private void executeAction(Action action) {
actionFireMode = action.getShootingMode();
if (Action.isProhibited(action)) {
return;
}
int wpind = action.actionToInventoryIndex();
if (bot.getCurrentWeaponIndex() != wpind) {
bot.changeWeaponToIndex(wpind);
// if (bot.botHasItem(wpind)) System.out.println("chng wpn to:
// "+CommFun.getGunName(wpind));
}
}
/**
* The aiming module
*
* @author Piotr Gwizda�a
*/
public class RLCombatModule extends Perception {
RLBot bot;
double actionReward = 0;
int actionTime = 10;
int actionEndFrame = -1;
int actionFireMode = Action.NO_FIRE;
public TreeMap<Integer, WeaponScore> weaponRanking = new TreeMap<Integer, WeaponScore>();
public static class WeaponScore implements Comparable<WeaponScore> {
private double rewardsTotal;
private int rewardsCount;
public WeaponScore(double rewardsTotal, int rewardsCount) {
this.rewardsTotal = rewardsTotal;
this.rewardsCount = rewardsCount;
}
double getScore() {
return rewardsTotal / rewardsCount;
}
public int compareTo(WeaponScore o) {
double t = getScore();
double a = o.getScore();
if (t > a) {
return -1;
}
if (t < a) {
return 1;
}
return 0;
}
}
class Shooting {
long shotTime = 0;
long hitTime = 0;
String enemyName = null;
double reward = 0;
public Shooting(long shotTime, long hitTime, String enemyName) {
this.shotTime = shotTime;
this.hitTime = hitTime;
this.enemyName = enemyName;
}
}
LinkedList<Shooting> shootings = new LinkedList<Shooting>();
Action[] actions = Action.getAllActionsArray();
public static final int maxShootingsCount = 100;
public Brain brain;
double actionDistance = 0;
boolean unipolar = true;
public RLCombatModule(RLBot bot) {
this.bot = bot;
brain = new Brain(this, actions);
brain.setAlpha(0.8); // learning rate
brain.setGamma(0.3); // discounting rate
brain.setLambda(0.6); // trace forgetting
// b.setUseBoltzmann(true);
// b.setTemperature(0.001);
brain.setRandActions(0.1); // exploration
// brain.setAlpha(getRandParam(0.1, 0.8, 0.1)); //learning rate
// brain.setGamma(getRandParam(0, 0.9, 0.2)); //discounting rate
// brain.setLambda(getRandParam(0, 0.9, 0.2)); //trace forgetting
//// b.setUseBoltzmann(true);
//// b.setTemperature(0.001);
// brain.setRandActions(getRandParam(0.01, 0.4, 0.1)); //exploration
// unipolar = Rand.b();
for (int i = 7; i < 18; i++) {
weaponRanking.put(i, new WeaponScore(0.5, 1));
}
}
double getRandParam(double from, double to, double quant) {
int count = (int) ((to - from) / quant) + 1;
Random r = new Random();
return from + r.nextInt(count) * quant;
}
@Override
public String toString() {
String s =
"alpha="
+ brain.getAlpha()
+ " gamma="
+ brain.getGamma()
+ "\nlambda="
+ brain.getLambda()
+ " rand="
+ brain.getRandActions()
+ "\nunip="
+ isUnipolar()
+ "\n";
TreeMap<Integer, WeaponScore> newRanking = new TreeMap<Integer, WeaponScore>();
for (Map.Entry<Integer, WeaponScore> e : weaponRanking.entrySet()) {
newRanking.put(e.getKey(), e.getValue());
}
weaponRanking = newRanking;
for (Map.Entry<Integer, WeaponScore> e : weaponRanking.entrySet()) {
s += "\n" + CommFun.getGunName(e.getKey()) + " : " + e.getValue().getScore();
}
return s;
}
public FiringDecision getFiringDecision() {
Vector3f playerPos = bot.getBotPosition();
EnemyInfo chosen = null;
float chosenRisk = Float.MAX_VALUE;
float maxDist = -1;
float maxError = 0;
LinkedList<EnemyInfo> eligible = new LinkedList<EnemyInfo>();
for (EnemyInfo ei : bot.kb.enemyInformation.values()) {
if (ei.getBestVisibleEnemyPart(bot) == null) {
continue;
}
if (ei.lastUpdateFrame + bot.cConfig.maxEnemyInfoAge4Firing < bot.getFrameNumber()) {
continue;
}
float dist = CommFun.getDistanceBetweenPositions(playerPos, ei.getObjectPosition());
