kin visuals

simulator/src/main.rs

@@ -1,4 +1,5 @@
 use std::cmp::min;
+use std::ptr;
 
 use macroquad::prelude::*;
 use parry2d::math::Pose;
@@ -16,12 +17,14 @@ const BOT_RADIUS: f32 = 16.0;
 struct Robot {
     pose: Pose,
     alive: bool,
+    collider: Ball,
+    sensor: Sensor,
 }
 
 impl Robot {
     fn new(position: Vec2) -> Self {
         let pose:Pose = Pose::from_translation(position.to_array().into());
-        Self { pose, alive: true }
+        Self { pose, alive: true, collider: Ball::new(BOT_RADIUS), sensor: Sensor::None}
     }
 
     fn move_step(&mut self, forward: f32, right: f32) {
@@ -45,6 +48,10 @@ impl Robot {
         self.pose.translation + self.ahead() * VIEW_DIST
     }
 
+    pub fn collider(&self) -> (&Pose, &dyn Shape) {
+        (&self.pose, &self.collider)
+    }
+
     fn detect<'a>(&self, things: impl Iterator<Item = (&'a Pose, &'a dyn Shape)>) -> Option<f32> {
         let collider = Segment::new(self.pose.translation, self.view_end());
         things
@@ -52,10 +59,11 @@ impl Robot {
             .map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
     }
 
-    pub fn policy(&mut self, sensor: Sensor){
+    pub fn policy(&mut self, sensor: &Sensor){
         match sensor {
             Sensor::Food => self.move_step(1.0, 0.0),
-            Sensor::None => self.move_step(1.0, 0.01),
+            Sensor::Kin => self.move_step(-0.3, -0.02),
+            Sensor::None => self.move_step(0.3, 0.01),
         }
     }
 }
@@ -68,6 +76,7 @@ struct Food {
 
 enum Sensor {
     Food,
+    Kin,
     None
 }
 
@@ -110,12 +119,19 @@ async fn main() {
             food.draw();
         }
 
-        for robot in &mut robots {
+        let mut sensors = Vec::new();
+        for robot in &robots {
             println!("loop");
-            let detect = robot.detect(food.iter().map(Food::collider));
-            let sensor = if detect.is_some() {Sensor::Food} else {Sensor::None};
-            robot.policy(sensor);
-            println!("Food detection: {:?}",detect);
+            let detect_food = robot.detect(food.iter().map(Food::collider));
+            let detect_kin = robot.detect(robots.iter().filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
+            let mut sensor = if detect_food.is_some() {Sensor::Food} else {Sensor::None};
+            if detect_kin.is_some() {sensor = Sensor::Kin}
+            println!("Food detection: {:?}",detect_food);
+            println!("Kin detection: {:?}",detect_kin);
+            sensors.push(sensor);
+        }
+        for (idx, robot) in robots.iter_mut().enumerate() {
+            robot.policy(&sensors[idx]);
             robot.draw();
         }
         draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);