public void logScore(double score, double weight) {
_rating =
(double)
((_rating * Math.min(_shots, _rollingDepth) + (score * weight))
/ (Math.min(_shots, _rollingDepth) + weight));
_shots += weight;
}
public void enemyPosition(ScannedRobotEvent e, double x, double y) {
// poll subtargetters for their opinions
virtualBulletTick++;
lastEnemyScanTime = owner.getTime();
// only log it when we actually fire: the enemy may respond to that
if (owner.shouldFireShot(e)) {
double bulletPower = e.getDistance() > 500.0 ? 2.0 : 3.0;
for (int i = 0; i < numVirtualGuns; i++) {
double angle = targetters[i].target(e, bulletPower);
VirtualBullet bullet = new VirtualBullet();
bullet.targetter = i;
bullet.x = owner.getX();
bullet.y = owner.getY();
bullet.velX = Targetting.bulletSpeed(bulletPower) * Math.sin(angle);
bullet.velY = Targetting.bulletSpeed(bulletPower) * Math.cos(angle);
bullet.lastUpdateTime = lastEnemyScanTime;
virtualBullets.add(bullet);
}
}
for (int i = 0; i < numVirtualGuns; i++) {
targetters[i].enemyPosition(e, x, y);
}
enemyX = x;
enemyY = y;
}
private static Point2D vectorToLocation(
double angle, double length, Point2D sourceLocation, Point2D targetLocation) {
targetLocation.setLocation(
sourceLocation.getX() + Math.sin(angle) * length,
sourceLocation.getY() + Math.cos(angle) * length);
return targetLocation;
}
public void evaluateDistancingControl() {
double powerTwoHitPercentageThreshold;
if (_robot.getRoundNum() < 2) {
_desiredDistance = 420;
_fearDistance = 175;
_smoothAwayDistance = 75;
} else if (normalizedEnemyHitPercentage() > (powerTwoHitPercentageThreshold = 7.5)) {
_desiredDistance = 525 + (Math.max((ScanLog.avgEnemyPower() - 2), 0) * 165);
_fearDistance = 250;
_smoothAwayDistance = 75;
} else if (normalizedEnemyHitPercentage() > (powerTwoHitPercentageThreshold = 3)) {
_desiredDistance = 450 + (Math.max((ScanLog.avgEnemyPower() - 2), 0) * 150);
_fearDistance = 175;
_smoothAwayDistance = 75;
} else {
_desiredDistance = 420;
_fearDistance = 0;
_smoothAwayDistance = 0;
}
if (_robot.getRoundNum() < 2 || normalizedEnemyHitPercentage() > 7.5) {
_currentDistancer = _aggressiveDistancer;
} else {
_currentDistancer = _subtleDistancer;
}
}
public void onScannedRobot(ScannedRobotEvent e) {
// ...
// if(getRadarHeadingRadians() - getGunHeading() == 0)
// fire(1);
// Absolute angle towards target
double angleToEnemy = getHeadingRadians() + e.getBearingRadians();
// Subtract current radar heading to get the turn required to face the enemy, be sure it is
// normalized
double radarTurn = Utils.normalRelativeAngle(angleToEnemy - getRadarHeadingRadians());
// Distance we want to scan from middle of enemy to either side
// The 36.0 is how many units from the center of the enemy robot it scans.
double extraTurn = Math.min(Math.atan(5.0 / e.getDistance()), Rules.RADAR_TURN_RATE_RADIANS);
// Adjust the radar turn so it goes that much further in the direction it is going to turn
// Basically if we were going to turn it left, turn it even more left, if right, turn more
// right.
