实验二 聚集与及避障实验报告

.范文.实验二聚集与避障实验报告一、实验目的掌握游戏中聚集与避障的人工智能算法,理解宽视野和有限视野的区别二、实验仪器Windows7系统MicrosoftVisualStudio2015三、实验原理及过程//描述聚集与避障的算法原理//描述程序实现时的思路包括对每个调用的API进行详细说明智能体只考虑哪些在检测盒内的障碍物。初始的时候，要将游戏世界中所有的障碍物都迭代到内存中，并标记哪些在检测盒内的障碍物以作进一步分析，然后把所有已经标记的障碍物都转换到智能体的局部空间。转换坐标后，那些x坐标为负值的物体将不被考虑，所以问题就变得简单多了，接下来必须要检测障碍物是否和检测盒重叠。使障碍物的包围半径扩大检测盒宽度的一半。然后测试该障碍物的y值是否小于这个值（即障碍物的包围半径加上检测盒宽度的一半）。此时，只剩下那些与检测盒相交的障碍物了。接下来我们找出离智能体最近的相交点。再一次在局部空间中计算，第三步中扩大了障碍物的包围半径。用简单的线圆周相交测试方法可以得到被扩大的圈和x轴的相交点。实验结果五、实验心得(需包括有何不足如何改进)//你认为目前的聚集与避障有什么不足之处,如何改进目前的聚集与避障的不足之处在于：可能会因为错误的方案设计而搞错导致路线的躲闪。还有就是从实验2开始，我的电脑本身出现了COMCTL32.LIB文件LINK的错误，后来在同学的帮助下我解决了这个问题。如何改进：实验前必须要经过精确的计算并且代码不能出现任何错误。把COMCTL32.LIB文件载入文件以让程序正确运行。主要代码#include"main.h"#include"time.h"//---------------------------------------------------------------------------/*Book:AIforGameDevelopersAuthors:DavidM.Bourg&GlennSeemannExample:Flocking,Chapter4*///---------------------------------------------------------------------------#define _TIMESTEP 0.0025#define _TOL 1e-10#define _FWDTIME 10#define _THRUSTFACTOR 1.0#define_CHASESETUP true#define _SPAWN_AREA_R 100#define _MAX_NUM_UNITS 20#define _UNIT_LENGTH 4#define _OBSTACLE_RADIUS_FACTOR 8#define _OBSTACLE_RADIUS _OBSTACLE_RADIUS_FACTOR*_UNIT_LENGTH#define _COLLISION_VISIBILITY_FACTOR 25#define _WIDEVIEW_RADIUS_FACTOR 200#define _NARROWVIEW_RADIUS_FACTOR 50#define _LIMITEDVIEW_RADIUS_FACTOR 30#define _SEPARATION_FACTOR 5#define _BACK_VIEW_ANGLE_FACTOR 1#define _FRONT_VIEW_ANGLE_FACTOR 1#define _NUM_OBSTACLES 8//GlobalVariables:int FrameCounter=0;RigidBody2D Units[_MAX_NUM_UNITS];Vector Target;Vector Obstacles[_NUM_OBSTACLES];bool Initialize(void){ inti; GetRandomNumber(0,_WINWIDTH,true); for(i=0;i<_MAX_NUM_UNITS;i++) { Units[i].fMass=10; Units[i].fInertia=10; Units[i].fInertiaInverse=1/10; Units[i].vPosition.x=GetRandomNumber(_WINWIDTH/2-_SPAWN_AREA_R,_WINWIDTH/2+_SPAWN_AREA_R,false); Units[i].vPosition.y=GetRandomNumber(_WINHEIGHT/2-_SPAWN_AREA_R,_WINHEIGHT/2+_SPAWN_AREA_R,false); Units[i].fWidth=_UNIT_LENGTH/2; Units[i].fLength=_UNIT_LENGTH; Units[i].fHeight=_UNIT_LENGTH; Units[i].fOrientation=GetRandomNumber(0,360,false); Units[i].CD.y=-0.12*Units[i].fLength; Units[i].CD.x=0.0f; //coordinatesofthebodycenterofdrag Units[i].CT.y=-0.50*Units[i].fLength; Units[i].CT.x=0.0f; //coordinatesofthepropellerthrustvector Units[i].CPT.y=0.5*Units[i].fLength; Units[i].CPT.x=-0.5*Units[i].fWidth; //coordinatesoftheportbowthruster Units[i].CST.y=0.5*Units[i].fLength; Units[i].CST.x=0.5*Units[i].fWidth; //coordinatesofthestarboardbowthruster Units[i].ProjectedArea=(Units[i].fLength+Units[i].fWidth)*Units[i].fHeight; Units[i].Leader=false; if(i>_MAX_NUM_UNITS/2) { Units[i].Interceptor=true; Units[i].ThrustForce=_THRUSTFORCE*1.5f; }else{ Units[i].Interceptor=false; Units[i].ThrustForce=_THRUSTFORCE; } } for(i=0;i<_NUM_OBSTACLES;i++) { Obstacles[i].x=GetRandomNumber(_OBSTACLE_RADIUS*4,_WINWIDTH-_OBSTACLE_RADIUS*4,false); Obstacles[i].y=/*_WINHEIGHT/2;*/GetRandomNumber(_OBSTACLE_RADIUS*4,_WINHEIGHT-_OBSTACLE_RADIUS*4,false); } returntrue;}void DoUnitAI(inti){ int j; int N; Vector Pave; Vector Vave; Vector Fs; Vector Pfs; Vector d,u,v,w; double m; int Nf; bool InView; bool DoFlock=WideView||LimitedView||NarrowView; int RadiusFactor; //beginFlockAI Fs.x=Fs.y=Fs.z=0; Pave.x=Pave.y=Pave.z=0; Vave.x=Vave.y=Vave.z=0; N=0; Pfs.x=0; Pfs.y=Units[i].fLength/2.0f; Nf=0; for(j=1;j<_MAX_NUM_UNITS;j++) { if(i!=j) { InView=false; d=Units[j].vPosition-Units[i].vPosition; w=VRotate2D(-Units[i].fOrientation,d); if(((w.y>0)&&(fabs(w.x)<fabs(w.y)*_FRONT_VIEW_ANGLE_FACTOR))) if(d.Magnitude()<=(Units[i].fLength*_NARROWVIEW_RADIUS_FACTOR)) Nf++; if(WideView) { InView=((w.y>0)||((w.y<0)&&(fabs(w.x)>fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR))); RadiusFactor=_WIDEVIEW_RADIUS_FACTOR; } if(LimitedView) { InView=(w.y>0); RadiusFactor=_LIMITEDVIEW_RADIUS_FACTOR; } if(NarrowView) { InView=(((w.y>0)&&(fabs(w.x)<fabs(w.y)*_FRONT_VIEW_ANGLE_FACTOR))); RadiusFactor=_NARROWVIEW_RADIUS_FACTOR; } if(InView&&(Units[i].Interceptor==Units[j].Interceptor)) { if(d.Magnitude()<=(Units[i].fLength*RadiusFactor)) { Pave+=Units[j].vPosition; Vave+=Units[j].vVelocity; N++; } } //SeparationRule: if(InView)//(w.y>0)||((w.y<0)&&(fabs(w.x)>fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR))) { if(d.Magnitude()<=(Units[i].fLength*_SEPARATION_FACTOR)) { if(w.x<0)m=1; if(w.x>0)m=-1; Fs.x+=m*_STEERINGFORCE*(Units[i].fLength*_SEPARATION_FACTOR)/d.Magnitude(); } } } } //CohesionRule: if(DoFlock&&(N>0)) { Pave=Pave/N; v=Units[i].vVelocity; v.Normalize(); u=Pave-Units[i].vPosition; u.Normalize(); w=VRotate2D(-Units[i].fOrientation,u); if(w.x<0)m=-1; if(w.x>0)m=1; if(fabs(v*u)<1.0f) Fs.x+=m*_STEERINGFORCE*acos(v*u)/pi; } //AlignmentRule: if(DoFlock&&(N>0)) { Vave=Vave/N; u=Vave; u.Normalize(); v=Units[i].vVelocity; v.Normalize(); w=VRotate2D(-Units[i].fOrientation,u); if(w.x<0)m=-1; if(w.x>0)m=1; if(fabs(v*u)<1) Fs.x+=m*_STEERINGFORCE*acos(v*u)/pi; } //Chasethetargetiftheunitisaleader if(Chase) { if(Nf==0) Units[i].Leader=true; else Units[i].Leader=false; if((Units[i].Leader||!DoFlock)) { if(!Units[i].Interceptor) { //Chase u=Units[0].vPosition; d=u-Units[i].vPosition; w=VRotate2D(-Units[i].fOrientation,d); if(w.x<0)m=-1; if(w.x>0)m=1; Fs.x+=m*_STEERINGFORCE; }else{ //Intercept Vector s1,s2,s12; double tClose; Vector Vr12; Vr12=Units[0].vVelocity-Units[i].vVelocity;//closingvelocity s12=Units[0].vPosition-Units[i].vPosition;//rangetoclose tClose=s12.Magnitude()/Vr12.Magnitude();//timetoclose