Little tweaks in the car follower component

Samples/05 AISamples/Common/Agents/AgentFollower.cs

@@ -8,6 +8,7 @@ class AgentFollower(float distance, float height) : IFollower
     {
         private readonly float distance = distance;
         private readonly float height = height;
+        private Car lastCar = null;
 
         public Func<Car> Car { get; set; }
         public Vector3 Position { get; private set; }
@@ -19,6 +20,9 @@ public void Update(IGameTime gameTime)
             var car = Car?.Invoke();
             if (car == null)
             {
+                //Clears the last car
+                lastCar = car;
+
                 return;
             }
 
@@ -29,7 +33,19 @@ public void Update(IGameTime gameTime)
             d3.Y = height;
 
             Interest = new Vector3(p.X, 0f, p.Y);
-            Position = Vector3.Lerp(Position, Interest + d3, 0.1f);
+
+            if (lastCar != car)
+            {
+                lastCar = car;
+
+                //Move camera to the new car
+                Position = Interest + d3;
+            }
+            else
+            {
+                //Interpolates the camera position
+                Position = Vector3.Lerp(Position, Interest + d3, 0.1f);
+            }
         }
     }
 }

Samples/05 AISamples/Common/Agents/Car.cs

@@ -27,6 +27,9 @@ class Car
 
         private float scale = 1f;
 
+        private int stuckedFrames = 0;
+        private const int maxStuckedFrames = 600;
+
         public AgentControls Controls { get; }
         public bool Forward => !Damaged && Controls.Forward;
         public bool Reverse => !Damaged && Controls.Reverse;
@@ -37,6 +40,7 @@ class Car
         public Sensor Sensor { get; }
         public NeuralNetwork Brain { get; }
         public bool Damaged { get; private set; } = false;
+        public bool Stucked { get; private set; } = false;
         public float FittnessValue { get; set; } = 0;
 
         public Car(float width, float height, float depth, AgentControlTypes controlType, float maxSpeed = 3f, float maxReverseSpeed = 1.5f)
@@ -86,7 +90,6 @@ public void Update(IGameTime gameTime, Segment2[] roadBorders, Car[] traffic, bo
             Move(time);
             CreatePoints();
 
-
             if (!Damaged)
             {
                 var damageBorders = Array.FindAll(roadBorders, b => b.DistanceToPoint(new(x, y)) <= radius);
@@ -154,6 +157,17 @@ private void Move(float time)
             x += direction.X;
             y += direction.Y;
             FittnessValue += direction.LengthSquared();
+
+            if (Forward == Reverse)
+            {
+                stuckedFrames++;
+            }
+            else
+            {
+                stuckedFrames = 0;
+            }
+
+            Stucked = stuckedFrames >= maxStuckedFrames;
         }
         private bool AssessDamage(Segment2[] roadBorders, Car[] traffic, bool damageTraffic)
         {

Samples/05 AISamples/Common/World.cs

@@ -63,6 +63,7 @@ class World(Graph graph, float height)
         private const float carLength = 15;
         private const float carMaxSpeed = 1f;
         private const float carMaxReverseSpeed = 0.2f;
+        private float carScale = 1f;
         private Car bestCar = null;
         private readonly Color4 bestCarColor = new Color(252, 212, 32, 255);
         private readonly Color4 carColor = new Color(252, 222, 200, 255);
@@ -458,6 +459,9 @@ private async Task InitializeCars(Scene scene)
                 nameof(carDrawer),
                 cDesc);
 
+            var bbox = carDrawer[0].GetBoundingBox();
+            carScale = MathF.Max(MathF.Max(carWidth / bbox.Width, carHeight / bbox.Height), carLength / bbox.Depth);
+
             var sDesc = new GeometryColorDrawerDescription<Triangle>()
             {
                 Count = 1000,
@@ -529,7 +533,9 @@ private void UpdateCars(IGameTime gameTime)
                 carDrawer[i].TintColor = car == bestCar ? bestCarColor : carColor;
             }
 
-            bestCar = cars.Where(c => !c.Damaged).MaxBy(c => c.FittnessValue);
+            cars.RemoveAll(c => c == null || c.Damaged || c.Stucked);
+
+            bestCar = cars.MaxBy(c => c.FittnessValue);
 
             carDrawer.Visible = cars.Count > 0;
 
@@ -750,11 +756,8 @@ public void RemoveMarking(Marking marking)
 
         public Car CreateCar(AgentControlTypes controlType, string brainFile, bool mutate = false, float mutationDelta = 0.1f)
         {
-            Car car = new(carWidth, carHeight, carLength, AgentControlTypes.AI, carMaxSpeed, carMaxReverseSpeed);
+            Car car = new(carWidth, carHeight, carLength, controlType, carMaxSpeed, carMaxReverseSpeed);
 
-            var bbox = carDrawer[0].GetBoundingBox();
-            float scale = MathF.Max(MathF.Max(carWidth / bbox.Width, carHeight / bbox.Height), carLength / bbox.Depth);
-            car.SetScale(scale);
 
             car.Brain.Load(brainFile);
             if (mutate)
@@ -765,6 +768,7 @@ public Car CreateCar(AgentControlTypes controlType, string brainFile, bool mutat
             (Vector2 start, Vector2 dir) = GetStart();
             car.SetPosition(start);
             car.SetDirection(dir);
+            car.SetScale(carScale);
 
             AddCar(car);
 

Samples/05 AISamples/SceneCWRVirtualWorld/VirtualWorldScene.cs

@@ -53,11 +53,17 @@ class VirtualWorldScene : Scene
         private const string helpText = @"F1 - CLOSE THIS HELP
 F2 - TOGGLE TOOLS
 F5 - ADDS A CAR TO THE WORLD
+F6 - ADDS A MUTATED CAR
+F7 - ADDS N CARS PRESERVING FIRST BRAIN
+F8 - SAVE BEST CAR BRAIN
+F - TOGGLE BEST CAR FOLLOWING
+R - REMOVE BEST CAR
+
 WASD - MOVE CAMERA
 SPACE - MOVE CAMERA UP
 C - MOVE CAMERA DOWN
 MOUSE - ROTATE CAMERA
-F - TOGGLE CAR FOLLOWING
+
 ESC - EXIT";
         private bool showHelp = false;
 
@@ -93,7 +99,7 @@ public VirtualWorldScene(Game game) : base(game)
             tools.AddEditor<LightsEditor>(EditorModes.Lights, 0);
             tools.AddEditor<CrossingsEditor>(EditorModes.Crossings, 0);
             tools.AddEditor<ParkingsEditor>(EditorModes.Parkings, 0);
-      
+
             carFollower.Car = world.GetBestCar;
         }
 
@@ -311,7 +317,7 @@ private void ToggleHelp()
         }
         private void UpdateInputCamera(IGameTime gameTime)
         {
-            if (!followCar)
+            if (!followCar || world.GetBestCar() == null)
             {
                 Camera.Following = null;
 
@@ -433,6 +439,10 @@ private void UpdateInputCars()
             {
                 ToggleFollow();
             }
+            if (Game.Input.KeyJustReleased(Keys.R))
+            {
+                RemoveBestCar();
+            }
         }
         private void AddCars(int count)
         {
@@ -466,6 +476,14 @@ private void SaveBestCar()
 
             bestCar.Brain.Save(bestCarFileName);
         }
+        private void RemoveBestCar()
+        {
+            var bestCar = world.GetBestCar();
+            if (bestCar != null)
+            {
+                world.RemoveCar(bestCar);
+            }
+        }
 
         public override void GameGraphicsResized()
         {