nilrider:: goal checking and goal solving and goals for all levels

rogueviz/nilrider/levels.cpp

@@ -1,5 +1,49 @@
 namespace nilrider {
 
+bool all(checkerparam c) { return c.t->collected_triangles == Flag(isize(c.l->triangles))-1; }
+
+goalchecker basic_check(ld time_limit, ld rev_limit) {
+  return [=] (checkerparam c) {
+    if(c.timer > time_limit || c.rev > rev_limit) return grFailed;
+    if(all(c)) return grSuccess;
+    return grNone;
+    };
+  }
+
+goalchecker get_any(ld time_limit, ld rev_limit) {
+  return [=] (checkerparam c) {
+    if(c.timer > time_limit || c.rev > rev_limit) return grFailed;
+    if(c.t->collected_triangles) return grSuccess;
+    return grNone;
+    };
+  }
+
+goalchecker get_ordered(ld time_limit, ld rev_limit) {
+  return [=] (checkerparam c) {
+    if(c.timer > time_limit || c.rev > rev_limit) return grFailed;
+    if(c.t->collected_triangles & (c.t->collected_triangles+1)) return grFailed;
+    if(all(c)) return grSuccess;
+    return grNone;
+    };
+  }
+
+goalchecker yplus_check(ld time_limit, ld rev_limit) {
+  return [=] (checkerparam c) {
+    if(c.timer > time_limit || c.rev > rev_limit) return grFailed;
+    if(c.t->where[1] < 0) return grFailed;
+    if(all(c)) return grSuccess;
+    return grNone;
+    };
+  }
+
+goalchecker fullstop_check(ld time_limit, ld rev_limit) {
+  return [=] (checkerparam c) {
+    if(c.timer > time_limit || c.rev > rev_limit) return grFailed;
+    if(all(c) && c.t->vel == 0) return grSuccess;
+    return grNone;
+    };
+  }
+
 ld f_heisenberg0(hyperpoint h) { return 0; }
 
 ld rot_plane(hyperpoint h) {
@@ -288,7 +332,12 @@ level rotplane(
   "!!!!!!!!!!!!!!!!"
   },
   6, 6,
-  rot_plane
+  rot_plane,
+  {
+    // the solver[0.25] result is 36.92
+    goal{0x40FF40, "Collect all the triangles in below 60 seconds", basic_check(60, 999)},
+    goal{0xFFD500, "Collect all the triangles in below 38 seconds", basic_check(38, 999)}
+    }
   );
 
 level longtrack(
@@ -306,7 +355,15 @@ level longtrack(
   "gggggfffffggggggggggggggggggggggggggggggggggggggggggggggggggggGG"
   },
   0, 5,
-  long_x
+  long_x,
+  {
+    // the solver[0.25] result is 1:08.56 (reduced to 1:08.45 by removing some points)
+    goal{0xFFD500, "Collect the triangle in below 1:15", basic_check(75, 999)},
+    // the solver[0.25] + some manual modifications achieves 1:37.44
+    goal{0xFF4040, "Stop where the triangle is in below 1:45", fullstop_check(75, 999)},
+    // the solver[0.25] result is 1:45.52
+    goal{0x303030, "Reach the triangle without going on the right side of the road below 2:00", yplus_check(120, 999)},
+    }
   );
 
 level geodesical(
@@ -325,7 +382,11 @@ level geodesical(
   "bbbbbbbbbbbbbbbb",
   },
   0, 6,
-  geodesics_0
+  geodesics_0,
+  {
+    // the solver[0.25] result is 26.10
+    goal{0xFFD500, "Collect both triangles in below 30 seconds", basic_check(30, 999)}
+    }
   );
 
 level geodesical4(
@@ -344,7 +405,11 @@ level geodesical4(
   "ffffffffffffffff",
   },
   0, 5,
-  geodesics_at_4
+  geodesics_at_4,
+  {
+    // the solver[0.25] result is 32.04
+    goal{0xFFD500, "Collect the triangle in below 35 seconds", basic_check(35, 999)}
+    }
   );
 
