Initial commitHEADmaster

4 files changed, 234 insertions, 0 deletions

diff --git a/include/Agent.hpp b/include/Agent.hpp
new file mode 100644
index 0000000..efb95e7
--- /dev/null
+++ b/include/Agent.hpp
@@ -0,0 +1,54 @@
+#ifndef __AGENT_HPP__
+#define __AGENT_HPP__
+
+#include <Stage.hpp>
+#include <SFML/Graphics.hpp>
+#include <HyperNeat/Organism.hpp>
+#include <HyperNeat/NeuralNet.hpp>
+#include <HyperNeat/NoveltyMetric.hpp>
+
+namespace hyperneat {
+    class NeuralNetPrms;
+    class Genome;
+    class Population;
+}
+
+namespace hn = hyperneat;
+
+class Agent {
+public:
+    void create(Stage& stage);
+    void recreate(const Stage& stage, bool createNNet);
+    void setPoints(const Stage& stage, bool passToOrg);
+    void setBehavior(const Stage& stage);
+    void update(const Stage& stage, bool withNS);
+    void drawOn(sf::RenderWindow& surface);
+    void incrementCheckPoint(Stage& stage);
+
+private:
+    double distanceTravelled(const Stage& stage);
+    float distanceToCheckpoint(const Stage::CheckPoint& cp) const;
+
+    hn::Organism* _organism = nullptr;
+    bool          _isOld    = false;
+
+    sf::CircleShape          _shape;
+    b2Body*                  _body = nullptr;
+    hn::Vector<sf::Vector2f> _eyeSight;
+
+    const Stage::CheckPoint* _currCheckPoint = nullptr;
+    const Stage::CheckPoint* _nextCheckPoint = nullptr;
+
+    size_t _completedCircuits = 0;
+    size_t _lifetime          = 0;
+    double _distance          = 0.0;
+    bool   _isOnTrap          = false;
+
+    static size_t _currentLifetime;
+
+    friend class ContactListener;
+    friend class TrapCallback;
+    friend class App;
+};
+
+#endif // __AGENT_HPP__
diff --git a/include/App.hpp b/include/App.hpp
new file mode 100644
index 0000000..7c58c7b
--- /dev/null
+++ b/include/App.hpp
@@ -0,0 +1,57 @@
+#ifndef __APP_HPP__
+#define __APP_HPP__
+
+#include <Stage.hpp>
+#include <Agent.hpp>
+#include <CppnExplorer.hpp>
+#include <HyperNeat/Population.hpp>
+#include <HyperNeat/NeuralNetPrms.hpp>
+#include <HyperNeat/NoveltyMetric.hpp>
+#include <HyperNeat/PopulationPrms.hpp>
+
+namespace hn = hyperneat;
+
+class App {
+public:
+    int startup();
+    int execute();
+    void update();
+    void draw();
+    void shutdown();
+
+private:
+    bool _draw           = true;
+    bool _runningWOGfx   = true;
+    bool _isPaused       = true;
+    bool _isVSyncEnabled = true;
+
+    sf::RenderWindow _window;
+
+    Stage             _stage;
+    hn::Vector<Agent> _agents;
+    ssize_t           _selectedIdx  = -1;
+    sf::Clock         _clock;
+    sf::Clock         _globalClock;
+    float             _secondsToRun = 0.0f;
+    sf::CircleShape   _champ;
+    sf::CircleShape   _selected;
+
+    hn::CppnExplorer _cppnEx;
+
+    sf::Font _font;
+
+    sf::Text _updates;
+    sf::Text _champFitness;
+    sf::Text _avergFitness;
+
+    hn::NeuralNetPrms  _nnPrms;
+    hn::PopulationPrms _popPrms;
+    hn::Population     _population;
+
+    bool                        _doNoveltySearch   = false;
+    size_t                      _completedCircuits = 0;
+    hn::NoveltyMetricPrms       _noveltyPrms;
+    hn::Vector<sf::CircleShape> _noveltyMarks;
+};
+
+#endif // __APP_HPP__
diff --git a/include/NR_Utils.hpp b/include/NR_Utils.hpp
new file mode 100644
index 0000000..3f4c84e
--- /dev/null
+++ b/include/NR_Utils.hpp
@@ -0,0 +1,79 @@
+#ifndef __NR_UTILS_HPP__
+#define __NR_UTILS_HPP__
+
+#include <sstream>
+
+#include <Box2D.h>
+#include <SFML/Graphics.hpp>
