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getSensor.cpp
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getSensor.cpp
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// getSensor.cpp
#include <iostream>
#include <cassert>
#include <cmath>
#include "simulator.h"
namespace BS {
float getPopulationDensityAlongAxis(Coord loc, Dir dir)
{
// Converts the population along the specified axis to the sensor range. The
// locations of neighbors are scaled by the inverse of their distance times
// the positive absolute cosine of the difference of their angle and the
// specified axis. The maximum positive or negative magnitude of the sum is
// about 2*radius. We don't adjust for being close to a border, so populations
// along borders and in corners are commonly sparser than away from borders.
// An empty neighborhood results in a sensor value exactly midrange; below
// midrange if the population density is greatest in the reverse direction,
// above midrange if density is greatest in forward direction.
assert(dir != Compass::CENTER); // require a defined axis
double sum = 0.0;
Coord dirVec = dir.asNormalizedCoord();
double len = std::sqrt(dirVec.x * dirVec.x + dirVec.y * dirVec.y);
double dirVecX = dirVec.x / len;
double dirVecY = dirVec.y / len; // Unit vector components along dir
auto f = [&](Coord tloc) {
if (tloc != loc && grid.isOccupiedAt(tloc)) {
Coord offset = tloc - loc;
double proj = dirVecX * offset.x + dirVecY * offset.y; // Magnitude of projection along dir
double contrib = proj / (offset.x * offset.x + offset.y * offset.y);
sum += contrib;
}
};
visitNeighborhood(loc, p.populationSensorRadius, f);
double maxSumMag = 6.0 * p.populationSensorRadius;
assert(sum >= -maxSumMag && sum <= maxSumMag);
double sensorVal;
sensorVal = sum / maxSumMag; // convert to -1.0..1.0
sensorVal = (sensorVal + 1.0) / 2.0; // convert to 0.0..1.0
return sensorVal;
}
// Converts the number of locations (not including loc) to the next barrier location
// along opposite directions of the specified axis to the sensor range. If no barriers
// are found, the result is sensor mid-range. Ignores agents in the path.
float getShortProbeBarrierDistance(Coord loc0, Dir dir, unsigned probeDistance)
{
unsigned countFwd = 0;
unsigned countRev = 0;
Coord loc = loc0 + dir;
unsigned numLocsToTest = probeDistance;
// Scan positive direction
while (numLocsToTest > 0 && grid.isInBounds(loc) && !grid.isBarrierAt(loc)) {
++countFwd;
loc = loc + dir;
--numLocsToTest;
}
if (numLocsToTest > 0 && !grid.isInBounds(loc)) {
countFwd = probeDistance;
}
// Scan negative direction
numLocsToTest = probeDistance;
loc = loc0 - dir;
while (numLocsToTest > 0 && grid.isInBounds(loc) && !grid.isBarrierAt(loc)) {
++countRev;
loc = loc - dir;
--numLocsToTest;
}
if (numLocsToTest > 0 && !grid.isInBounds(loc)) {
countRev = probeDistance;
}
float sensorVal = ((countFwd - countRev) + probeDistance); // convert to 0..2*probeDistance
sensorVal = (sensorVal / 2.0) / probeDistance; // convert to 0.0..1.0
return sensorVal;
}
float getSignalDensity(unsigned layerNum, Coord loc)
{
// returns magnitude of the specified signal layer in a neighborhood, with
// 0.0..maxSignalSum converted to the sensor range.
unsigned countLocs = 0;
unsigned long sum = 0;
Coord center = loc;
auto f = [&](Coord tloc) {
++countLocs;
sum += signals.getMagnitude(layerNum, tloc);
};
visitNeighborhood(center, p.signalSensorRadius, f);
double maxSum = (float)countLocs * SIGNAL_MAX;
double sensorVal = sum / maxSum; // convert to 0.0..1.0
return sensorVal;
}
float getSignalDensityAlongAxis(unsigned layerNum, Coord loc, Dir dir)
{
// Converts the signal density along the specified axis to sensor range. The
// values of cell signal levels are scaled by the inverse of their distance times
// the positive absolute cosine of the difference of their angle and the
// specified axis. The maximum positive or negative magnitude of the sum is
// about 2*radius*SIGNAL_MAX (?). We don't adjust for being close to a border,
// so signal densities along borders and in corners are commonly sparser than
// away from borders.
