游戏人工智能实验报告二

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。

四、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。

六、主要代码#include"main.h"#include"time.h"//---------------------------------------------------------------------------/*Book: AI for Game DevelopersAuthors: David M. Bourg & Glenn SeemannExample: Flocking, Chapter 4*///---------------------------------------------------------------------------#define_TIMESTEP 0.0025#define_TOL 1e-10#define_FWDTIME 10#define_THRUSTFACTOR 1.0#define _CHASESETUP true#define_SPAWN_AREA_R 100#define_MAX_NUM_UNITS 20#define_UNIT_LENGTH 4#define_OBSTACLE_RADIUS_FACTOR 8#define_OBSTACLE_RADIUS _OBSTACLE_RADIUS_FACTOR * _UNIT_LENGTH #define_COLLISION_VISIBILITY_FACTOR 25#define_WIDEVIEW_RADIUS_FACTOR 200#define_NARROWVIEW_RADIUS_FACTOR 50#define_LIMITEDVIEW_RADIUS_FACTOR 30#define_SEPARATION_FACTOR 5#define_BACK_VIEW_ANGLE_FACTOR 1#define_FRONT_VIEW_ANGLE_FACTOR 1#define_NUM_OBSTACLES 8// Global Variables:int FrameCounter = 0;RigidBody2D Units[_MAX_NUM_UNITS];Vector Target;Vector Obstacles[_NUM_OBSTACLES];bool Initialize(void){int i;GetRandomNumber(0, _WINWIDTH, true);for(i=0; i<_MAX_NUM_UNITS; i++){Units[i].fMass = 10;Units[i].fInertia = 10;Units[i].fInertiaInverse = 1/10;Units[i].vPosition.x = GetRandomNumber(_WINWIDTH/2-_SPAWN_AREA_R, _WINWIDTH/2+_SPAWN_AREA_R, false);Units[i].vPosition.y = GetRandomNumber(_WINHEIGHT/2-_SPAWN_AREA_R, _WINHEIGHT/2+_SPAWN_AREA_R, false);Units[i].fWidth = _UNIT_LENGTH/2;Units[i].fLength = _UNIT_LENGTH;Units[i].fHeight = _UNIT_LENGTH;Units[i].fOrientation = GetRandomNumber(0, 360, false);Units[i].CD.y = -0.12*Units[i].fLength; Units[i].CD.x = 0.0f; // coordinates of the body center of dragUnits[i].CT.y = -0.50*Units[i].fLength; Units[i].CT.x = 0.0f; // coordinates of the propeller thrust vectorUnits[i].CPT.y = 0.5*Units[i].fLength; Units[i].CPT.x = -0.5*Units[i].fWidth; // coordinates of the port bow thrusterUnits[i].CST.y = 0.5*Units[i].fLength; Units[i].CST.x = 0.5*Units[i].fWidth; // coordinates of the starboard bow thrusterUnits[i].ProjectedArea = (Units[i].fLength + Units[i].fWidth) * Units[i].fHeight;Units[i].Leader = false;if(i>_MAX_NUM_UNITS/2){Units[i].Interceptor = true;Units[i].ThrustForce = _THRUSTFORCE*1.5f;} else {Units[i].Interceptor = false;Units[i].ThrustForce = _THRUSTFORCE;}}for(i=0; i<_NUM_OBSTACLES; i++){Obstacles[i].x = GetRandomNumber(_OBSTACLE_RADIUS*4, _WINWIDTH-_OBSTACLE_RADIUS*4, false);Obstacles[i].y = /*_WINHEIGHT/2;*/GetRandomNumber(_OBSTACLE_RADIUS*4, _WINHEIGHT-_OBSTACLE_RADIUS*4, false);}return true;}void DoUnitAI(int i){int j;int N;Vector Pave;Vector Vave;Vector Fs;Vector Pfs;Vector d, u, v, w;double m;int Nf;bool InView;bool DoFlock = WideView || LimitedView || NarrowView;int RadiusFactor;// 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 = Units[i].fLength / 2.0f;Nf = 0;for(j=1; j<_MAX_NUM_UNITS; j++){if(i!