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Move Raytracing from Tracker to ExplorationTracker #121

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Nov 18, 2024
Merged

Move Raytracing from Tracker to ExplorationTracker #121

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92 changes: 79 additions & 13 deletions Assets/Scripts/Statistics/ExplorationTracker.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,9 @@ public class ExplorationTracker : Tracker<ExplorationCell, ExplorationVisualizer

private readonly List<(int, ExplorationCell)> _newlyExploredTriangles = new();

private readonly int _traces;
private readonly float _traceIntervalDegrees;

public ExplorationTracker(SimulationMap<Tile> collisionMap, ExplorationVisualizer explorationVisualizer, RobotConstraints constraints)
: base(collisionMap, explorationVisualizer, constraints, tile => new ExplorationCell(isExplorable: !Tile.IsWall(tile.Type)))
{
Expand All @@ -61,6 +64,10 @@ public ExplorationTracker(SimulationMap<Tile> collisionMap, ExplorationVisualize

_currentVisualizationMode = new AllRobotsExplorationVisualization(_map);
_totalExplorableTriangles = collisionMap.Count(x => !Tile.IsWall(x.Item2.Type));

const float tracesPerMeter = 2f;
_traces = _constraints.SlamRayTraceCount ?? (int)(Mathf.PI * 2f * _constraints.SlamRayTraceRange * tracesPerMeter);
_traceIntervalDegrees = 360f / _traces;
}

protected override void CreateSnapShot()
Expand Down Expand Up @@ -128,19 +135,6 @@ protected override void OnAfterFirstTick(MonaRobot[] robots)
base.OnAfterFirstTick(robots);
}

protected override void AfterRayTracingARobot(MonaRobot robot)
{
// Register newly explored cells of this robot for visualization
_currentVisualizationMode.RegisterNewlyExploredCells(robot, _newlyExploredTriangles);
_newlyExploredTriangles.Clear();
}

protected override void OnNewlyExploredTriangles(int index, ExplorationCell cell)
{
_newlyExploredTriangles.Add((index, cell));
ExploredTriangles++;
}

public override void SetVisualizedRobot(MonaRobot? robot)
{
_selectedRobot = robot;
Expand Down Expand Up @@ -195,5 +189,77 @@ public void ShowSelectedRobotSlamMap()

SetVisualizationMode(new SelectedRobotSlamMapVisualization(_selectedRobot.Controller));
}

protected override void OnBeforeLogicUpdate(MonaRobot[] robots)
{
base.OnBeforeLogicUpdate(robots);

// The user can specify the tick interval at which the slam map is updated.
var shouldUpdateSlamMap = _constraints.AutomaticallyUpdateSlam &&
_currentTick % _constraints.SlamUpdateIntervalInTicks == 0;

PerformRayTracing(robots, shouldUpdateSlamMap);
}

// Updates both exploration tracker and robot slam maps
private void PerformRayTracing(MonaRobot[] robots, bool shouldUpdateSlamMap)
{
var visibilityRange = _constraints.SlamRayTraceRange;

foreach (var robot in robots)
{
SlamMap? slamMap = null;

if (shouldUpdateSlamMap)
{
slamMap = robot.Controller.SlamMap;
slamMap.ResetRobotVisibility();
}

var position = (Vector2)robot.transform.position;

// Use amount of traces specified by user, or calculate circumference and use trace at interval of 4
for (var i = 0; i < _traces; i++)
{
var angle = i * _traceIntervalDegrees;
// Avoid ray casts that can be parallel to the lines of a triangle
if (angle % 45 == 0)
{
angle += 0.5f;
}

_rayTracingMap.Raytrace(position, angle, visibilityRange, (index, cell) =>
{
if (cell.IsExplorable)
{
if (!cell.IsExplored)
{
cell.LastExplorationTimeInTicks = _currentTick;
cell.ExplorationTimeInTicks += 1;

_newlyExploredTriangles.Add((index, cell));
ExploredTriangles++;
}

cell.RegisterExploration(_currentTick);
}

if (slamMap != null)
{
var localCoordinate = slamMap.TriangleIndexToCoordinate(index);
// Update robot slam map if present (slam map only non-null if 'shouldUpdateSlamMap' is true)
slamMap.SetExploredByCoordinate(localCoordinate, isOpen: cell.IsExplorable);
slamMap.SetCurrentlyVisibleByTriangle(triangleIndex: index, localCoordinate, isOpen: cell.IsExplorable);
}

return cell.IsExplorable;
});
}

// Register newly explored cells of this robot for visualization
_currentVisualizationMode.RegisterNewlyExploredCells(robot, _newlyExploredTriangles);
_newlyExploredTriangles.Clear();
}
}
}
}
2 changes: 1 addition & 1 deletion Assets/Scripts/Trackers/PatrollingTracker.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ public void OnReachedVertex(int vertexId, int atTick)
}
}

protected override void OnLogicUpdate(IReadOnlyList<MonaRobot> robots)
protected override void OnLogicUpdate(MonaRobot[] robots)
{
var worstGraphIdleness = 0;
var graphIdlenessSum = 0;
Expand Down
81 changes: 4 additions & 77 deletions Assets/Scripts/Trackers/Tracker.cs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
using System;
using System.Collections.Generic;