// This allows us to overshoot our enemy so that we get a good sweep that will not slip.
radarTurn += (radarTurn < 0 ? -extraTurn : extraTurn);
// Turn the radar
setTurnRadarRightRadians(radarTurn);
// is the enemy left or right of us
double distance = getRadarHeading() - getGunHeading();
double[] wert = {distance};
// setTurnGunLeft(encog.Adjust.predict(NETWORK, wert));
if (distance < 0) setTurnGunRight(distance);
if (distance >= 0) setTurnGunRight(distance);
// System.out.println(distance);
// if enemy is within fire range -> fire
// if (getGunHeading() > getRadarHeading()-2 && getGunHeading() < getRadarHeading()+2)
setFire(1);
System.out.println("gunheat:" + getGunHeat());
if (getGunHeat() == 1.2) {
LIST.add(getTime());
System.out.println("distance: " + LIST);
// int shouldHit = (int) (getTime() + (e.getDistance() / 17));
// System.out.println("when should it hit: " + shouldHit);
}
if (LIST.size() != 0) {
if (LIST.get(0) + (getTime() - LIST.get(0)) * VELOCITY > e.getDistance()) {
System.out.println("did you hit?: " + getTime());
LIST.remove(0);
}
}
execute();
}
public void onScannedRobot(ScannedRobotEvent event) {
a = Utils.normalRelativeAngle(getHeadingRadians() + event.getBearingRadians());
e = event.getEnergy();
d = event.getDistance();
x = d * Math.sin(a);
y = d * Math.cos(a);
h = event.getHeadingRadians();
dh = -Utils.normalRelativeAngle(getGunHeadingRadians() - a);
}
public void onScannedRobot(ScannedRobotEvent e) {
robotLocation = new Point2D.Double(getX(), getY());
enemyAbsoluteBearing = getHeadingRadians() + e.getBearingRadians();
enemyDistance = e.getDistance();
enemyLocation = vectorToLocation(enemyAbsoluteBearing, enemyDistance, robotLocation);
// Change direction at random
if (Math.random() < 0.015) {
movementLateralAngle *= -1;
}
move();
execute();
// radar
setTurnRadarRightRadians(
Utils.normalRelativeAngle(enemyAbsoluteBearing - getRadarHeadingRadians()) * 2);
/*
* Circular Gun from wiki
*/
double absBearing = e.getBearingRadians() + getHeadingRadians();
// Finding the heading and heading change.
double enemyHeading = e.getHeadingRadians();
double enemyHeadingChange = enemyHeading - oldEnemyHeading;
oldEnemyHeading = enemyHeading;
double deltaTime = 0;
double predictedX = getX() + e.getDistance() * Math.sin(absBearing);
double predictedY = getY() + e.getDistance() * Math.cos(absBearing);
while ((++deltaTime) * BULLET_SPEED
< Point2D.Double.distance(getX(), getY(), predictedX, predictedY)) {
// Add the movement we think our enemy will make to our enemy's current X and Y
predictedX += Math.sin(enemyHeading) * (e.getVelocity());
predictedY += Math.cos(enemyHeading) * (e.getVelocity());
// Find our enemy's heading changes.
enemyHeading += enemyHeadingChange;
// If our predicted coordinates are outside the walls, put them 18
// distance units away from the walls as we know
// that that is the closest they can get to the wall (Bots are
// non-rotating 36*36 squares).
predictedX = Math.max(Math.min(predictedX, getBattleFieldWidth() - 18), 18);
predictedY = Math.max(Math.min(predictedY, getBattleFieldHeight() - 18), 18);
}
// Find the bearing of our predicted coordinates from us.
double aim = Utils.normalAbsoluteAngle(Math.atan2(predictedX - getX(), predictedY - getY()));
// Aim and fire.