=j){InView = false;d = Units[j].vPosition - Units[i].vPosition;w = VRotate2D(-Units[i].fOrientation, d);if(((w.y > 0) && (fabs(w.x) < fabs(w.y)*_FRONT_VIEW_ANGLE_FACTOR)))if(d.Magnitude() <= (Units[i].fLength * _NARROWVIEW_RADIUS_FACTOR))Nf++;if(WideView){InView = ((w.y > 0) || ((w.y < 0) && (fabs(w.x) > 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 && (Units[i].Interceptor == Units[j].Interceptor)){if(d.Magnitude() <= (Units[i].fLength * RadiusFactor)){Pave += Units[j].vPosition;Vave += Units[j].vVelocity;N++;}}// Separation Rule:if(InView)//(w.y > 0) || ((w.y < 0) && (fabs(w.x) > fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR))) {if(d.Magnitude() <= (Units[i].fLength * _SEPARATION_FACTOR)){if(w.x < 0) m = 1;if(w.x > 0) m = -1;Fs.x += m*_STEERINGFORCE * (Units[i].fLength * _SEPARATION_FACTOR) / d.Magnitude();}}}}// Cohesion Rule:if(DoFlock && (N > 0)){Pave = Pave / N;v = Units[i].vVelocity;v.Normalize();u = Pave - Units[i].vPosition;u.Normalize();w = VRotate2D(-Units[i].fOrientation, u);if(w.x < 0) m = -1;if(w.x > 0) m = 1;if(fabs(v*u) < 1.0f)Fs.x += m * _STEERINGFORCE * acos(v * u) / pi; }// Alignment Rule:if(DoFlock && (N > 0)){Vave = Vave / N;u = Vave;u.Normalize();v = Units[i].vVelocity;v.Normalize();w = VRotate2D(-Units[i].fOrientation, u);if(w.x < 0) m = -1;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)Units[i].Leader = true;elseUnits[i].Leader = false;if((Units[i].Leader || !DoFlock)){if(!Units[i].Interceptor){// Chaseu = Units[0].vPosition;d = u - Units[i].vPosition;w = VRotate2D(-Units[i].fOrientation, d);if(w.x < 0) m = -1;if(w.x > 0) m = 1;Fs.x += m*_STEERINGFORCE;} else {// InterceptVector s1, s2, s12;double tClose;Vector Vr12;Vr12 = Units[0].vVelocity-Units[i].vVelocity; // closing velocitys12 = Units[0].vPosition - Units[i].vPosition; // range to closetClose = s12.Magnitude() / Vr12.Magnitude(); // time to closes1 = Units[0].vPosition + (Units[0].vVelocity * tClose);Target = s1;s2 = s1 - Units[i].vPosition;w = VRotate2D(-Units[i].fOrientation, s2);if(w.x < 0) m = -1;if(w.x > 0) m = 1;Fs.x += m*_STEERINGFORCE;}}}// Collision avoidance (with static obstacles)Vector a, p, b;for(j=0; j<_NUM_OBSTACLES; j++){u = Units[i].vVelocity;u.Normalize();v = u * _COLLISION_VISIBILITY_FACTOR * Units[i].fLength;a = Obstacles[j] - Units[i].vPosition;p = (a * u) * u;b = p - a;if((b.Magnitude() < _OBSTACLE_RADIUS) && (p.Magnitude() < v.Magnitude())){// impending collision...steer awayw = VRotate2D(-Units[i].fOrientation, a);w.Normalize();if(w.x < 0) m = 1;if(w.x > 0) m = -1;Fs.x += m * _STEERINGFORCE * (_COLLISION_VISIBILITY_FACTOR *Units[i].fLength)/a.Magnitude();}}// apply accumulated steering forceUnits[i].Fa = Fs;Units[i].Pa = Pfs;// end Flock AI}void UpdateSimulation(void){double dt = _TIMESTEP;int i;// initialize the back bufferif(FrameCounter >= _RENDER_FRAME_COUNT){ClearBackBuffer();DrawObstacles();}// Update player controlled unit:Units[0].SetThrusters(false, false, 1);Units[0].SetThrusters(false, false, 1);if (IsKeyDown(VK_RIGHT))Units[0].SetThrusters(true, false, 0.5);if (IsKeyDown(VK_LEFT))Units[0].SetThrusters(false, true, 0.5);Units[0].UpdateBodyEuler(dt);if(FrameCounter >= _RENDER_FRAME_COUNT)DrawCraft(Units[0], RGB(0, 255, 0));if(Units[0].vPosition.x > _WINWIDTH) Units[0].vPosition.x = 0;if(Units[0].vPosition.x < 0) Units[0].vPosition.x = _WINWIDTH;if(Units[0].vPosition.y > _WINHEIGHT) Units[0].vPosition.y = 0;if(Units[0].vPosition.y < 0) Units[0].vPosition.y = _WINHEIGHT;// update computer controlled units:for(i=1; i<_MAX_NUM_UNITS; i++){DoUnitAI(i);if(FrameCounter >= _RENDER_FRAME_COUNT){if(Units[i].Leader)DrawCraft(Units[i], RGB(255,0,0));else {if(Units[i].Interceptor)DrawCraft(Units[i], RGB(255,0,255));elseDrawCraft(Units[i], RGB(0,0,255));}}if(Units[i].vPosition.x > _WINWIDTH) Units[i].vPosition.x = 0;if(Units[i].vPosition.x < 0) Units[i].vPosition.x = _WINWIDTH;if(Units[i].vPosition.y > _WINHEIGHT) Units[i].vPosition.y = 0;if(Units[i].vPosition.y < 0) Units[i].vPosition.y = _WINHEIGHT;} // end i-loopif(FrameCounter >= _RENDER_FRAME_COUNT) {CopyBackBufferToWindow();FrameCounter = 0;} elseFrameCounter++;}void DrawCraft(RigidBody2D craft, COLORREF clr){Vector vList[5];double wd, lg;int i;Vector v1;wd = craft.fWidth;lg = craft.fLength;vList[0].y = lg/2; vList[0].x = wd/2;vList[1].y = -lg/2; vList[1].x = wd/2;vList[2].y = -lg/2; vList[2].x = -wd/2;vList[3].y = lg/2; vList[3].x = -wd/2;vList[4].y = lg/2*1.5; vList[4].x = 0;for(i=0; i<5; i++){v1 = VRotate2D(craft.fOrientation, vList[i]);vList[i] = v1 + craft.vPosition;}DrawLine(vList[0].x, vList[0].y, vList[1].x, vList[1].y, 2, clr);DrawLine(vList[1].x, vList[1].y, vList[2].x, vList[2].y, 2, clr);DrawLine(vList[2].x, vList[2].y, vList[3].x, vList[3].y, 2, clr);DrawLine(vList[3].x, vList[3].y, vList[4].x, vList[4].y, 2, clr);DrawLine(vList[4].x, vList[4].y, vList[0].x, vList[0].y, 2, clr);if(ShowVectors){Vector v, u;double f = 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 steering forcev.x = craft.SThrust.x*f;v.y = craft.SThrust.y*f;v = VRotate2D(craft.fOrientation, v);u.x = craft.CST.x;u.y = craft.CST.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));// applied forcev.x = craft.Fa.x*f;v.y = craft.Fa.y*f;v = VRotate2D(craft.fOrientation, v);u.x = craft.Pa.x;u.y = craft.Pa.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));}}void DrawObstacles(void){int i;RECT r;int radius = _OBSTACLE_RADIUS/2;for(i=0; i<_NUM_OBSTACLES; i++){SetRect(&r, Obstacles[i].x - radius, Obstacles[i].y - radius, Obstacles[i].x + radius, Obstacles[i].y + radius);DrawEllipse(&r, 2, RGB(255,0,0));}}/*void DoAttractCraft2(void){// Apply Leonard-Jones potential force to Craft2// todo: make sure rigidbody calcloads function handles itVector r = Craft2.vPosition - Craft1.vPosition;Vector u = r;u.Normalize();double k1 = 0.5e2; // repeldouble k2 = 1.0e2; // attractk2*pow(Craft2.fLength*3/r.Magnitude(), 2)) ) * u);Craft2.Pa.x = 0;Craft2.Pa.y = Craft2.fLength / 2;Target = Craft1.vPosition;}*/int GetRandomNumber(int min, int max, bool seed) {int number;if(seed)srand( (unsigned)time( NULL ) );number = (((abs(rand())%(max-min+1))+min));if(number>max)number = max;if(number<min)number = min;return number;}。