using Maes.Map;
using Maes.Map.MapGen;
Expand All @@ -8,8 +7,6 @@
using Maes.Statistics;
using Maes.Visualizers;

using UnityEngine;

namespace Maes.Trackers
{
public abstract class Tracker<TCell, TVisualizer, TVisualizationMode> : ITracker
Expand All @@ -22,7 +19,7 @@ public abstract class Tracker<TCell, TVisualizer, TVisualizationMode> : ITracker
protected readonly TVisualizer _visualizer;

protected readonly SimulationMap<TCell> _map;
private readonly RayTracingMap<TCell> _rayTracingMap;
protected readonly RayTracingMap<TCell> _rayTracingMap;
private readonly int _explorationMapWidth;
private readonly int _explorationMapHeight;

Expand All @@ -39,9 +36,6 @@ public abstract class Tracker<TCell, TVisualizer, TVisualizationMode> : ITracker
// Set by derived class constructor.
protected TVisualizationMode _currentVisualizationMode = null!;

private readonly int _traces;
private readonly float _traceIntervalDegrees;

private readonly CoverageCalculator<TCell>.MiniTileConsumer _preCoverageTileConsumerDelegate;

protected Tracker(SimulationMap<Tile> collisionMap, TVisualizer visualizer, RobotConstraints constraints, Func<Tile, TCell> mapper)
Expand All @@ -50,10 +44,6 @@ protected Tracker(SimulationMap<Tile> collisionMap, TVisualizer visualizer, Robo
_constraints = constraints;
_map = collisionMap.FMap(mapper);

const float tracesPerMeter = 2f;
_traces = _constraints.SlamRayTraceCount ?? (int)(Mathf.PI * 2f * _constraints.SlamRayTraceRange * tracesPerMeter);
_traceIntervalDegrees = 360f / _traces;

_visualizer.SetSimulationMap(_map, collisionMap.ScaledOffset);
_rayTracingMap = new RayTracingMap<TCell>(_map);

Expand All @@ -63,10 +53,7 @@ protected Tracker(SimulationMap<Tile> collisionMap, TVisualizer visualizer, Robo

public void LogicUpdate(MonaRobot[] robots)
{
// The user can specify the tick interval at which the slam map is updated.
var shouldUpdateSlamMap = _constraints.AutomaticallyUpdateSlam &&
_currentTick % _constraints.SlamUpdateIntervalInTicks == 0;
PerformRayTracing(robots, shouldUpdateSlamMap);
OnBeforeLogicUpdate(robots);

// In the first tick, the robot does not have a position in the slam map.
if (!_isFirstTick)
Expand Down Expand Up @@ -103,7 +90,8 @@ public void LogicUpdate(MonaRobot[] robots)
_currentTick++;
}

protected virtual void OnLogicUpdate(IReadOnlyList<MonaRobot> robots) { }
protected virtual void OnBeforeLogicUpdate(MonaRobot[] robots) { }
protected virtual void OnLogicUpdate(MonaRobot[] robots) { }

public abstract void SetVisualizedRobot(MonaRobot? robot);

Expand All @@ -117,67 +105,6 @@ protected virtual void OnAfterFirstTick(MonaRobot[] robots)

protected abstract void CreateSnapShot();

// Updates both exploration tracker and robot slam maps
private void PerformRayTracing(MonaRobot[] robots, bool shouldUpdateSlamMap)
{
var visibilityRange = _constraints.SlamRayTraceRange;

foreach (var robot in robots)
{
SlamMap? slamMap = null;

if (shouldUpdateSlamMap)
{
slamMap = robot.Controller.SlamMap;
slamMap.ResetRobotVisibility();
}

var position = (Vector2)robot.transform.position;

// Use amount of traces specified by user, or calculate circumference and use trace at interval of 4
for (var i = 0; i < _traces; i++)
{
var angle = i * _traceIntervalDegrees;
// Avoid ray casts that can be parallel to the lines of a triangle
if (angle % 45 == 0)
{
angle += 0.5f;
}

_rayTracingMap.Raytrace(position, angle, visibilityRange, (index, cell) =>
{
if (cell.IsExplorable)
{
if (!cell.IsExplored)
{
cell.LastExplorationTimeInTicks = _currentTick;
cell.ExplorationTimeInTicks += 1;
OnNewlyExploredTriangles(index, cell);
}

cell.RegisterExploration(_currentTick);
}

if (slamMap != null)
{
var localCoordinate = slamMap.TriangleIndexToCoordinate(index);
// Update robot slam map if present (slam map only non-null if 'shouldUpdateSlamMap' is true)
slamMap.SetExploredByCoordinate(localCoordinate, isOpen: cell.IsExplorable);
slamMap.SetCurrentlyVisibleByTriangle(triangleIndex: index, localCoordinate, isOpen: cell.IsExplorable);
}

return cell.IsExplorable;
});
}

AfterRayTracingARobot(robot);
}
}

protected virtual void OnNewlyExploredTriangles(int index, TCell cell) { }

protected virtual void AfterRayTracingARobot(MonaRobot robot) { }

protected virtual void SetVisualizationMode(TVisualizationMode newMode)
{
_currentVisualizationMode = newMode;
Expand Down
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