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-rw-r--r--include/Agent.hpp54
-rw-r--r--include/App.hpp57
-rw-r--r--include/NR_Utils.hpp79
-rw-r--r--include/Stage.hpp44
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__
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