
}
//---------------------WorldTransform--------------------------------
//
// sets up the translation matrices for the mines and applies the
// world transform to each vertex in the vertex buffer passed to this
// method.
//-------------------------------------------------------------------
void CController::WorldTransform(vector<SPoint> &VBuffer,
SVector2D vPos,
double rotation,
double scale)
{
//create the world transformation matrix
C2DMatrix matTransform;
//scale
matTransform.Scale(scale, scale);
//rotate
matTransform.Rotate(rotation);
//translate
matTransform.Translate(vPos.x, vPos.y);
//transform the ships vertices
matTransform.TransformSPoints(VBuffer);
}
//-------------------------------------Update---------------------------------------
//
// This is the main workhorse. The entire simulation is controlled from here.
//
// The comments should explain what is going on adequately.
//--------------------------------------------------------------------------------------
bool CController::Update()
{
//run the sweepers through NUM_TICKS amount of cycles. During this loop each
//sweepers NN is constantly updated with the appropriate information from its
//surroundings. The output from the NN is obtained and the sweeper is moved. If
//it encounters a mine its fitness is updated appropriately,
if (m_iTicks++ < CParams::iNumTicks)
{
for (int i=0; i<m_NumSweepers; ++i)
{
//update the NN and position
if (!m_vecSweepers[i].Update(m_ObjectsVB))
{
//error in processing the neural net
MessageBox(m_hwndMain, "Wrong amount of NN inputs!", "Error", MB_OK);
return false;
}
}
}
//**We have completed another generation.
//Time to run the GA and update the sweepers with their new NNs
else
{
for (int swp=0; swp<m_vecSweepers.size(); ++swp)
{
//add up all the penalties and calculate a fitness score
m_vecSweepers[swp].EndOfRunCalculations();
//update the fitness score stored in the GA with this score
m_vecThePopulation[swp].dFitness = m_vecSweepers[swp].Fitness();
}
//update the stats to be used in our stat window
m_vecAvFitness.push_back(fabs(m_pGA->AverageRawFitness()));
m_vecBestFitness.push_back(fabs(m_pGA->BestRawFitness()));
//increment the generation counter
++m_iGenerations;
//reset cycles
m_iTicks = 0;
//insert the sweepers chromosones into the GA factory and
//run the factory to create a new population
m_vecThePopulation = m_pGA->Epoch(m_vecThePopulation);
//insert the new (hopefully)improved brains back into the sweepers
//and reset their positions etc
for (int i=0; i<m_NumSweepers; ++i)
{
m_vecSweepers[i].PutWeights(m_vecThePopulation[i].vecWeights);
m_vecSweepers[i].Reset();
}
}
return true;
}
//------------------------------------Render()--------------------------------------
//
//----------------------------------------------------------------------------------
void CController::Render(HDC surface)
{
//render the stats
string s = "Generation: " + itos(m_iGenerations);
TextOut(surface, 5,0, s.c_str(), s.size());
//do not render if running at accelerated speed
if (!m_bFastRender)
{
//display the penalties
m_vecSweepers[0].RenderPenalties(surface);
//render the objects
for (int i=0; i<NumObjectVerts; i+=2)
{
MoveToEx(surface, m_ObjectsVB[i].x, m_ObjectsVB[i].y, NULL);
LineTo(surface, m_ObjectsVB[i+1].x, m_ObjectsVB[i+1].y);
}
//record the current pen
m_OldPen = (HPEN)SelectObject(surface, m_GreyPenDotted);
//render the sweepers
for (i=0; i<m_vecSweepers.size(); i++)
{
if (i < CParams::iNumElite)
{
SelectObject(surface, m_OldPen);