setTurnGunRightRadians(Utils.normalRelativeAngle(aim - getGunHeadingRadians()));
setFire(BULLET_POWER);
setTurnRadarRightRadians(Utils.normalRelativeAngle(absBearing - getRadarHeadingRadians()) * 2);
}
/** Calculate how repusled the scanning robot is by a nearby object. */
public double calcObjRepulseSpeed(double robotX, double robotY, double obsX, double obsY) {
double speed = 0.0;
double distance = Math.sqrt(Math.pow(robotX - obsX, 2) + Math.pow(robotY - obsY, 2));
if (distance <= OBJ_DISTANCE) {
speed = ((OBJ_DISTANCE - distance) / OBJ_DISTANCE) * MAX_SPEED;
}
return speed;
}
private void goTo(Point2D destination) {
double angle =
Utils.normalRelativeAngle(
absoluteBearing(robotLocation, destination) - getHeadingRadians());
double turnAngle = Math.atan(Math.tan(angle));
setTurnRightRadians(turnAngle);
setAhead(robotLocation.distance(destination) * (angle == turnAngle ? 1 : -1));
// Hit the brake pedal hard if we need to turn sharply
setMaxVelocity(Math.abs(getTurnRemaining()) > 33 ? 0 : MAX_VELOCITY);
}
/** Linearly decay the speed of the robot when it nears the goal. */
public double calcRobotSpeedLinear(double robotX, double robotY, double goalX, double goalY) {
double speed = 0;
double distance = Math.sqrt(Math.pow(robotX - goalX, 2) + Math.pow(robotY - goalY, 2));
if (distance >= GOAL_DISTANCE) {
speed = MAX_SPEED;
} else {
speed = (distance / GOAL_DISTANCE) * MAX_SPEED + 0.5;
}
return speed;
}
/**
* When scanning a robot we need to add it to the collection of scanned objects so it can be used
* later for updates to the bots movement.
*/
public void onScannedRobot(ScannedRobotEvent e) {
double targetBearing = getHeading() + e.getBearing();
double tmpX = getX() + e.getDistance() * Math.sin(Math.toRadians(targetBearing));
double tmpY = getY() + e.getDistance() * Math.cos(Math.toRadians(targetBearing));
String name = e.getName();
if (name.equals(GOAL_NAME)) {
foundGoal = true;
}
obstacles.put(name, new Enemy(tmpX, tmpY, e.getBearing()));
setTurnRadarRight(getRadarTurnRemaining());
}
public void onHitByBullet(HitByBulletEvent e) {
if (fitness - getEnergy() > 15) {
select++;
if (select == 4) {
elapsedTime[select - 1] = (int) e.getTime() - time;
time = (int) e.getTime();
sortIndividuals();
for (int i = 1; i < 4; i++)
if (Math.random() < 0.7) population[i] = crossover(population[0], population[i]);
for (int i = 0; i < 4; i++)
if (Math.random() < 0.1) population[i] = mutation(population[i]);
select = 0;
}
fitness = (int) getEnergy();
}
}
public int mutation(int individual) {
int ind2;
do {
ind2 = individual + (int) (-1 + 2 * Math.random());
} while (ind2 < 1 || ind2 >= 6);
return ind2;
}
public void run() {
population = new int[4];
elapsedTime = new int[4];
for (int i = 0; i < 4; i++) population[i] = (int) (Math.random() * 4 + 1);
fitness = (int) getEnergy();
while (true) {
time = (int) getTime();
switch (population[select]) {
case 1:
individual = behaviors.FORWARD_AND_REDO;
break;
case 2:
individual = behaviors.CIRCULAR;
break;
case 3:
individual = behaviors.DODGE;
break;
case 4:
individual = behaviors.WALLS;
break;
case 5:
individual = behaviors.CRAZY;
break;
default:
System.out.println("Error!");
break;
}
switch (individual) {
case CRAZY:
setTurnGunRight(99999);
execute();
crazyMoves();
break;
case FORWARD_AND_REDO:
setTurnGunRight(99999);
execute();
forwardAndRedoMoves();
break;
case CIRCULAR:
setTurnGunRight(99999);
execute();
circularMoves();
break;
case WALLS:
setTurnGunRight(99999);
execute();
betaWallsMoves();
break;
case DODGE:
dodgeMoves();
break;
}
}
}
public void onScannedRobot(ScannedRobotEvent e) {
// track if we have no enemy, the one we found is significantly
// closer, or we scanned the one we've been tracking.
if (enemy.none()
|| e.getDistance() < enemy.getDistance() - 70
|| e.getName().equals(enemy.getName())) {
// track him
enemy.update(e);
// if the gun is cool and we're pointed at the target, shoot!
