ank/adversarial_foraging
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food collection

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This commit is contained in:
Andy Killorin 2026-11-09 11:42:22 -05:00
parent 4bc18b26ff
commit b279cc91d7
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 15 additions and 2 deletions
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19
simulator/src/main.rs
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@ -62,7 +62,7 @@ impl Robot {
pub fn policy(&mut self, sensor: &Sensor){ pub fn policy(&mut self, sensor: &Sensor){
match sensor { match sensor {
Sensor::Food => self.move_step(1.0, 0.0), Sensor::Food => self.move_step(1.0, 0.0),
Sensor::Kin => self.move_step(-0.3, -0.02), Sensor::Kin => self.move_step(-0.3, 0.02),
Sensor::None => self.move_step(0.3, 0.01), Sensor::None => self.move_step(0.3, 0.01),
} }
} }
@ -95,6 +95,12 @@ impl Food {
pub fn collider(&self) -> (&Pose, &dyn Shape) { pub fn collider(&self) -> (&Pose, &dyn Shape) {
(&self.pose, &self.collider) (&self.pose, &self.collider)
} }
fn detect<'a>(&self, things: impl Iterator<Item = (&'a Pose, &'a dyn Shape)>) -> Option<f32> {
things
.map(|thing| contact(&self.pose, &self.collider, thing.0, thing.1, 0.0).unwrap()).flatten()
.map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
}
} }
@ -115,9 +121,16 @@ async fn main() {
loop { loop {
clear_background(LIGHTGRAY); clear_background(LIGHTGRAY);
for food in &food{ for food in &mut food{
food.draw(); if let Some(detect_robot) = food.detect(robots.iter().map(Robot::collider)) {
println!("robot detected in contact");
food.alive = false;
} }
food.draw();
// TODO: die upon collision with robot
}
food = food.into_iter().filter(|f| f.alive).collect(); // remove dead food
let mut sensors = Vec::new(); let mut sensors = Vec::new();
for robot in &robots { for robot in &robots {