assert(dir != Compass::CENTER); // require a defined axis
double sum = 0.0;
Coord dirVec = dir.asNormalizedCoord();
double len = std::sqrt(dirVec.x * dirVec.x + dirVec.y * dirVec.y);
double dirVecX = dirVec.x / len;
double dirVecY = dirVec.y / len; // Unit vector components along dir
auto f = [&](Coord tloc) {
if (tloc != loc) {
Coord offset = tloc - loc;
double proj = (dirVecX * offset.x + dirVecY * offset.y); // Magnitude of projection along dir
double contrib = (proj * signals.getMagnitude(layerNum, loc)) /
(offset.x * offset.x + offset.y * offset.y);
sum += contrib;
}
};
visitNeighborhood(loc, p.populationSensorRadius, f);
double maxSumMag = 6.0 * p.signalSensorRadius * SIGNAL_MAX;
assert(sum >= -maxSumMag && sum <= maxSumMag);
double sensorVal = sum / maxSumMag; // convert to -1.0..1.0
sensorVal = (sensorVal + 1.0) / 2.0; // convert to 0.0..1.0
return sensorVal;
}
// Returns the number of locations to the next agent in the specified
// direction, not including loc. If the probe encounters a boundary or a
// barrier before reaching the longProbeDist distance, returns longProbeDist.
// Returns 0..longProbeDist.
unsigned longProbePopulationFwd(Coord loc, Dir dir, unsigned longProbeDist)
{
assert(longProbeDist > 0);
unsigned count = 0;
loc = loc + dir;
unsigned numLocsToTest = longProbeDist;
while (numLocsToTest > 0 && grid.isInBounds(loc) && grid.isEmptyAt(loc)) {
++count;
loc = loc + dir;
--numLocsToTest;
}
if (numLocsToTest > 0 && (!grid.isInBounds(loc) || grid.isBarrierAt(loc))) {
return longProbeDist;
} else {
return count;
}
}
// Returns the number of locations to the next barrier in the
// specified direction, not including loc. Ignores agents in the way.
// If the distance to the border is less than the longProbeDist distance
// and no barriers are found, returns longProbeDist.
// Returns 0..longProbeDist.
unsigned longProbeBarrierFwd(Coord loc, Dir dir, unsigned longProbeDist)
{
assert(longProbeDist > 0);
unsigned count = 0;
loc = loc + dir;
unsigned numLocsToTest = longProbeDist;
while (numLocsToTest > 0 && grid.isInBounds(loc) && !grid.isBarrierAt(loc)) {
++count;
loc = loc + dir;
--numLocsToTest;
}
if (numLocsToTest > 0 && !grid.isInBounds(loc)) {
return longProbeDist;
} else {
return count;
}
}
// Returned sensor values range SENSOR_MIN..SENSOR_MAX
float Indiv::getSensor(Sensor sensorNum, unsigned simStep) const
{
float sensorVal = 0.0;
switch (sensorNum) {
case Sensor::AGE:
// Converts age (units of simSteps compared to life expectancy)
// linearly to normalized sensor range 0.0..1.0
sensorVal = (float)age / p.stepsPerGeneration;
break;
case Sensor::BOUNDARY_DIST:
{
// Finds closest boundary, compares that to the max possible dist
// to a boundary from the center, and converts that linearly to the
// sensor range 0.0..1.0
int distX = std::min<int>(loc.x, (p.sizeX - loc.x) - 1);
int distY = std::min<int>(loc.y, (p.sizeY - loc.y) - 1);
int closest = std::min<int>(distX, distY);
int maxPossible = std::max<int>(p.sizeX / 2 - 1, p.sizeY / 2 - 1);
sensorVal = (float)closest / maxPossible;
break;
}
case Sensor::BOUNDARY_DIST_X:
{
// Measures the distance to nearest boundary in the east-west axis,
// max distance is half the grid width; scaled to sensor range 0.0..1.0.
int minDistX = std::min<int>(loc.x, (p.sizeX - loc.x) - 1);
sensorVal = minDistX / (p.sizeX / 2.0);
break;
}
case Sensor::BOUNDARY_DIST_Y:
{
// Measures the distance to nearest boundary in the south-north axis,
// max distance is half the grid height; scaled to sensor range 0.0..1.0.
int minDistY = std::min<int>(loc.y, (p.sizeY - loc.y) - 1);
sensorVal = minDistY / (p.sizeY / 2.0);
break;
}
case Sensor::LAST_MOVE_DIR_X:
{
// X component -1,0,1 maps to sensor values 0.0, 0.5, 1.0
auto lastX = lastMoveDir.asNormalizedCoord().x;
sensorVal = lastX == 0 ? 0.5 :
(lastX == -1 ? 0.0 : 1.0);
break;
}
case Sensor::LAST_MOVE_DIR_Y:
{
// Y component -1,0,1 maps to sensor values 0.0, 0.5, 1.0
auto lastY = lastMoveDir.asNormalizedCoord().y;
sensorVal = lastY == 0 ? 0.5 :
(lastY == -1 ? 0.0 : 1.0);
break;
}
case Sensor::LOC_X:
// Maps current X location 0..p.sizeX-1 to sensor range 0.0..1.0
sensorVal = (float)loc.x / (p.sizeX - 1);
break;
case Sensor::LOC_Y:
// Maps current Y location 0..p.sizeY-1 to sensor range 0.0..1.0
sensorVal = (float)loc.y / (p.sizeY - 1);
break;
case Sensor::OSC1:
{
// Maps the oscillator sine wave to sensor range 0.0..1.0;
// cycles starts at simStep 0 for everbody.
