Exemplo n.º 1
0
  public double attackAngle(double currentDistance, double desiredDistance) {

    double distanceOffset = currentDistance - desiredDistance;
    double attackAngle =
        DUtils.square(distanceOffset / desiredDistance) * DUtils.sign(distanceOffset) * 3;

    return attackAngle;
  }
Exemplo n.º 2
0
  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;
  }