Aco vision to movement

src/main/java/app/controller/GameEngine.java

@@ -31,6 +31,8 @@ public GameEngine(Map map, Renderer renderer)
 
     public void tick()
     {
+        map.getAgents().forEach(a -> a.updateView(graphicsEngine.compute(map, a)));
+
         for (Agent a :map.getAgents())
         {
             Vector startPoint = a.getPosition();
@@ -40,8 +42,6 @@ public void tick()
                 a.updateLocation(endPoint);
         }
 
-        map.getAgents().forEach(a -> a.updateView(graphicsEngine.compute(map, a)));
-
         renderer.render();
     }
 

src/main/java/app/controller/graphicsEngine/Ray.java

@@ -29,6 +29,11 @@ public Vector getU()
         return u;
     }
 
+    public double getAngle()
+    {
+        return angle;
+    }
+
     public double angle()
     {
         return v.sub(u).getAngle();

src/main/java/app/controller/graphicsEngine/RayTracing.java

@@ -52,8 +52,8 @@ private ArrayList<Ray> scatterRays(Agent agent)
     {
         ArrayList<Ray> rays = new ArrayList<>();
         Vector origin = agent.getPosition();
-        Vector direction = agent.getDirection();
-        Ray ray = new Ray(origin, direction);
+        Vector nextPosition = origin.add(agent.getDirection());
+        Ray ray = new Ray(origin, nextPosition);
         double theta = 0;
         for(int i = 0; i < noOfRays; i++)
         {

src/main/java/app/controller/linAlg/Vector.java

@@ -68,7 +68,15 @@ public Vector rotate(double degrees)
     public double getAngle()
     {
         // + 90 to set the angle to north, negate angle to make it clockwise
-        return (-Math.toDegrees(Math.atan2(y,x)) + 360.0 + 90.0) % 360.0;
+        // Rounded to 1 decimal place
+        double angle = (-Math.toDegrees(Math.atan2(y,x)) + 360.0 + 90.0) % 360.0;
+        double roundedAngle = (double) Math.round(angle * 10) / 10;
+
+        if(roundedAngle == 360.0)
+        {
+            roundedAngle = 0.0;
+        }
+        return roundedAngle;
     }
 
     public Vector copy()

src/main/java/app/model/Grid/AcoGrid.java

@@ -1,6 +1,7 @@
 package app.model.Grid;
 
 import app.model.agents.ACO.AcoAgent;
+import app.model.agents.Cells.Cell;
 import app.model.agents.Cells.CellType;
 import app.model.agents.Cells.PheromoneCell;
 
@@ -25,7 +26,7 @@ public void updateAgent(AcoAgent agent)
         int col = getCellCol(agent.getPosition());
 
         PheromoneCell cell = (PheromoneCell) super.getCellAt(row, col);
-        cell.updatePheromone(agent.releaseMaxPheramone());
+        cell.updatePheromone(agent.releaseMaxPheromone());
     }
 
     public void evaporationProcess()
@@ -40,13 +41,14 @@ public void evaporationProcess()
         }
     }
 
-    public void displayGridState()
+    //TODO Rewrite method to toString
+    public void print()
     {
-        for(int i = 0; i < getRowDimension(); i++)
+        for(Cell[] line : grid)
         {
-            for(int j = 0; j < getColDimension(); j++)
+            for(Cell cell: line)
             {
-                System.out.print(grid[i][j].toString() + " ");
+                System.out.print(cell.toString() + " ");
             }
             System.out.println();
         }

src/main/java/app/model/Grid/Grid.java

@@ -14,8 +14,9 @@ public class Grid
 
     public Grid(double length, double width, CellType type)
     {
-        rowSize = (int)(length / cellSize);
-        colSize = (int)(width / cellSize);
+        //Addition of single cell to accomodate for 0 cells
+        rowSize = (int)(Math.ceil(length / cellSize) + 1);
+        colSize = (int)(Math.ceil(width / cellSize) + 1);
         this.type = type;
 
         grid = initializeAllCells();
@@ -67,4 +68,9 @@ public int getColDimension()
     {
         return grid[0].length;
     }
+
+    public double getCellSize()
+    {
+        return cellSize;
+    }
 }

src/main/java/app/model/Map.java

@@ -4,6 +4,7 @@
 import app.controller.linAlg.Vector;
 import app.controller.settings.Settings;
 import app.controller.settings.SettingsObject;
+import app.model.agents.ACO.AcoAgent;
 import app.model.agents.Agent;
 import app.model.agents.Human;
 import app.model.agents.WallFollowAgent;
@@ -38,14 +39,12 @@ public Map(Settings settings)
 
         agents = new ArrayList<>();
 
