Added more cars and best car testing in the virtual world scene

Engine/Common/EngineShaderStageState.cs

@@ -28,6 +28,11 @@ public class EngineShaderStageState<T>(EngineDeviceContext deviceContext)
         /// </summary>
         public IEnumerable<T> GetResources()
         {
+            if(resources.Count == 0)
+            {
+                return [];
+            }
+
             int maxSlot = resources.Keys.Max();
 
             T[] values = new T[maxSlot + 1];

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

@@ -1,5 +1,6 @@
 using Engine;
 using SharpDX;
+using System;
 
 namespace AISamples.Common.Agents
 {
@@ -8,20 +9,21 @@ class AgentFollower(float distance, float height) : IFollower
         private readonly float distance = distance;
         private readonly float height = height;
 
-        public Car Car { get; set; }
+        public Func<Car> Car { get; set; }
         public Vector3 Position { get; private set; }
         public Vector3 Interest { get; private set; }
         public float Velocity { get; set; }
 
         public void Update(IGameTime gameTime)
         {
-            if (Car == null)
+            var car = Car?.Invoke();
+            if (car == null)
             {
                 return;
             }
 
-            var p = Car.GetPosition();
-            var d = -Car.GetDirection();
+            var p = car.GetPosition();
+            var d = -car.GetDirection();
 
             var d3 = new Vector3(d.X, 0f, d.Y) * distance;
             d3.Y = height;

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

@@ -36,6 +36,7 @@ class Car
         public Sensor Sensor { get; }
         public NeuralNetwork Brain { get; }
         public bool Damaged { 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)
         {
@@ -143,9 +144,10 @@ private void Move(float time)
                 angle += rot * MathF.Sign(speed);
             }
 
-            direction = new Vector2(MathF.Sin(angle), MathF.Cos(angle));
-            x += direction.X * speed;
-            y += direction.Y * speed;
+            direction = new Vector2(MathF.Sin(angle), MathF.Cos(angle)) * speed;
+            x += direction.X;
+            y += direction.Y;
+            FittnessValue += direction.LengthSquared();
         }
         private bool AssessDamage(Segment2[] roadBorders, Car[] traffic, bool damageTraffic)
         {
@@ -219,9 +221,11 @@ public OrientedBoundingBox GetBox()
         {
             return trnBox;
         }
-        public Matrix GetTransform()
+        public Matrix GetTransform(float height = 0)
         {
-            return Matrix.Scaling(scale) * trnBox.Transformation;
+            var trn = Matrix.RotationY(angle) * Matrix.Translation(x, height, y);
+
+            return Matrix.Scaling(scale) * trn;
         }
     }
 }

Samples/05 AISamples/Common/World.cs

@@ -57,8 +57,10 @@ class World(Graph graph, float height)
         private GeometryDrawer<VertexPositionTexture> markingsDrawer2d = null;
         private GeometryDrawer<VertexPositionTexture> markingsDrawer3d = null;
 
-        private Car bestCar = null;
         private readonly List<Car> cars = [];
+        private Car bestCar = null;
+        private readonly Color4 bestCarColor = new Color(252, 212, 32, 255);
+        private readonly Color4 carColor = new Color(252, 222, 200, 255);
 
         public Graph Graph { get => graph; }
         public Guid Version { get; private set; } = Guid.NewGuid();
@@ -432,7 +434,7 @@ private void UpdateCars(IGameTime gameTime, ModelInstanced carDrawer)
 
             for (int i = 0; i < maxCarCount; i++)
             {
-                if (i >= cars.Count)
+                if (i >= cars.Count || cars[i].Damaged)
                 {
                     carDrawer[i].Manipulator.SetTransform(Matrix.Translation(Vector3.One * 10000000f));
                     carDrawer[i].TintColor = Color.Black;
@@ -444,9 +446,11 @@ private void UpdateCars(IGameTime gameTime, ModelInstanced carDrawer)
 
                 car.Update(gameTime, road, [], false);
 
-                carDrawer[i].Manipulator.SetTransform(car.GetTransform());
-                carDrawer[i].TintColor = car == bestCar ? Color.Yellow : Color.White;
+                carDrawer[i].Manipulator.SetTransform(car.GetTransform(height + hLayer));
+                carDrawer[i].TintColor = car == bestCar ? bestCarColor : carColor;
             }
+
+            bestCar = cars.MaxBy(c => c.FittnessValue);
         }
         private void DrawMarkings()
         {
@@ -592,18 +596,13 @@ public void RemoveMarking(Marking marking)
             return (fStart.Position, fStart.Direction);
         }
 
-        public void AddCar(Car car, bool isBestCar = false)
+        public void AddCar(Car car)
         {
             if (cars.Contains(car))
             {
                 return;
             }
 