float error = ei.lastPredictionError;
if (dist > maxDist) {
maxDist = dist;
}
if (error > maxError) {
maxError = error;
}
eligible.add(ei);
}
for (EnemyInfo ei : eligible) {
float dist = CommFun.getDistanceBetweenPositions(playerPos, ei.getObjectPosition());
float error = ei.lastPredictionError;
float risk = dist / maxDist + error / maxError;
if (chosenRisk > risk) {
chosenRisk = risk;
chosen = ei;
}
}
if (chosen == null) {
return null;
}
actionDistance = CommFun.getDistanceBetweenPositions(playerPos, chosen.getObjectPosition());
return new FiringDecision(chosen, -1);
}
/**
* Returns the firing instructions
*
* @param fd firing decision
* @param bot the bot
* @return
*/
public FiringInstructions getFiringInstructions(FiringDecision fd) {
if (fd == null || fd.enemyInfo == null) {
return null;
}
updateRewards();
boolean reloading = bot.getWorld().getPlayer().getPlayerGun().isCoolingDown();
Vector3f noFiringLook =
fd.enemyInfo.predictedPos == null
? fd.enemyInfo.getObjectPosition()
: fd.enemyInfo.predictedPos;
if (reloading) {
return getNoFiringInstructions(noFiringLook);
}
shootings.add(
new Shooting(
bot.getFrameNumber(),
bot.getFrameNumber()
+ (long)
getTimeToHit(
bot.cConfig.getBulletSpeedForGivenGun(bot.getCurrentWeaponIndex()),
bot.getBotPosition(),
fd.enemyInfo.getObjectPosition(),
fd.enemyInfo.predictedPos),
fd.enemyInfo.ent.getName()));
if (shootings.size() > maxShootingsCount) {
shootings.removeFirst();
}
if (actionEndFrame == -1) {
// first time
}
if (bot.getFrameNumber() >= actionEndFrame) {
actionEndFrame = bot.getFrameNumber() + actionTime;
// count rewards:
bot.rewardsCount++;
if (actionReward <= 1 && actionReward >= -1) {
bot.totalReward += actionReward;
} else {
bot.totalReward += (actionReward > 0) ? 1 : -1;
System.out.println("excessive reward! " + actionReward);
}
int rc = 1;
double rwd = actionReward;
int cwpi = bot.getCurrentWeaponIndex();
if (weaponRanking.get(cwpi) != null) {
rc = weaponRanking.get(cwpi).rewardsCount + 1;
rwd = weaponRanking.get(cwpi).rewardsTotal + actionReward;
}
weaponRanking.put(cwpi, new WeaponScore(rwd, rc));
BotStatistic.getInstance().addReward(bot.getBotName(), actionReward, bot.getFrameNumber());
// Dbg.prn(bot.getBotName()+"@"+bot.getFrameNumber()+" r="+actionReward);
// choose new action and execute it
perceive();
brain.count();
executeAction(actions[brain.getAction()]);
actionReward = 0;
}
// return getFiringInstructionsAtHitpoint(fd, 1);
// return getNewPredictingFiringInstructions(bot, fd,
// bot.cConfig.getBulletSpeedForGivenGun(bot.getCurrentWeaponIndex()));
switch (actionFireMode) {
case Action.FIRE:
return getFastFiringInstructions(fd, bot);
case Action.FIRE_PREDICTED:
return getNewPredictingFiringInstructions(
bot, fd, bot.cConfig.getBulletSpeedForGivenGun(bot.getCurrentWeaponIndex()));
default:
case Action.NO_FIRE:
return getNoFiringInstructions(noFiringLook);
}
}
FiringInstructions getNoFiringInstructions(Vector3f enemyPos) {
FiringInstructions ret =
new FiringInstructions(
CommFun.getNormalizedDirectionVector(bot.getBotPosition(), enemyPos));
ret.doFire = false;
return ret;
}
public static FiringInstructions getNewPredictingFiringInstructions(
MapBotBase bot, FiringDecision fd, float bulletSpeed) {
Vector3f playerPos = bot.getBotPosition();
Vector3f enemyPos = fd.enemyInfo.getBestVisibleEnemyPart(bot);
// Calculate the time to hit
double timeToHit = getTimeToHit(bulletSpeed, playerPos, enemyPos, fd.enemyInfo.predictedPos);
if (timeToHit <= 1.5) {
timeToHit = 1f;
}
// We add to enemy position the movement that the enemy is predicted to do in timeToHit.