-        /* Adds temporary WallFollowAgent */
-        Vector srt = new Vector(randX(intruderSpawn), randY(intruderSpawn));
-        Vector dir = new Vector(1,0);
-        WallFollowAgent wallAgent = new WallFollowAgent(srt, dir, 10);
-        //Assumes the wallFollowAgent is a guard
-        wallAgent.setMaxWalk(settings.getWalkSpeedGuard());
-        wallAgent.setMaxSprint(settings.getSprintSpeedGuard());
-        agents.add(wallAgent);
+        /* Adds temporary AcoAgent */
+        Vector srt = new Vector(14, 12);
+        Vector dir = new Vector(0,1);
+        AcoAgent.initializeWorld(settings.getWidth(), settings.getHeight());
+        AcoAgent agent = new AcoAgent(srt, dir, 10);
+        agents.add(agent);
 
         // On creation add the right number of guards
         for(int i = 0; i < settings.getNoOfGuards(); i++)
@@ -60,14 +59,6 @@ public Map(Settings settings)
             Vector intruderStart = new Vector(randX(intruderSpawn), randY(intruderSpawn));
             /* TODO intruder agents here!!! */
         }
-
-        Vector humanStart = new Vector(randX(guardSpawn), randY(guardSpawn));
-        human = new Human(humanStart, new Vector(1,0), 10);
-        //Assumes the human is a guard
-        human.setMaxWalk(settings.getWalkSpeedGuard());
-        human.setMaxSprint(settings.getSprintSpeedGuard());
-        agents.add(human);
-
         System.out.println("done.");
     }
 

src/main/java/app/model/agents/ACO/AcoAgent.java

@@ -1,35 +1,188 @@
 package app.model.agents.ACO;
 
+import app.controller.graphicsEngine.Ray;
 import app.controller.linAlg.Vector;
 import app.model.Grid.AcoGrid;
 import app.model.agents.AgentImp;
 import app.model.agents.Cells.PheromoneCell;
+import app.model.map.Move;
 
+import java.util.ArrayList;
 import java.util.HashMap;
+import java.util.Random;
 
+//TODO Accomodate for agents clashes
 public class AcoAgent extends AgentImp
 {
-    //TODO Place actual max pheramone value
-    private double maxPheramone = 10;
+    private double maxPheromone = 1;
     private static AcoGrid world;
+    private double cellSize = world.getCellSize();
+    Random randomGenerator = new Random(1);
+
     private HashMap<Integer, PheromoneCell> agentMap = new HashMap<>();
 
+    private int[] cardinalAngles = {0, 90, 180, 270};
+    private double epsilon = 0.3;
+
     public AcoAgent(Vector position, Vector direction, double radius)
     {
         super(position, direction, radius);
         world.updateAgent(this);
     }
 