-            if (isBestCar)
-            {
-                bestCar = car;
-            }
-
             cars.Add(car);
         }
         public void RemoveCar(Car car)
@@ -626,10 +625,16 @@ public void Clear()
             laneGuides.Clear();
             markings.Clear();
 
-            cars.Clear();
+            ClearTraffic();
 
             worldChanged = true;
             Version = Guid.NewGuid();
         }
+        public void ClearTraffic()
+        {
+            cars.Clear();
+
+            bestCar = null;
+        }
     }
 }

Samples/05 AISamples/SceneCWRSelfDrivingCar/SelfDrivingCarScene.cs

@@ -42,6 +42,7 @@ class SelfDrivingCarScene : Scene
         private GeometryColorDrawer<Triangle> roadDrawer = null;
         private GeometryColorDrawer<Line3D> roadLaneDrawer = null;
         private Model terrain = null;
+        private float carScale = 1f;
         private ModelInstanced carModels = null;
         private ModelInstanced trafficModels = null;
 
@@ -91,6 +92,8 @@ public SelfDrivingCarScene(Game game) : base(game)
             Game.LockMouse = false;
 
             GameEnvironment.Background = Color.Black;
+
+            Lights.SetAmbient(new SceneLightHemispheric("Ambient", Color3.White, Color3.Black, true));
         }
 
         public override void Initialize()
@@ -238,29 +241,34 @@ private async Task InitializeVisualizerDrawer()
         }
         private async Task InitializeCars()
         {
-            var geo = GeometryUtil.CreateBox(Topology.TriangleList, carWidth, carHeight, carLength);
-            var mat = MaterialPhongContent.Default;
-            mat.IsTransparent = true;
-
             var cDesc = new ModelInstancedDescription()
             {
                 Instances = maxCarInstances,
                 CastShadow = ShadowCastingAlgorihtms.All,
-                Content = ContentDescription.FromContentData(ContentData.GenerateTriangleList(geo, mat)),
-                BlendMode = BlendModes.Alpha,
+                Content = ContentDescription.FromFile(Constants.TrafficResourcesFolder, Constants.TaxiModel),
+                BlendMode = BlendModes.OpaqueAlpha,
                 StartsVisible = false,
             };
-            carModels = await AddComponentAgent<ModelInstanced, ModelInstancedDescription>("Cars", "Cars", cDesc);
+            carModels = await AddComponentAgent<ModelInstanced, ModelInstancedDescription>(
+                nameof(carModels),
+                nameof(carModels), 
+                cDesc);
 
             var tDesc = new ModelInstancedDescription()
             {
                 Instances = maxTrafficInstances,
                 CastShadow = ShadowCastingAlgorihtms.All,
-                Content = ContentDescription.FromContentData(ContentData.GenerateTriangleList(geo, mat)),
-                BlendMode = BlendModes.Alpha,
+                Content = ContentDescription.FromFile(Constants.TrafficResourcesFolder, Constants.TaxiModel),
+                BlendMode = BlendModes.OpaqueAlpha,
                 StartsVisible = false,
             };
-            trafficModels = await AddComponentAgent<ModelInstanced, ModelInstancedDescription>("Traffic", "Traffic", tDesc);
+            trafficModels = await AddComponentAgent<ModelInstanced, ModelInstancedDescription>(
+                nameof(trafficModels),
+                nameof(trafficModels),
+                tDesc);
+
+            var bbox = carModels[0].GetBoundingBox();
+            carScale = MathF.Max(MathF.Max(carWidth / bbox.Width, carHeight / bbox.Height), carLength / bbox.Depth);
 
             cars = new Car[maxCarInstances];
             traffic = new Car[maxTrafficInstances];
@@ -618,7 +626,7 @@ private void SelectBestCar()
             if (c != null)
             {
                 bestCar = c;
-                carFollower.Car = bestCar;
+                carFollower.Car = () => bestCar;
             }
         }
 
@@ -652,6 +660,7 @@ private void StartSimulation()
             for (int i = 0; i < cars.Length; i++)
             {
                 cars[i] = new(carWidth, carHeight, carLength, AgentControlTypes.AI, 1, 0.5f);
+                cars[i].SetScale(carScale);
 
                 if (!mutate)
                 {
@@ -666,11 +675,13 @@ private void StartSimulation()
 
                 cars[i].Brain.Mutate(0.1f);
             }
-            carFollower.Car = bestCar = cars[0];
+            bestCar = cars[0];
+            carFollower.Car = () => bestCar;
 
             for (int i = 0; i < traffic.Length; i++)
             {
                 traffic[i] = new(carWidth, carHeight, carLength, AgentControlTypes.Dummy, 0.5f, 0.25f);
+                traffic[i].SetScale(carScale);
 
                 var lanePos = road.GetLaneCenter(i % traffic.Length);
                 lanePos.Y = Helper.RandomGenerator.NextFloat(0, 3) * -(carLength * 3);