s1=Units[0].vPosition+(Units[0].vVelocity*tClose); Target=s1; s2=s1-Units[i].vPosition; w=VRotate2D(-Units[i].fOrientation,s2); if(w.x<0)m=-1; if(w.x>0)m=1; Fs.x+=m*_STEERINGFORCE; } } } //Collisionavoidance(withstaticobstacles) Vector a,p,b; for(j=0;j<_NUM_OBSTACLES;j++) { u=Units[i].vVelocity; u.Normalize(); v=u*_COLLISION_VISIBILITY_FACTOR*Units[i].fLength; a=Obstacles[j]-Units[i].vPosition; p=(a*u)*u; b=p-a; if((b.Magnitude()<_OBSTACLE_RADIUS)&&(p.Magnitude()<v.Magnitude())) { //impendingcollision...steeraway w=VRotate2D(-Units[i].fOrientation,a); w.Normalize(); if(w.x<0)m=1; if(w.x>0)m=-1; Fs.x+=m*_STEERINGFORCE*(_COLLISION_VISIBILITY_FACTOR*Units[i].fLength)/a.Magnitude(); } } //applyaccumulatedsteeringforce Units[i].Fa=Fs; Units[i].Pa=Pfs; //endFlockAI}void UpdateSimulation(void){ double dt=_TIMESTEP; int i; //initializethebackbuffer if(FrameCounter>=_RENDER_FRAME_COUNT) { ClearBackBuffer(); DrawObstacles(); } //Updateplayercontrolledunit: Units[0].SetThrusters(false,false,1); Units[0].SetThrusters(false,false,1); if(IsKeyDown(VK_RIGHT)) Units[0].SetThrusters(true,false,0.5); if(IsKeyDown(VK_LEFT)) Units[0].SetThrusters(false,true,0.5); Units[0].UpdateBodyEuler(dt); if(FrameCounter>=_RENDER_FRAME_COUNT) DrawCraft(Units[0],RGB(0,255,0)); if(Units[0].vPosition.x>_WINWIDTH)Units[0].vPosition.x=0; if(Units[0].vPosition.x<0)Units[0].vPosition.x=_WINWIDTH; if(Units[0].vPosition.y>_WINHEIGHT)Units[0].vPosition.y=0; if(Units[0].vPosition.y<0)Units[0].vPosition.y=_WINHEIGHT; //updatecomputercontrolledunits: for(i=1;i<_MAX_NUM_UNITS;i++) { DoUnitAI(i); Units[i].UpdateBodyEuler(dt); if(FrameCounter>=_RENDER_FRAME_COUNT) { if(Units[i].Leader) DrawCraft(Units[i],RGB(255,0,0)); else{ if(Units[i].Interceptor) DrawCraft(Units[i],RGB(255,0,255)); else DrawCraft(Units[i],RGB(0,0,255)); } } if(Units[i].vPosition.x>_WINWIDTH)Units[i].vPosition.x=0; if(Units[i].vPosition.x<0)Units[i].vPosition.x=_WINWIDTH; if(Units[i].vPosition.y>_WINHEIGHT)Units[i].vPosition.y=0; if(Units[i].vPosition.y<0)Units[i].vPosition.y=_WINHEIGHT; }//endi-loop if(FrameCounter>=_RENDER_FRAME_COUNT){ CopyBackBufferToWindow(); FrameCounter=0; }else FrameCounter++;}void DrawCraft(RigidBody2D craft,COLORREFclr){ 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=0.025; //Showvelocityvectorsingreen DrawLine(craft.vPosition.x,craft.vPosition.y,craft.vPosition.x+craft.vVelocity.x,craft.vPosition.y+craft.vVelocity.y,3,RGB(0,255,0)); //Showforcevectorsinblack //thrustvector 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)); //portsteeringforce 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)); //stbdsteeringforce 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)); //appliedforce 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.fOrie