// Note: we can put the firing code before the turning code
// because we're testing to see if we're aiming at our enemy
if (getGunHeat() == 0 && Math.abs(getGunTurnRemaining()) < 10)
setFire(Math.min(400 / enemy.getDistance(), 3));
// calculate gun turn toward enemy
double turn = getHeading() - getGunHeading() + e.getBearing();
// normalize the turn to take the shortest path there
setTurnGunRight(normalizeBearing(turn));
}
}
public static void setBackAsFront(AdvancedRobot robot, double goAngle) {
double angle = Utils.normalRelativeAngle(goAngle - robot.getHeadingRadians());
if (Math.abs(angle) > (Math.PI / 2)) {
if (angle < 0) {
robot.setTurnRightRadians(Math.PI + angle);
} else {
robot.setTurnLeftRadians(Math.PI - angle);
}
robot.setBack(100);
} else {
if (angle < 0) {
robot.setTurnLeftRadians(-1 * angle);
} else {
robot.setTurnRightRadians(angle);
}
robot.setAhead(100);
}
}
private double minWall() {
return Math.min(
Math.min(getX(), getBattleFieldWidth() - getX()),
Math.min(getY(), getBattleFieldHeight() - getY()));
}
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;
}
static double absoluteBearing(Point2D source, Point2D target) {
return Math.atan2(target.getX() - source.getX(), target.getY() - source.getY());
}
public static int getBearingSegment(double bearing) {
int index = (int) (bearing / (2 * Math.PI) * (BEARINGS));
return Math.max(0, Math.min(BEARINGS - 1, index));
}
public static int getTimeSegment(long time) {
int index = (int) Math.min(time / 10.0, MOVE_TIMES - 1);
return index;
}
public static int getVelocitySegment(double velocity) {
return (int) Math.max(0, velocity - 1);
}
/** Projects the robots location given distance and bearing */
public static Point2D.Double project(Point2D.Double source, double angle, double length) {
double x = source.x + Math.sin(angle) * length;
double y = source.y + Math.cos(angle) * length;
return new Point2D.Double(x, y);
}
public void run() {
setAllColors(Color.GREEN);
setTurnRadarRight(Double.POSITIVE_INFINITY);
double robotX, robotY;
double robotHeading, angleToGoal, angleToObs;
double adjustment;
double obsAngle, obsAdjustment;
double angleDiff;
double speedToGoal, speedFromObs;
Enemy temp;
obstacles = new HashMap<String, Enemy>(10);
while (true) {
if (foundGoal) {
robotX = getX();
robotY = getY();
goalX = obstacles.get(GOAL_NAME).x;
goalY = obstacles.get(GOAL_NAME).y;
// Adjust robocode's returned heading so that 0 aligns with the positive x-axis instead of
// the positive y-axis.
// Also make it so that positive angle indicates a counter clockwise rotation instead of the
// clockwise style
// returned by robocode.
robotHeading = 360 - (getHeading() - 90);
angleToGoal = Math.toDegrees(Math.atan2(goalY - robotY, goalX - robotX));
if (angleToGoal < 0) {
angleToGoal += 360;
}
adjustment = angleToGoal - robotHeading;
adjustment = normalizeAngle(adjustment);
speedToGoal = calcRobotSpeedLinear(robotX, robotY, goalX, goalY);
// Calculate how the robot's heading and speed should be affected by objects that it has
// located
// as it explores the world.