}
else
{
SelectObject(surface, m_GreyPenDotted);
}
//render red if collided and elite
if ( m_vecSweepers[i].Collided() && (i < CParams::iNumElite) )
{
SelectObject(surface, m_RedPen);
}
//render dotted red if collided and not elite
if ( m_vecSweepers[i].Collided() && (i > CParams::iNumElite) )
{
SelectObject(surface, m_RedPenDotted);
}
//grab the sweeper vertices
vector<SPoint> sweeperVB = m_SweeperVB;
//transform the vertex buffer
m_vecSweepers[i].WorldTransform(sweeperVB, m_vecSweepers[i].Scale());
//draw the sweeper left track
MoveToEx(surface, (int)sweeperVB[0].x, (int)sweeperVB[0].y, NULL);
for (int vert=1; vert<4; ++vert)
{
LineTo(surface, (int)sweeperVB[vert].x, (int)sweeperVB[vert].y);
}
LineTo(surface, (int)sweeperVB[0].x, (int)sweeperVB[0].y);
//draw the sweeper right track
MoveToEx(surface, (int)sweeperVB[4].x, (int)sweeperVB[4].y, NULL);
for (vert=5; vert<8; ++vert)
{
LineTo(surface, (int)sweeperVB[vert].x, (int)sweeperVB[vert].y);
}
LineTo(surface, (int)sweeperVB[4].x, (int)sweeperVB[4].y);
MoveToEx(surface, (int)sweeperVB[8].x, (int)sweeperVB[8].y, NULL);
LineTo(surface, (int)sweeperVB[9].x, (int)sweeperVB[9].y);
MoveToEx(surface, (int)sweeperVB[10].x, (int)sweeperVB[10].y, NULL);
for (vert=11; vert<16; ++vert)
{
LineTo(surface, (int)sweeperVB[vert].x, (int)sweeperVB[vert].y);
}
}
//render the sensors
for (i=0; i<CParams::iNumElite; ++i)
{
//grab each sweepers sensor data
vector<SPoint> tranSensors = m_vecSweepers[i].Sensors();
vector<double> SensorReadings = m_vecSweepers[i].SensorReadings();
for (int sr=0; sr<tranSensors.size(); ++sr)
{
if (SensorReadings[sr] > 0)
{
SelectObject(surface, m_RedPen);
}
else
{
SelectObject(surface, m_GreyPenDotted);
}
//make sure we clip the drawing of the sensors or we will get
//unwanted artifacts appearing
if (!((fabs(m_vecSweepers[i].Position().x - tranSensors[sr].x) >
(CParams::dSensorRange+1))||
(fabs(m_vecSweepers[i].Position().y - tranSensors[sr].y) >
(CParams::dSensorRange+1))))
{
MoveToEx(surface,
(int)m_vecSweepers[i].Position().x,
(int)m_vecSweepers[i].Position().y,
NULL);
LineTo(surface, (int)tranSensors[sr].x, (int)tranSensors[sr].y);
}
}
}
SelectObject(surface, m_OldPen);
}//end if
else
{
PlotStats(surface);
}
}
//--------------------------PlotStats-------------------------------------
//
// Given a surface to draw on this function displays stats and a crude
// graph showing best and average fitness
//------------------------------------------------------------------------
void CController::PlotStats(HDC surface)
{
string s = "Best Fitness: " + ftos(m_pGA->BestRawFitness());
TextOut(surface, 5, 20, s.c_str(), s.size());
s = "Average Fitness: " + ftos(m_pGA->AverageRawFitness());
TextOut(surface, 5, 40, s.c_str(), s.size());
//render the graph
float HSlice = (float)cxClient/(m_iGenerations+1);
float VSlice = (float)cyClient/((m_pGA->BestRawFitness()+1)*1.5);
//plot the graph for the best fitness
float x = 0;
m_OldPen = (HPEN)SelectObject(surface, m_RedPen);
MoveToEx(surface, 0, cyClient, NULL);
for (int i=0; i<m_vecBestFitness.size(); ++i)
{
LineTo(surface, x, (cyClient - VSlice*m_vecBestFitness[i]));
x += HSlice;
}
//plot the graph for the average fitness
x = 0;
SelectObject(surface, m_BluePen);
MoveToEx(surface, 0, cyClient, NULL);
for (i=0; i<m_vecAvFitness.size(); ++i)
{
LineTo(surface, x, (cyClient - VSlice*m_vecAvFitness[i]));
x += HSlice;
}
//replace the old pen
SelectObject(surface, m_OldPen);
}
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