public Wave findSurfableWave(int waveIndex) {
int searchWaveIndex = 0;
long currentTime = _robot.getTime();
for (int x = 0; x < _waves.size(); x++) {
Wave w = (Wave) _waves.get(x);
double distanceToWaveSource = ScanLog.myLocation().distance(w.sourceLocation);
double distanceToWave = distanceToWaveSource - w.distanceTraveled(currentTime);
if (w.firingWave && !w.processedBulletHit && distanceToWave > w.bulletVelocity()) {
if (searchWaveIndex == waveIndex) {
// drawCircle(w.sourceLocation,
// w.distanceTraveled(currentTime + 1), Color.green);
// drawLine(w.sourceLocation,
// DUtils.project(w.sourceLocation, w.absBearingRadians,
// w.distanceTraveled(currentTime + 1)),
// Color.blue);
return w;
} else {
searchWaveIndex++;
}
}
}
return null;
}
public void fireWave(boolean isFiringWave) {
int timeSinceEnemyFired = (int) ScanLog.getLastFireOffset();
double bulletPower = ScanLog.getLastEnemyBulletPower();
try {
Point2D.Double myTargetLocation = ScanLog.getLocation(timeSinceEnemyFired);
Point2D.Double enemyFireLocation = ScanLog.getEnemyLocation(timeSinceEnemyFired);
BotScan enemySegmentationScan = ScanLog.getEnemyScan(timeSinceEnemyFired + 1);
Wave enemyWave =
new Wave(
enemySegmentationScan,
enemyFireLocation,
myTargetLocation,
_robot.getTime() - timeSinceEnemyFired,
isFiringWave ? Wave.FIRING_WAVE : Wave.NON_FIRING_WAVE,
enemySegmentationScan.getAbsBearingRadians(),
bulletPower,
"Surf Wave",
Wave.TRADITIONAL_MAX_ESCAPE_ANGLE,
enemySegmentationScan.getHeadingRadians(),
enemySegmentationScan.getVelocity(),
_lastEnemyWaveOrientation,
SURF_ORIENTATION_VELOCITY_THRESHOLD);
_waves.add(enemyWave);
_lastEnemyWaveOrientation = enemyWave.orientation;
} catch (IndexOutOfBoundsException noScanDataYet) {
}
}
/*
public void onPaint(Graphics2D g) {
Iterator i = _renderables.iterator();
while(i.hasNext()){
Renderable r = (Renderable) i.next();
r.render(g);
}
_renderables.clear();
}
*/
public Wave processBulletReturnFiringWave(Bullet bullet, long currentTime) {
int tightMatchDistanceThreshold = 50;
Wave hitWave =
DUtils.findClosestWave(
_waves,
new Point2D.Double(bullet.getX(), bullet.getY()),
_robot.getTime(),
DUtils.ANY_WAVE,
DUtils.FIRING_WAVE,
tightMatchDistanceThreshold);
if (hitWave == null) {
return NO_WAVE_FOUND;
}
for (int x = 0; x < _bulletHitRegisters.size(); x++) {
BulletHitRegister bhr = (BulletHitRegister) _bulletHitRegisters.get(x);
bhr.registerBulletHit(bullet, hitWave, currentTime);
}
hitWave.processedBulletHit = true;
return hitWave;
}
public void update(AdvancedRobot self) {
if (self.getName().equals(name)) {
tc.update(
self.getTime(),
self.getEnergy(),
tm.predict_gun_heading(self, tc),
tm.predict_gun_heat(self, tc),
correct_angle(self.getHeadingRadians()),
self.getVelocity(),
self.getX(),
self.getY());
mm.update(self);
}
}
public Wave findNonSurfableWave(double minDistanceToWave) {
long currentTime = _robot.getTime();
for (int x = 0; x < _waves.size(); x++) {
Wave w = (Wave) _waves.get(x);
double distanceToWaveSource = ScanLog.myLocation().distance(w.sourceLocation);
double distanceToWave = distanceToWaveSource - w.distanceTraveled(currentTime);
if (!w.firingWave && distanceToWave > minDistanceToWave) {
return w;
}
}
return null;
}
public void checkActiveWaves() {
long currentTime = _robot.getTime();
Point2D.Double myLocation = ScanLog.myLocation();
for (int x = 0; x < _waves.size(); x++) {
Wave w = (Wave) _waves.get(x);
if (w.processedWaveBreak) {
if (w.wavePassed(myLocation, currentTime, Wave.INACTIVE_WAVE_OFFSET)) {
_waves.remove(x--);
}
} else {
if (w.wavePassed(myLocation, currentTime)) {
processWave(w);
}
}
}
}
public void onPaint(Graphics2D g) {
_lastPaintRound = _robot.getRoundNum();