 level heisenberg0(
@@ -400,7 +465,11 @@ level rotwell(
   "!!!!!!!!!!!!!!!!"
   },
   8, 8,
-  f_rot_well
+  f_rot_well,
+  {
+    // the solver[0.5] result is 1:19.54 (obtained using get_ordered)
+    goal{0xFFD500, "Collect all triangles below 1:25", basic_check(85, 999)}
+    }
   );
 
 level labyrinth(
@@ -426,7 +495,14 @@ level labyrinth(
   "!!!!!!!!!!!!!!!!"
   },
   8, 8,
-  rot_plane
+  rot_plane,
+  {
+    // the solver[0.1] result is 1:03.53
+    // the solver[0.15] result is 1:06.58
+    // the solver[0.24] result is 1:08.54
+    // the solver[0.25] result is 1:22.09 (it goes north for some reason)
+    goal{0xFFD500, "Collect the triangle in below 1:15", basic_check(75, 999)}
+    }
   );
 
 level *curlev = &rotplane;

rogueviz/nilrider/nilrider.cpp

@@ -391,6 +391,11 @@ void initialize() {
 
 auto celldemo = arg::add3("-unilcycle", initialize) + arg::add3("-unilplan", [] { planning_mode = true; }) + arg::add3("-viewsim", [] { view_replay = true; })
   + arg::add3("-oqc", [] { on_quit = popScreenAll; })
+  + arg::add3("-nilsolve-set", [] {
+    arg::shift(); solver_unit = arg::argf();
+    arg::shift(); nospeed = arg::argi();
+    arg::shift(); goal_id = arg::argi();
+    curlev->solve(); })
   + arg::add3("-nilsolve", [] { curlev->solve(); })
   + addHook(hooks_configfile, 100, [] {
     param_f(aimspeed_key_x, "nilrider_key_x")

rogueviz/nilrider/nilrider.h

@@ -15,8 +15,8 @@ struct timestamp {
   ld t;             /**< planning spline parameter */
 
   flagtype collected_triangles; /**< a bitset which shows which triangles are collected */
-  flagtype achievements;        /**< a bitset which shows which achievements are complete */
-  flagtype achflags;            /**< a bitset which marks failed conducts, etc. */
+  flagtype goals;               /**< a bitset which shows which goals are complete */
+  flagtype failed;              /**< a bitset which shows which goals are failed */
 
   bool tick(level*);/**< one tick of the simulation -- returns false if the unicycle has stopped or crashed */
   void centerview(level*);
@@ -64,6 +64,23 @@ using xy_float = pair<ld, ld>;
 using xy_int = pair<int, int>;
 inline xy_int pfloor(xy_int p) { return {floor(p.first), floor(p.second)}; }
 
+enum eGoalResult { grNone, grSuccess, grFailed };
+
+struct checkerparam {
+  timestamp *t;
+  level *l;
+  ld timer;
+  int rev;
+  };
+
+using goalchecker = std::function<eGoalResult(checkerparam)>;
+
+struct goal {
+  color_t color;
+  string desc;
+  goalchecker check;
+  };
+
 struct level {
   string name;
   char hotkey;
@@ -77,8 +94,8 @@ struct level {
   
   bool initialized;
   
-  level(string name, char hotkey, flagtype flags, string longdesc, ld minx, ld miny, ld maxx, ld maxy, const vector<string>& mt, ld sx, ld sy, const std::function<ld(hyperpoint h)>& surf) :
-    name(name), hotkey(hotkey), longdesc(longdesc), flags(flags), minx(minx), miny(miny), maxx(maxx), maxy(maxy), map_tiles(mt), startx(sx), starty(sy), surface(surf) { initialized = false; }
+  level(string name, char hotkey, flagtype flags, string longdesc, ld minx, ld miny, ld maxx, ld maxy, const vector<string>& mt, ld sx, ld sy, const std::function<ld(hyperpoint h)>& surf, vector<goal> g) :
+    name(name), hotkey(hotkey), longdesc(longdesc), flags(flags), minx(minx), miny(miny), maxx(maxx), maxy(maxy), map_tiles(mt), startx(sx), starty(sy), surface(surf), goals(g) { initialized = false; }
   
   ld real_minx, real_miny, real_maxx, real_maxy;
 