float phase = (simStep % oscPeriod) / (float)oscPeriod; // 0.0..1.0
float factor = -std::cos(phase * 2.0f * 3.1415927f);
assert(factor >= -1.0f && factor <= 1.0f);
factor += 1.0f; // convert to 0.0..2.0
factor /= 2.0; // convert to 0.0..1.0
sensorVal = factor;
// Clip any round-off error
sensorVal = std::min<float>(1.0, std::max<float>(0.0, sensorVal));
break;
}
case Sensor::LONGPROBE_POP_FWD:
{
// Measures the distance to the nearest other individual in the
// forward direction. If non found, returns the maximum sensor value.
// Maps the result to the sensor range 0.0..1.0.
sensorVal = longProbePopulationFwd(loc, lastMoveDir, longProbeDist) / (float)longProbeDist; // 0..1
break;
}
case Sensor::LONGPROBE_BAR_FWD:
{
// Measures the distance to the nearest barrier in the forward
// direction. If non found, returns the maximum sensor value.
// Maps the result to the sensor range 0.0..1.0.
sensorVal = longProbeBarrierFwd(loc, lastMoveDir, longProbeDist) / (float)longProbeDist; // 0..1
break;
}
case Sensor::POPULATION:
{
// Returns population density in neighborhood converted linearly from
// 0..100% to sensor range
unsigned countLocs = 0;
unsigned countOccupied = 0;
Coord center = loc;
auto f = [&](Coord tloc) {
++countLocs;
if (grid.isOccupiedAt(tloc)) {
++countOccupied;
}
};
visitNeighborhood(center, p.populationSensorRadius, f);
sensorVal = (float)countOccupied / countLocs;
break;
}
case Sensor::POPULATION_FWD:
// Sense population density along axis of last movement direction, mapped
// to sensor range 0.0..1.0
sensorVal = getPopulationDensityAlongAxis(loc, lastMoveDir);
break;
case Sensor::POPULATION_LR:
// Sense population density along an axis 90 degrees from last movement direction
sensorVal = getPopulationDensityAlongAxis(loc, lastMoveDir.rotate90DegCW());
break;
case Sensor::BARRIER_FWD:
// Sense the nearest barrier along axis of last movement direction, mapped
// to sensor range 0.0..1.0
sensorVal = getShortProbeBarrierDistance(loc, lastMoveDir, p.shortProbeBarrierDistance);
break;
case Sensor::BARRIER_LR:
// Sense the nearest barrier along axis perpendicular to last movement direction, mapped
// to sensor range 0.0..1.0
sensorVal = getShortProbeBarrierDistance(loc, lastMoveDir.rotate90DegCW(), p.shortProbeBarrierDistance);
break;
case Sensor::RANDOM:
// Returns a random sensor value in the range 0.0..1.0.
sensorVal = randomUint() / (float)UINT_MAX;
break;
case Sensor::SIGNAL0:
// Returns magnitude of signal0 in the local neighborhood, with
// 0.0..maxSignalSum converted to sensorRange 0.0..1.0
sensorVal = getSignalDensity(0, loc);
break;
case Sensor::SIGNAL0_FWD:
// Sense signal0 density along axis of last movement direction
sensorVal = getSignalDensityAlongAxis(0, loc, lastMoveDir);
break;
case Sensor::SIGNAL0_LR:
// Sense signal0 density along an axis perpendicular to last movement direction
sensorVal = getSignalDensityAlongAxis(0, loc, lastMoveDir.rotate90DegCW());
break;
case Sensor::GENETIC_SIM_FWD:
{
// Return minimum sensor value if nobody is alive in the forward adjacent location,
// else returns a similarity match in the sensor range 0.0..1.0
Coord loc2 = loc + lastMoveDir;
if (grid.isInBounds(loc2) && grid.isOccupiedAt(loc2)) {
const Indiv &indiv2 = peeps.getIndiv(loc2);
if (indiv2.alive) {
sensorVal = genomeSimilarity(genome, indiv2.genome); // 0.0..1.0
}
}
break;
}
default:
assert(false);
break;
}
if (std::isnan(sensorVal) || sensorVal < -0.01 || sensorVal > 1.01) {
std::cout << "sensorVal=" << (int)sensorVal << " for " << sensorName((Sensor)sensorNum) << std::endl;
sensorVal = std::max(0.0f, std::min(sensorVal, 1.0f)); // clip
}
assert(!std::isnan(sensorVal) && sensorVal >= -0.01 && sensorVal <= 1.01);
return sensorVal;
}
} // end namespace BS