游戏人工智能实验报告二.doc

精品文档实验二 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Windows 7系统 Microsoft Visual Studio2015三、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。4、 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。6、 主要代码#include main.h#include time.h/-/*Book: AI for Game DevelopersAuthors: David M. Bourg & Glenn SeemannExample: Flocking, Chapter 4*/-#define_TIMESTEP0.0025#define_TOL1e-10#define_FWDTIME10#define_THRUSTFACTOR1.0#define _CHASESETUPtrue#define_SPAWN_AREA_R100#define_MAX_NUM_UNITS20#define_UNIT_LENGTH4#define_OBSTACLE_RADIUS_FACTOR8#define_OBSTACLE_RADIUS_OBSTACLE_RADIUS_FACTOR * _UNIT_LENGTH#define_COLLISION_VISIBILITY_FACTOR25#define_WIDEVIEW_RADIUS_FACTOR200#define_NARROWVIEW_RADIUS_FACTOR50#define_LIMITEDVIEW_RADIUS_FACTOR30#define_SEPARATION_FACTOR5#define_BACK_VIEW_ANGLE_FACTOR1#define_FRONT_VIEW_ANGLE_FACTOR1#define_NUM_OBSTACLES8/ Global Variables:intFrameCounter = 0;RigidBody2DUnits_MAX_NUM_UNITS;VectorTarget;VectorObstacles_NUM_OBSTACLES;boolInitialize(void)int i;GetRandomNumber(0, _WINWIDTH, true);for(i=0; i_MAX_NUM_UNITS/2)Unitsi.Interceptor = true;Unitsi.ThrustForce = _THRUSTFORCE*1.5f; else Unitsi.Interceptor = false;Unitsi.ThrustForce = _THRUSTFORCE;for(i=0; i_NUM_OBSTACLES; i+)Obstaclesi.x = GetRandomNumber(_OBSTACLE_RADIUS*4, _WINWIDTH-_OBSTACLE_RADIUS*4, false);Obstaclesi.y = /*_WINHEIGHT/2;*/GetRandomNumber(_OBSTACLE_RADIUS*4, _WINHEIGHT-_OBSTACLE_RADIUS*4, false);return true;voidDoUnitAI(int i)intj;intN;VectorPave;VectorVave;VectorFs;VectorPfs;Vectord, u, v, w;doublem;intNf;boolInView;boolDoFlock = WideView | LimitedView | NarrowView;intRadiusFactor;/ begin Flock AIFs.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 = Unitsi.fLength / 2.0f;Nf = 0;for(j=1; j 0) & (fabs(w.x) fabs(w.y)*_FRONT_VIEW_ANGLE_FACTOR) if(d.Magnitude() 0) | (w.y 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 & (Unitsi.Interceptor = Unitsj.Interceptor)if(d.Magnitude() 0) | (w.y fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR)if(d.Magnitude() = (Unitsi.fLength * _SEPARATION_FACTOR)if(w.x 0) m = -1;Fs.x += m*_STEERINGFORCE * (Unitsi.fLength * _SEPARATION_FACTOR) / d.Magnitude();/ Cohesion Rule: if(DoFlock & (N 0)Pave = Pave / N;v = Unitsi.vVelocity;v.Normalize();u = Pave - Unitsi.vPosition;u.Normalize();w = VRotate2D(-Unitsi.fOrientation, u);if(w.x 0) m = 1;if(fabs(v*u) 0)Vave = Vave / N;u = Vave;u.Normalize();v = Unitsi.vVelocity;v.Normalize();w = VRotate2D(-Unitsi.fOrientation, u);if(w.x 0) m = 1;if(fabs(v*u) 1)Fs.x += m * _STEERINGFORCE * acos(v * u) / pi;/ Chase the target if the unit is a leaderif(Chase)if(Nf = 0) Unitsi.Leader = true;elseUnitsi.Leader = false;if(Unitsi.Leader | !DoFlock)if(!Unitsi.Interceptor)/ Chaseu = Units0.vPosition;d = u - Unitsi.vPosition;w = VRotate2D(-Unitsi.fOrientation, d);if(w.x 0) m = 1;Fs.x += m*_STEERINGFORCE; else / InterceptVectors1, s2, s12;doubletClose;VectorVr12;Vr12 = Units0.vVelocity-Unitsi.vVelocity; / closing velocitys12 = Units0.vPosition - Unitsi.vPosition; / range to closetClose = s12.Magnitude() / Vr12.Magnitude(); / time to closes1 = Units0.vPosition + (Units0.vVelocity * tClose);Target = s1;s2 = s1 - Unitsi.vPosition;w = VRotate2D(-Unitsi.fOrientation, s2);if(w.x 0) m = 1;Fs.x += m*_STEERINGFORCE;/ Collision avoidance (with static obstacles)Vectora, p, b;for(j=0; j_NUM_OBSTACLES; j+)u = Unitsi.vVelocity;u.Normalize();v = u * _COLLISION_VISIBILITY_FACTOR * Unitsi.fLength;a = Obstaclesj - Unitsi.vPosition;p = (a * u) * u;b = p - a;if(b.Magnitude() _OBSTACLE_RADIUS) & (p.Magnitude() v.Magnitude()/ impending collision.steer awayw = VRotate2D(-Unitsi.fOrientation, a);w.Normalize();if(w.x 0) m = -1;Fs.x += m * _STEERINGFORCE * (_COLLISION_VISIBILITY_FACTOR * Unitsi.fLength)/a.Magnitude();/ apply accumulated steering forceUnitsi.Fa = Fs;Unitsi.Pa = Pfs;/ end Flock AIvoidUpdateSimulation(void)doubledt = _TIMESTEP;inti;/ initialize the back bufferif(FrameCounter = _RENDER_FRAME_COUNT)ClearBackBuffer();DrawObstacles();/ Update player controlled unit:Units0.SetThrusters(false, false, 1);Units0.SetThrusters(false, false, 1);if (IsKeyDown(VK_RIGHT)Units0.SetThrusters(true, false, 0.5);if (IsKeyDown(VK_LEFT)Units0.SetThrusters(false, true, 0.5);Units0.UpdateBodyEuler(dt);if(FrameCounter = _RENDER_FRAME_COUNT)DrawCraft(Units0, RGB(0, 255, 0);if(Units0.vPosition.x _WINWIDTH) Units0.vPosition.x = 0;if(Units0.vPosition.x _WINHEIGHT) Units0.vPosition.y = 0;if(Units0.vPosition.y 0) Units0.vPosition.y = _WINHEIGHT;/ update computer controlled units:for(i=1; i= _RENDER_FRAME_COUNT)if(Unitsi.Leader)DrawCraft(Unitsi, RGB(255,0,0);else if(Unitsi.Interceptor)DrawCraft(Unitsi, RGB(255,0,255);elseDrawCraft(Unitsi, RGB(0,0,255);if(Unitsi.vPosition.x _WINWIDTH) Unitsi.vPosition.x = 0;if(Unitsi.vPosition.x _WINHEIGHT) Unitsi.vPosition.y = 0;if(Unitsi.vPosition.y = _RENDER_FRAME_COUNT) CopyBackBufferToWindow();FrameCounter = 0; elseFrameCounter+;voidDrawCraft(RigidBody2Dcraft, COLORREF clr)VectorvList5;doublewd, lg;inti;Vectorv1;wd = craft.fWidth;lg = craft.fLength;vList0.y = lg/2;vList0.x = wd/2;vList1.y = -lg/2;vList1.x = wd/2;vList2.y = -lg/2;vList2.x = -wd/2;vList3.y = lg/2;vList3.x = -wd/2;vList4.y = lg/2*1.5; vList4.x = 0;for(i=0; i5; i+)v1 = VRotate2D(craft.fOrientation, vListi);vListi = v1 + craft.vPosition;DrawLine(vList0.x, vList0.y, vList1.x, vList1.y, 2, clr);DrawLine(vList1.x, vList1.y, vList2.x, vList2.y, 2, clr);DrawLine(vList2.x, vList2.y, vList3.x, vList3.y, 2, clr);DrawLine(vList3.x, vList3.y, vList4.x, vList4.y, 2, clr);DrawLine(vList4.x, vList4.y, vList0.x, vList0.y, 2, clr);if(ShowVectors)Vectorv, u;doublef = 0.025;/ Show velocity vectors in greenDrawLine(craft.vPosition.x, craft.vPosition.y, craft.vPosition.x+craft.vVelocity.x, craft.vPosition.y+craft.vVelocity.y, 3, RGB(0,255,0);/ Show force vectors in black/ thrust vectorv.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);/ port steering forcev.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);/ stbd st