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Player.cpp
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Player.cpp
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//
// Created by Poppro on 12/23/2020.
//
#include "Player.h"
#include <iostream>
#include <fstream>
#include "RayCaster.h"
#include "constants.h"
void Player::addScore(int val) {
score += val;
}
void Player::moveForward() {
Position tmp = pos;
if (abs(direction.x()) > abs(direction.y())) {
if (direction.x() > 0) {
tmp.x += 1;
} else {
tmp.x -= 1;
}
} else {
if (direction.y() > 0) {
tmp.y += 1;
} else {
tmp.y -= 1;
}
}
if (!checkCollision(tmp))
pos = tmp;
makeFall();
}
void Player::jump() {
makeFall();
pos.z += 1;
}
void Player::rotateUp(double deg) {
Eigen::Vector3d zAxis = Eigen::Vector3d(0, 0, 1);
Eigen::Vector3d tilt = direction.cross(zAxis);
tilt.normalize();
direction = Eigen::AngleAxisd(deg * M_PI / 180.0, tilt) * direction;
}
void Player::rotateDown(double deg) {
rotateUp(-deg);
}
void Player::rotateRight(double deg) {
Eigen::Vector3d zAxis = Eigen::Vector3d(0, 0, 1);
direction = Eigen::AngleAxisd(deg * M_PI / 180.0, zAxis) * direction;
}
void Player::rotateLeft(double deg) {
rotateRight(-deg);
}
void Player::dig() {
RayCaster rayCaster(1, 0, 2);
std::vector<BlockInfo> digBlock = rayCaster.castRays(*this, *world);
if (digBlock[0].distance > 0 && digBlock[0].block.getId() != 7) {
addScore(digBlock[0].block.getValue());
world->clearBlock(digBlock[0].pos.x, digBlock[0].pos.y, digBlock[0].pos.z);
breakHistory.pop_back();
breakHistory.push_back(digBlock[0].pos);
} else { // log attempted break
breakHistory.pop_back();
breakHistory.emplace_back(1, 1, 1);
}
makeFall();
}
void Player::makeFall() {
while (!world->getBlock(pos.x, pos.y, pos.z - 1).isCollider())
pos.z -= 1;
}
void Player::makeMove() {
RayCaster rayCaster(N_RAYS, FOV, DEPTH);
std::vector<BlockInfo> castingView = rayCaster.castRays(*this, *world);
std::vector<double> netInput;
netInput.reserve(NN_INPUT_SIZE);
for (BlockInfo& bi : castingView) {
netInput.push_back(bi.block.getId());
netInput.push_back(bi.distance);
}
netInput.push_back(pos.z); // add height coord
netInput.push_back(direction.x());
netInput.push_back(direction.y());
netInput.push_back(direction.z());
std::vector<double> result = nn->predict(netInput);
double max = 0;
int maxIndex = 0;
for (int i = 0 ; i < result.size(); ++i) {
if (result[i] > max) {
max = result[i];
maxIndex = i;
}
}
breakHistory.emplace_back(0, 0, 0);
switch (maxIndex) {
case 0:
moveForward();
break;
case 1:
dig();
break;
case 2:
rotateRight(90);
break;
case 3:
rotateLeft(90);
break;
case 4:
rotateUp(30);
break;
case 5:
rotateDown(30);
break;
case 6:
jump();
break;
default:
std::cout << "Unexpected network output size " << std::endl;
exit(0);
}
posHistory.push_back(pos);
directionHistory.push_back(direction);
}
// Return true if there is a collision at the specified block
bool Player::checkCollision(Position p) {
return world->getBlock(p.x, p.y, p.z).isCollider() || world->getBlock(p.x, p.y, p.z + 1).isCollider();
}
PyreNet::NeuralNet* Player::getNN() const {
return nn;
}
int Player::getScore() const {
return score;
}
Position Player::getPosition() const {
return pos;
}
Eigen::Vector3d Player::getDirection() const {
return direction;
}
void Player::writeHistory(std::ofstream& ofs) {
for (int i = 0; i < posHistory.size(); ++i) {
Position& cpos = posHistory[i];
Position& bpos = breakHistory[i];
Eigen::Vector3d& dir = directionHistory[i];
ofs << std::to_string(cpos.x) << "." << std::to_string(cpos.y) << "." << std::to_string(cpos.z) << ",";
ofs << std::to_string(dir.x()) << "." << std::to_string(dir.y()) << "." <<std::to_string(dir.z()) << ",";
ofs << std::to_string(bpos.x) << "." << std::to_string(bpos.y) << "." << std::to_string(bpos.z);
ofs << std::endl;
}
}