+
+constexpr double PI         = 3.14159265;
+constexpr double IN_RADIANS = 180.0 / PI;
+constexpr double IN_DEGREES = PI / 180.0;
+
+const sf::Uint32 AGENT_RAD      = 5;
+const sf::Uint32 AGENT_RES      = 16;
+constexpr float  AGENT_SIGHT    = 100.0f;
+constexpr float  AGENT_SPEED    = 500.0f;
+const sf::Color  AGENT_COLOR    = { 128,   0, 255, 128 };
+const sf::Color  SIGHT_COLOR    = { 128, 128, 128,  32 };
+const sf::Color  CHAMP_COLOR    = { 204, 153, 255 };
+const sf::Color  SELECTED_COLOR = { 204,  53,  55 };
+const sf::Color  WALL_COLOR     = { 204, 153, 255 };
+const sf::Color  FACTORY_COLOR  = { 204, 153, 255 };
+const sf::Color  TEXT_COLOR     = { 204, 153, 255 };
+const sf::Color  CHECKPNT_COLOR = { 128, 128, 128, 128 };
+const sf::Color  BG_COLOR       = {  16,   0,  32 };
+
+const float _TIME_STEP = 1.0f / 60.0f;
+const int32 _VEL_ITERS = 6;
+const int32 _POS_ITERS = 2;
+
+const sf::Uint32          WIN_SIZE     = 600;
+const sf::VideoMode       VIDEO_MODE   = sf::VideoMode(WIN_SIZE, WIN_SIZE);
+const sf::String          WIN_TITLE    = "NeuroRacers v0.1";
+const sf::Uint32          WIN_STYLE    = sf::Style::Close;
+const sf::ContextSettings WIN_SETTINGS = sf::ContextSettings(0, 0, 4);
+
+ssize_t pMod(ssize_t n, ssize_t d);
+float dist(const b2Vec2& a, const b2Vec2 b);
+float dotP(const b2Vec2& a, const b2Vec2 b);
+
+class RayCastCallback : public b2RayCastCallback {
+public:
+    float32 ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float32 fraction);
+
+    const b2Fixture* _fixture  = nullptr;
+    float32          _fraction = 0.0f;
+};
+
+class QueryCallback : public b2QueryCallback {
+public:
+    bool ReportFixture(b2Fixture* fixture);
+
+    const b2Fixture* _fixture = nullptr;
+};
+
+class TrapCallback : public b2QueryCallback {
+public:
+    bool ReportFixture(b2Fixture* fixture);
+
+    const b2Fixture* _fixture = nullptr;
+};
+
+class Stage;
+class ContactListener : public b2ContactListener {
+public:
+    void BeginContact(b2Contact* contact);
+
+    Stage* _stage = nullptr;
+};
+
+template <typename T>
+std::string toString(const T& value)
+{
+    std::stringstream stream;
+    stream << value;
+    return stream.str();
+}
+
+#endif // __NR_UTILS_HPP__
diff --git a/include/Stage.hpp b/include/Stage.hpp
new file mode 100644
index 0000000..aef99e3
--- /dev/null
+++ b/include/Stage.hpp
@@ -0,0 +1,44 @@
+#ifndef __STAGE_HPP__
+#define __STAGE_HPP__
+
+#include <fstream>
+#include <iostream>
+
+#include <NR_Utils.hpp>
+#include <Hyperneat/Utils/Vector.hpp>
+
+namespace hn = hyperneat;
+
+class Stage {
+public:
+    int load(const std::string& fileName);
+    void update();
+    void drawOn(sf::RenderWindow& surface) const;
+
+private:
+    class CheckPoint {
+    public:
+        void calculateSegment(const CheckPoint& prev);
+
+        sf::VertexArray _line    = sf::VertexArray(sf::Lines);
+        double          _value   = 0.0;
+        double          _segment = 0.0;
+        b2Body*         _body    = nullptr;
+    };
+
+    b2World _world = { { 0.0f, 0.0f } };
+    ContactListener _listener;
+
+    hn::Vector<sf::VertexArray>    _walls;
+    hn::Vector<b2Body*>            _wallBodies;
+    hn::Vector<b2AABB>             _traps;
+    hn::Vector<sf::RectangleShape> _trapRects;
+    hn::Vector<CheckPoint>         _checkPoints;
+
+    sf::CircleShape _factory = sf::CircleShape(AGENT_RAD + 2, AGENT_RES);
+
+    friend class App;
+    friend class Agent;
+};
+
+#endif // __STAGE_HPP__