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Windows7系统MicrosoftVisualStudio2015三、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#includemain.h#includetime.h//---------------------------------------------------------------------------/*Book:AIforGameDevelopersAuthors:DavidM.Bourg&GlennSeemannExample:Flocking,Chapter4*///---------------------------------------------------------------------------#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//GlobalVariables:intFrameCounter=0;RigidBody2DUnits[_MAX_NUM_UNITS];VectorTarget;VectorObstacles[_NUM_OBSTACLES];boolInitialize(void){inti;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;//coordinatesofthebodycenterofdragUnits[i].CT.y=-0.50*Units[i].fLength;Units[i].CT.x=0.0f;//coordinatesofthepropellerthrustvectorUnits[i].CPT.y=0.5*Units[i].fLength;Units[i].CPT.x=-0.5*Units[i].fWidth;//coordinatesoftheportbowthrusterUnits[i].CST.y=0.5*Units[i].fLength;Units[i].CST.x=0.5*Units[i].fWidth;//coordinatesofthestarboardbowthrusterUnits[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);}returntrue;}voidDoUnitAI(inti){intj;intN;VectorPave;VectorVave;VectorFs;VectorPfs;Vectord,u,v,w;doublem;intNf;boolInView;boolDoFlock=WideView||LimitedView||NarrowView;intRadiusFactor;//beginFlockAIFs.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.y0)&&(fabs(w.x)fabs(w.y)*_FRONT_VIEW_ANGLE_FACTOR)))if(d.Magnitude()=(Units[i].fLength*_NARROWVIEW_RADIUS_FACTOR))Nf++;if(WideView){InView=((w.y0)||((w.y0)&&(fabs(w.x)fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR)));RadiusFactor=_WIDEVIEW_RADIUS_FACTOR;}if(LimitedView){InView=(w.y0);RadiusFactor=_LIMITEDVIEW_RADIUS_FACTOR;}if(NarrowView){InView=(((w.y0)&&(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++;}}//SeparationRule:if(InView)//(w.y0)||((w.y0)&&(fabs(w.x)fabs(w.y)*_BACK_VIEW_ANGLE_FACTOR))){if(d.Magnitude()=(Units[i].fLength*_SEPARATION_FACTOR)){if(w.x0)m=1;if(w.x0)m=-1;Fs.x+=m*_STEERINGFORCE*(Units[i].fLength*_SEPARATION_FACTOR)/d.Magnitude();}}}}//CohesionRule:if(DoFlock&&(N0)){Pave=Pave/N;v=Units[i].vVelocity;v.Normalize();u=Pave-Units[i].vPosition;u.Normalize();w=VRotate2D(-Units[i].fOrientation,u);if(w.x0)m=-1;if(w.x0)m=1;if(fabs(v*u)1.0f)Fs.x+=m*_STEERINGFORCE*acos(v*u)/pi;}//AlignmentRule:if(DoFlock&&(N0)){Vave=Vave/N;u=Vave;u.Normalize();v=Units[i].vVelocity;v.Normalize();w=VRotate2D(-Units[i].fOrientation,u);if(w.x0)m=-1;if(w.x0)m=1;if(fabs(v*u)1)Fs.x+=m*_STEERINGFORCE*acos(v*u)/pi;}//Chasethetargetiftheunitisaleaderif(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.x0)m=-1;if(w.x0)m=1;Fs.x+=m*_STEERINGFORCE;}else{//InterceptV