@@ -90,6 +107,7 @@ struct level {
   
   vector<statue> statues;
   vector<triangledata> triangles;
+  vector<goal> goals;
 
   /** the texture data used for the ground */
   texture::texture_data *unil_texture;

rogueviz/nilrider/solver.cpp

@@ -1,8 +1,12 @@
 namespace nilrider {
 
+bool nospeed = false;
+int goal_id = 0;
+ld solver_unit = .25;
+
 void level::solve() {
 
-  ld xunit = .25, yunit = .25, eunit = xunit * yunit / 2;
+  ld xunit = solver_unit, yunit = solver_unit, eunit = xunit * yunit / 2;
   
   struct edge {
     int id;
@@ -14,6 +18,7 @@ void level::solve() {
   struct vertex {
     int id;
     int x, y;
+    flagtype collected;
     ld zval;
     hyperpoint where;
     bool goal;
@@ -21,7 +26,7 @@ void level::solve() {
     vector<edge> edges;
     };
   
-  map<pair<int, int>, int> xy_to_id;
+  map<tuple<int, int, flagtype>, int> xy_to_id;
   vector<vertex> vertices;
   
   auto getpt = [&] (int x, int y) {
@@ -30,22 +35,23 @@ void level::solve() {
     return p;
     };
 
-  auto get_id = [&] (int x, int y) {
-    if(xy_to_id.count({x, y}))
-      return xy_to_id[{x, y}];
+  auto get_id = [&] (int x, int y, flagtype co) {
+    if(xy_to_id.count({x, y, co}))
+      return xy_to_id[{x, y, co}];
     else {
       int id = isize(vertices);
-      xy_to_id[{x,y}] = id;
+      xy_to_id[{x,y, co}] = id;
       vertices.emplace_back();
       auto& b = vertices.back();
       b.where = getpt(x, y);
       b.id = id;
       b.x = x; b.y = y;
+      b.collected = co;
       return id;
       }
     };
   
-  get_id(0, 0);
+  get_id(0, 0, 0);
   transmatrix Rstart = gpushxto0(vertices[0].where);
   
   for(int id=0; id<isize(vertices); id++) {
@@ -58,8 +64,15 @@ void level::solve() {
 
     xy_float f0 = get_xy_f(point0);
 
-    char ch = mapchar(f0);
-    v.goal = ch == '*';
+    timestamp ts;
+    ts.where = point0;
+    ts.collected_triangles = v.collected;
+    ts.collect(this);
+    checkerparam p {&ts, this, 0, 0};
+    auto res = goals[goal_id].check(p);
+    if(res == grFailed) continue;
+
+    v.goal = res == grSuccess;
     v.zval = (Rstart * point0)[2];
 
     for(int dx=-2; dx<=2; dx++)
@@ -87,11 +100,9 @@ void level::solve() {
       hyperpoint rpoint = gpushxto0(point1) * point0;
       rpoint[2] -= rpoint[0] * rpoint[1] / 2;
       e.length = hypot_d(3, rpoint);
-      e.id = get_id(x1, y1);
+      e.id = get_id(x1, y1, ts.collected_triangles);
       
       vertices[id].edges.push_back(e);
-      
-      println(hlog, "edge from ", id, " to ", e.id);
       }
     }
   
@@ -125,6 +136,7 @@ void level::solve() {
     step++;
     
     if(v.goal) {
+      if(nospeed && z0 * eunit - v.zval > eunit) continue;
       println(hlog, "reached the goal in time ", t0);
       vector<hyperpoint> positions;
       while(id0 || z0) {

rogueviz/nilrider/timestamp.cpp

@@ -121,7 +121,7 @@ bool timestamp::tick(level *lev) {
   vel -= sin(slope) * gravity / tps;
   if(vel < 0) {
     vel = 0;
-    return false;
+    if(ovel == 0) return false;
     }
   
   auto mvel = (vel + ovel) / 2;