Vector3f hitPoint = CommFun.cloneVector(enemyPos);
// movement is between bot position, not the visible part of the bot
Vector3f movement =
CommFun.getMovementBetweenVectors(
fd.enemyInfo.getObjectPosition(), fd.enemyInfo.predictedPos);
movement = CommFun.multiplyVectorByScalar(movement, (float) timeToHit);
hitPoint.add(movement);
return new FiringInstructions(CommFun.getNormalizedDirectionVector(playerPos, hitPoint));
}
/**
* * Point the enemy and shoot.
*
* @param fd
* @param playerPos
* @return
*/
public static FiringInstructions getFastFiringInstructions(FiringDecision fd, MapBotBase bot) {
Vector3f to = new Vector3f(fd.enemyInfo.getBestVisibleEnemyPart(bot));
Vector3f fireDir = CommFun.getNormalizedDirectionVector(bot.getBotPosition(), to);
// bot.dtalk.addToLog("Fast firing.");
return new FiringInstructions(fireDir);
}
public static double getTimeToHit(
double bulletSpeed, Vector3f playerPos, Vector3f enemyPos, Vector3f enemyPredictedPos) {
double d = CommFun.getDistanceBetweenPositions(playerPos, enemyPos);
double v = bulletSpeed;
double u = CommFun.getDistanceBetweenPositions(enemyPos, enemyPredictedPos);
Vector3f vec1 = CommFun.getNormalizedDirectionVector(playerPos, enemyPos);
Vector3f vec2 = CommFun.getNormalizedDirectionVector(enemyPos, enemyPredictedPos);
double alpha = Math.toRadians(vec1.angle(vec2));
double delta =
4 * d * d * u * u * Math.cos(alpha) * Math.cos(alpha) + 4 * (v * v - u * u) * d * d;
double t = (2 * d * u * Math.cos(alpha) + Math.sqrt(delta)) / (2 * (v * v - u * u));
double t2 = (2 * d * u * Math.cos(alpha) - Math.sqrt(delta)) / (2 * (v * v - u * u));
// System.out.println("t="+t+" v="+v+" d="+d+" u="+u+" t2="+t2);
if (Double.isNaN(t)) {
t = 1;
}
return t;
}
private void executeAction(Action action) {
actionFireMode = action.getShootingMode();
if (Action.isProhibited(action)) {
return;
}
int wpind = action.actionToInventoryIndex();
if (bot.getCurrentWeaponIndex() != wpind) {
bot.changeWeaponToIndex(wpind);
// if (bot.botHasItem(wpind)) System.out.println("chng wpn to:
// "+CommFun.getGunName(wpind));
}
}
public void updateRewards() {
if (bot.scoreCounter.getBotScore() > bot.lastBotScore) {
bot.lastBotScore = bot.scoreCounter.getBotScore();
// TODO: moze dac to do innego shootingu? Np. tego ktory ma hitpoint na teraz
actionReward += 1;
}
// Dbg.prn("");
LinkedList<Shooting> toDelete = new LinkedList<Shooting>();
for (Shooting s : shootings) {
int damage = HitsReporter.wasHitInGivenPeriod(s.shotTime + 1, s.hitTime + 2, s.enemyName);
if (damage > 0) {
actionReward += (damage / 100d) * 0.2;
toDelete.add(s);
// System.out.println(bot.getBotName()+" got shooting rwd - "+actionReward);
} else if (s.hitTime + 4 < bot.getFrameNumber()) {
toDelete.add(s);
// System.out.println(bot.getBotName()+" missed! - "+actionReward);
// actionReward -= 0.001;
}
}
shootings.removeAll(toDelete);
return;
}
@Override
public boolean isUnipolar() {
return unipolar;
}
@Override
public double getReward() {
return actionReward;
}
@Override
protected void updateInputValues() {
setNextValue(actionDistance);
for (int i = 7; i < 18; i++) {
setNextValue(bot.botHasItem(i));
}
}
}