_lastPaintTime = _robot.getTime();
_radar.onPaint(g);
if (!_tcMode) {
_move.onPaint(g);
}
if (!_mcMode) {
_gun.onPaint(g);
}
if (robocodePaintingOn()) {
drawMenu();
for (RoboGraphic r : _renderables) {
r.render(g);
}
_renderables.clear();
}
}
protected boolean robocodePaintingOn() {
return (_lastPaintRound == _robot.getRoundNum() && _robot.getTime() - _lastPaintTime <= 1);
}
public void surf() {
RobotState currentState =
new RobotState(
ScanLog.myLocation(),
_robot.getHeadingRadians(),
_robot.getVelocity(),
_robot.getTime());
boolean goingClockwise = (_lastMovementChoice == CLOCKWISE_OPTION);
double orbitCounterClockwiseDanger =
checkDanger(
currentState, COUNTERCLOCKWISE_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);
double stopDanger =
checkDanger(currentState, STOP_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);
double orbitClockwiseDanger =
checkDanger(currentState, CLOCKWISE_OPTION, goingClockwise, FIRST_WAVE, WAVES_TO_SURF);
int goOrientation = _lastMovementChoice;
Wave orbitWave = findSurfableWave(FIRST_WAVE);
double orbitAbsBearing, distanceToClosestWaveSource;
try {
distanceToClosestWaveSource = ScanLog.myLocation().distance(orbitWave.sourceLocation);
orbitAbsBearing = DUtils.absoluteBearing(orbitWave.sourceLocation, ScanLog.myLocation());
} catch (NullPointerException noSurfableWaves) {
distanceToClosestWaveSource = ScanLog.getLastDistance();
orbitAbsBearing = ScanLog.getLastEnemyScan().getAbsBearingRadians();
}
double goAngle, attackAngle;
if (stopDanger == NO_SURFABLE_WAVES) {
attackAngle = -1.047;
_robot.setMaxVelocity(8);
double goAngleCcw =
orbitAbsBearing + (COUNTERCLOCKWISE_OPTION * ((Math.PI / 2) + attackAngle));
goAngleCcw =
wallSmoothing(
ScanLog.myLocation(),
goAngleCcw,
COUNTERCLOCKWISE_OPTION,
distanceToClosestWaveSource);
double goAngleCw = orbitAbsBearing + (CLOCKWISE_OPTION * ((Math.PI / 2) + attackAngle));
goAngleCw =
wallSmoothing(
ScanLog.myLocation(), goAngleCw, CLOCKWISE_OPTION, distanceToClosestWaveSource);
if (Math.abs(Utils.normalRelativeAngle(goAngleCw - orbitAbsBearing))
< Math.abs(Utils.normalRelativeAngle(goAngleCcw - orbitAbsBearing))) {
goOrientation = CLOCKWISE_OPTION;
goAngle = goAngleCw;
} else {
goOrientation = COUNTERCLOCKWISE_OPTION;
goAngle = goAngleCcw;
}
} else {
_robot.setMaxVelocity(8);
attackAngle = _currentDistancer.attackAngle(distanceToClosestWaveSource, _desiredDistance);
if (ScanLog.enemyIsRammer()
&& ScanLog.getLastDistance() < 300
&& orbitWave != NO_WAVE_FOUND) {
if (Utils.normalRelativeAngle(
DUtils.absoluteBearing(ScanLog.myLocation(), orbitWave.sourceLocation)
- ScanLog.getLastScan().getAbsBearingRadians())
> 0) {
goOrientation = -1;
} else {
goOrientation = 1;
}
} else if (stopDanger <= orbitCounterClockwiseDanger
&& stopDanger <= orbitClockwiseDanger
&& !ScanLog.enemyIsRammer()) {
_robot.setMaxVelocity(0);
} else {
if (orbitClockwiseDanger < orbitCounterClockwiseDanger) {
goOrientation = CLOCKWISE_OPTION;
} else {
goOrientation = COUNTERCLOCKWISE_OPTION;
}
}
goAngle = orbitAbsBearing + (goOrientation * ((Math.PI / 2) + attackAngle));
goAngle =
wallSmoothing(ScanLog.myLocation(), goAngle, goOrientation, distanceToClosestWaveSource);
}
DUtils.setBackAsFront(_robot, goAngle);
_lastMovementChoice = goOrientation;
}
public double checkDanger(
RobotState startState,
int movementOption,
boolean previouslyMovingClockwise,
int surfableWaveIndex,
int recursionLevels) {
if (surfableWaveIndex >= recursionLevels) {
return 0;
}
boolean predictClockwiseOrNot;
if (movementOption == CLOCKWISE_OPTION) {
predictClockwiseOrNot = true;
} else if (movementOption == COUNTERCLOCKWISE_OPTION) {