+    // 1. Agent looks around
+    // 2. Determine cardinal rays
+    // 3. Determine positions to move to that aren't blocked (Wall or agent)
+    // 4. Determine pheromone value at each position
+    // 5. Determine best move and execute it.
+    // 6. After all agents have gone, perform evaporation procedure
+    @Override
+    public Move move()
+    {
+        Ray[] cardinalRays = detectCardinalRays();
+        ArrayList<Vector> possibleMovements = determineAvailableMovements(cardinalRays);
+        ArrayList<Double> cellPheromones = accessAvaliableCellPheromones(possibleMovements);
+
+        ArrayList<Vector> equivalentMinMoves = determineEquivalentMinMoves(cellPheromones, possibleMovements);
+        Vector moveVector= selectRandomEquivalentMove(equivalentMinMoves);
+        return new Move(position, moveVector);
+    }
+
     @Override
     public void updateLocation(Vector endPoint)
     {
         position = endPoint;
         world.updateAgent(this);
+        System.out.println(position.toString());
+    }
+
+    //TODO Implement movement bias based on target direction
+    public ArrayList<Vector> determineEquivalentMinMoves(ArrayList<Double> cellPheromones, ArrayList<Vector> possibleMovements)
+    {
+        double minValue = Double.MAX_VALUE;
+        ArrayList<Vector> equivalentMoves = new ArrayList<>();
+
+        for(int i = 0; i < cellPheromones.size(); i++)
+        {
+            if(cellPheromones.get(i) == minValue)
+            {
+                equivalentMoves.add(possibleMovements.get(i));
+            }
+            else if(cellPheromones.get(i) < minValue)
+            {
+                equivalentMoves.clear();
+                minValue = cellPheromones.get(i);
+                equivalentMoves.add(possibleMovements.get(i));
+            }
+        }
+        return equivalentMoves;
+    }
+
+    public Vector selectRandomEquivalentMove(ArrayList<Vector> equivalentMoves)
+    {
+        return equivalentMoves.get(randomGenerator.nextInt(equivalentMoves.size()));
+    }
+
+    public ArrayList<Double> accessAvaliableCellPheromones(ArrayList<Vector> possibleMovements)
+    {
+
+        ArrayList<Double> cellPheromoneValues = new ArrayList<>();
+
+        for(Vector movement : possibleMovements)
+        {
+            Vector resultingPosition = position.add(movement);
+            PheromoneCell possibleCell = (PheromoneCell) world.getCellAt(resultingPosition);
+            cellPheromoneValues.add(possibleCell.currentPheromoneValue());
+        }
+        return cellPheromoneValues;
+    }
+
+    public ArrayList<Vector> determineAvailableMovements(Ray[] cardinalRays)
+    {
+        ArrayList<Vector> possibleMovements = new ArrayList<>();
+
+        for(int i = 0; i < cardinalRays.length; i++)
+        {
+            if(cardinalRays[i].rayLength() > cellSize + epsilon)
+            {
+                possibleMovements.add(angleToGridMovementLink(cardinalAngles[i]));
+            }
+        }
+        return possibleMovements;
+    }
+
+    public Vector angleToGridMovementLink(int angle)
+    {
+        switch(angle)
+        {
+            case 0:
+                return new Vector(0, cellSize);
+            case 90:
+                return new Vector(cellSize, 0);
+            case 180:
+                return new Vector(0, -cellSize);
+            case 270:
+                return new Vector(-cellSize, 0);
+            default:
+                return null;
+        }
+    }
+
+    public Ray[] detectCardinalRays()
+    {
+        Ray[] cardinalRays = new Ray[cardinalAngles.length];
+
+        for(int i = 0; i < cardinalAngles.length; i++)
+        {
+            cardinalRays[i] = detectCardinalPoint(cardinalAngles[i]);
+        }
+        return cardinalRays;
+    }
+
+    public Ray detectCardinalPoint(double targetCardinalAngle)
+    {
+        int upperBound = view.size() - 1;
+        int lowerBound = 0;
+
+        while(lowerBound <= upperBound)
+        {
+            int midPoint = calculateMidPoint(upperBound, lowerBound);
+            double currentAngle = view.get(midPoint).angle();
+
+            if(approximateAngleRange(currentAngle, targetCardinalAngle))
+            {
+                return view.get(midPoint);
+            }
+            else if(currentAngle < targetCardinalAngle)
+            {
+                lowerBound = midPoint + 1;
+            }
+            else if(currentAngle > targetCardinalAngle)
+            {
+                upperBound = midPoint - 1;
+            }
+        }
+        System.out.println("Cardinal Point not found");
+        return null;
+    }
+
+    public int calculateMidPoint(int upperBound, int lowerBound)
+    {
+        return lowerBound + (upperBound - lowerBound)/2;
     }
 
-    public double releaseMaxPheramone()
+    public boolean approximateAngleRange(double detectedAngle, double targetAngle)
     {
-        return maxPheramone;
+        if(detectedAngle < (targetAngle + epsilon) && detectedAngle > (targetAngle - epsilon))
+        {
+            return true;
+        }
+        return false;
+    }
+
+    public double releaseMaxPheromone()
+    {
+        return maxPheromone;
     }
 
     public static void initializeWorld(double width, double height)
@@ -40,4 +193,9 @@ public static AcoGrid accessWorld()
     {
         return world;
     }
-}
+
+    public int[] getCardinalAngles()
+    {
+        return cardinalAngles;
+    }
+}