Пример #1
0
 public RobotModel(AdvancedRobot self) {
   this(
       self.getName(),
       self.getHeight(),
       self.getWidth(),
       self.getEnergy(),
       self.getGunCoolingRate(),
       self.getGunHeadingRadians(),
       self.getGunHeat(),
       self.getRadarHeadingRadians(),
       self.getHeadingRadians(),
       self.getVelocity(),
       self.getX(),
       self.getY());
 }
Пример #2
0
 public RobotModel(ScannedRobotEvent fs, AdvancedRobot parent) { // firstScan
   this(
       fs.getName(),
       parent.getHeight(),
       parent.getWidth(),
       fs.getEnergy(),
       // TODO update parent. if a more intelligent method is found
       parent.getGunCoolingRate(),
       parent.getGunHeadingRadians(),
       parent.getGunHeat(),
       parent.getRadarHeadingRadians(),
       fs.getHeadingRadians(),
       fs.getVelocity(),
       // adjusted locations
       getX(fs, parent.getHeadingRadians(), parent.getX()),
       getY(fs, parent.getHeadingRadians(), parent.getY()));
   this.parent = parent;
 }
Пример #3
0
  public void onScannedRobot(ScannedRobotEvent e) {

    /*-------- setup data -----*/
    if (enemyName == null) {

      enemyName = e.getName();
    }
    Point2D.Double robotLocation = new Point2D.Double(bot.getX(), bot.getY());
    double theta;
    final double enemyAbsoluteBearing = bot.getHeadingRadians() + e.getBearingRadians();
    final double enemyDistance = e.getDistance();
    enemyLocation = projectMotion(robotLocation, enemyAbsoluteBearing, enemyDistance);
    final double enemyEnergy = e.getEnergy();

    Rectangle2D.Double BF = new Rectangle2D.Double(18, 18, 764, 564);

    /*
        To explain the below; if the enemy's absolute acceleration is
        zero then we segment on time since last velocity change, lateral
        acceleration and lateral velocity.
        If their absolute acceleration is non zero then we segment on absolute
        acceleration and absolute velocity.
        Regardless we segment on walls (near/far approach to walls) and distance.
        I'm trying to have my cake and eat it, basically. :-)
    */
    MicroWave w = new MicroWave();

    final double lastLatVel = enemyLatVel;
    double lastVelocity = enemyVelocity;
    enemyLatVel =
        (enemyVelocity = e.getVelocity()) * Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing);

    int distanceIndex = (int) enemyDistance / 140;

    double bulletPower = distanceIndex == 0 ? 3 : 2;
    theta = Math.min(bot.getEnergy() / 4, Math.min(enemyEnergy / 4, bulletPower));
    if (theta == bulletPower) bot.addCustomEvent(w);
    bulletPower = theta;
    w.bulletVelocity = 20D - 3D * bulletPower;

    int accelIndex = (int) Math.round(Math.abs(enemyLatVel) - Math.abs(lastLatVel));

    if (enemyLatVel != 0) bearingDirection = enemyLatVel > 0 ? 1 : -1;
    w.bearingDirection = bearingDirection * Math.asin(8D / w.bulletVelocity) / GF_ZERO;

    double moveTime = w.bulletVelocity * lastVChangeTime++ / enemyDistance;
    int bestGF = moveTime < .1 ? 1 : moveTime < .3 ? 2 : moveTime < 1 ? 3 : 4;

    int vIndex = (int) Math.abs(enemyLatVel / 3);

    if (Math.abs(Math.abs(enemyVelocity) - Math.abs(lastVelocity)) > .6) {
      lastVChangeTime = 0;
      bestGF = 0;

      accelIndex = (int) Math.round(Math.abs(enemyVelocity) - Math.abs(lastVelocity));
      vIndex = (int) Math.abs(enemyVelocity / 3);
    }

    if (accelIndex != 0) accelIndex = accelIndex > 0 ? 1 : 2;

    w.firePosition = robotLocation;
    w.enemyAbsBearing = enemyAbsoluteBearing;
    // now using PEZ' near-wall segment
    w.waveGuessFactors =
        guessFactors[accelIndex][bestGF][vIndex][
            BF.contains(
                    projectMotion(
                        robotLocation,
                        enemyAbsoluteBearing + w.bearingDirection * GF_ZERO,
                        enemyDistance))
                ? 0
                : BF.contains(
                        projectMotion(
                            robotLocation,
                            enemyAbsoluteBearing + .5 * w.bearingDirection * GF_ZERO,
                            enemyDistance))
                    ? 1
                    : 2][
            distanceIndex];

    bestGF = GF_ZERO;

    for (int gf = GF_ONE; gf >= 0 && enemyEnergy > 0; gf--)
      if (w.waveGuessFactors[gf] > w.waveGuessFactors[bestGF]) bestGF = gf;

    bot.setTurnGunRightRadians(
        Utils.normalRelativeAngle(
            enemyAbsoluteBearing
                - bot.getGunHeadingRadians()
                + w.bearingDirection * (bestGF - GF_ZERO)));

    if (bot.getEnergy() > 1 || distanceIndex == 0) bot.setFire(bulletPower);

    bot.setTurnRadarRightRadians(
        Utils.normalRelativeAngle(enemyAbsoluteBearing - bot.getRadarHeadingRadians()) * 2);
  }