predictClockwiseOrNot = false;
} else {
predictClockwiseOrNot = previouslyMovingClockwise;
}
Wave surfWave = findSurfableWave(surfableWaveIndex);
if (surfWave == null) {
if (surfableWaveIndex == FIRST_WAVE) {
double nonSurfableWaveDistance = 150;
surfWave = findNonSurfableWave(nonSurfableWaveDistance);
}
if (surfWave == null) {
return NO_SURFABLE_WAVES;
}
}
/*
Color drawColor = Color.white;
if (surfableWaveIndex != 0 || movementOption == STOP_OPTION) {
drawColor = Color.blue;
}
*/
double waveHitInterceptOffset = surfWave.bulletVelocity() + BOT_HALF_WIDTH;
double wavePassedInterceptOffset = surfWave.bulletVelocity();
RobotState predictedState = startState;
RobotState dangerState = startState;
boolean wavePassed = false;
boolean waveHit = false;
double maxVelocity = (movementOption == STOP_OPTION) ? 0 : 8;
do {
double orbitAbsBearing =
DUtils.absoluteBearing(surfWave.sourceLocation, predictedState.location);
double orbitDistance = surfWave.sourceLocation.distance(predictedState.location);
double attackAngle = _currentDistancer.attackAngle(orbitDistance, _desiredDistance);
boolean clockwiseSmoothing = predictClockwiseOrNot;
if (orbitDistance < _smoothAwayDistance) {
clockwiseSmoothing = !clockwiseSmoothing;
}
predictedState =
DUtils.nextPerpendicularWallSmoothedLocation(
predictedState.location,
orbitAbsBearing,
predictedState.velocity,
maxVelocity,
predictedState.heading,
attackAngle,
clockwiseSmoothing,
predictedState.time,
DUtils.battleField,
DUtils.battleFieldWidth,
DUtils.battleFieldHeight,
_wallStick,
DUtils.OBSERVE_WALL_HITS);
if (!waveHit
&& surfWave.wavePassed(
predictedState.location, predictedState.time, waveHitInterceptOffset)) {
dangerState = predictedState;
waveHit = true;
}
if (!wavePassed
&& surfWave.wavePassed(
predictedState.location, predictedState.time, wavePassedInterceptOffset)) {
wavePassed = true;
}
} while (!wavePassed);
// drawPoint(predictedState.location, drawColor);
double danger = getBinScore(surfWave, dangerState.location);
danger *= DUtils.bulletDamage(surfWave.bulletPower);
double currentDistanceToWaveSource = ScanLog.myLocation().distance(surfWave.sourceLocation);
double currentDistanceToWave =
currentDistanceToWaveSource - surfWave.distanceTraveled(_robot.getTime());
double timeToImpact = currentDistanceToWave / DUtils.bulletVelocity(surfWave.bulletPower);
if (_flattenerEnabled) {
danger /= DUtils.square(timeToImpact);
} else {
danger /= timeToImpact;
}
double nextCounterClockwiseDanger =
checkDanger(
predictedState,
COUNTERCLOCKWISE_OPTION,
predictClockwiseOrNot,
surfableWaveIndex + 1,
recursionLevels);
double nextStopDanger =
checkDanger(
predictedState,
STOP_OPTION,
predictClockwiseOrNot,
surfableWaveIndex + 1,
recursionLevels);
double nextClockwiseDanger =
checkDanger(
predictedState,
CLOCKWISE_OPTION,
predictClockwiseOrNot,
surfableWaveIndex + 1,
recursionLevels);
danger += Math.min(nextCounterClockwiseDanger, Math.min(nextStopDanger, nextClockwiseDanger));
// danger += Math.min(nextCounterClockwiseDanger, nextClockwiseDanger);
if (surfableWaveIndex == FIRST_WAVE) {
double predictedDistanceToWaveSource =
surfWave.sourceLocation.distance(predictedState.location);
double predictedDistanceToEnemy = ScanLog.enemyLocation().distance(predictedState.location);
double shorterDistance = Math.min(predictedDistanceToWaveSource, predictedDistanceToEnemy);
double distancingDangerBase = Math.max(currentDistanceToWaveSource / shorterDistance, .99);
double distancingDangerExponent =
shorterDistance > _fearDistance
? NORMAL_DISTANCING_EXPONENT
: FEARFUL_DISTANCING_EXPONENT;
danger *= Math.pow(distancingDangerBase, distancingDangerExponent);
}
return danger;
}