Iterator it = obstacles.entrySet().iterator();
while (it.hasNext()) {
System.out.println("Iterating through objects.");
Map.Entry pairs = (Map.Entry) it.next();
// If the current item in the Iterator isn't the goal.
if (!pairs.getKey().equals(GOAL_NAME)) {
temp = (Enemy) pairs.getValue();
speedFromObs = calcObjRepulseSpeed(robotX, robotY, temp.x, temp.y);
// If the robot is in range of the object to be affected by it's repulsion.
if (speedFromObs != 0) {
obsAngle = Math.toDegrees(Math.atan2(robotY - temp.y, robotX - temp.x));
if (obsAngle < 0) obsAngle += 360;
angleDiff = obsAngle - angleToGoal;
angleDiff = normalizeAngle(angleDiff);
adjustment += (angleDiff * (speedFromObs / speedToGoal));
speedToGoal -= speedFromObs;
}
}
// Was getting a null pointer exception when using this. The internet lied about its
// usefulness.
// it.remove(); // avoids a ConcurrentModificationException
}
adjustment = normalizeAngle(adjustment);
setTurnLeft(adjustment);
// ahead(speedToGoal);
setAhead(speedToGoal);
}
execute();
}
}
/** Computes the angle to target from source */
public static double absoluteBearing(Point2D.Double source, Point2D.Double target) {
return Math.atan2(target.x - source.x, target.y - source.y);
}
/**
* Decay the speed "globally." The goal doens't have a range at which it starts to cause a speed
* drop off. Instead, the entire screen has a scaled gradient.
*/
public int calcRobotSpeedGlobalFields(double robotX, double robotY, double goalX, double goalY) {
double distance = Math.sqrt(Math.pow(robotX - goalX, 2) + Math.pow(robotY - goalY, 2));
return (int) ((distance / MAX_DISTANCE) * MAX_SPEED + 0.5);
}
/** Computes the maximum angle to escape */
public static double maxEscapeAngle(double velocity) {
return Math.asin(8.0 / velocity);
}
/**
* Robocode robot that locates and navigates toward a goal while also avoiding obstacles that it
* gets near.
*/
public class VectorFieldsMultMovObsAvoid extends AdvancedRobot {
private static final int SCREEN_WIDTH = 600;
private static final int SCREEN_HEIGHT = 600;
private static final double MAX_DISTANCE =
Math.sqrt(Math.pow(SCREEN_WIDTH, 2) + Math.pow(SCREEN_HEIGHT, 2));
private static final int MAX_SPEED = 5;
private static final int GOAL_DISTANCE = 50;
private static final int OBJ_DISTANCE = 200;
private static final String GOAL_NAME = "VectorFields.VectorFieldsMovingGoal*";
private double goalX, goalY;
private double obsX, obsY;
private boolean foundGoal = false;
private boolean foundObstacle = false;
private Map<String, Enemy> obstacles;
public void run() {
setAllColors(Color.GREEN);
setTurnRadarRight(Double.POSITIVE_INFINITY);
double robotX, robotY;
double robotHeading, angleToGoal, angleToObs;
double adjustment;
double obsAngle, obsAdjustment;
double angleDiff;
double speedToGoal, speedFromObs;
Enemy temp;
obstacles = new HashMap<String, Enemy>(10);
while (true) {
if (foundGoal) {
robotX = getX();
robotY = getY();
goalX = obstacles.get(GOAL_NAME).x;
goalY = obstacles.get(GOAL_NAME).y;
// Adjust robocode's returned heading so that 0 aligns with the positive x-axis instead of
// the positive y-axis.
// Also make it so that positive angle indicates a counter clockwise rotation instead of the
// clockwise style
// returned by robocode.
robotHeading = 360 - (getHeading() - 90);
angleToGoal = Math.toDegrees(Math.atan2(goalY - robotY, goalX - robotX));
if (angleToGoal < 0) {
angleToGoal += 360;
}
adjustment = angleToGoal - robotHeading;
adjustment = normalizeAngle(adjustment);
speedToGoal = calcRobotSpeedLinear(robotX, robotY, goalX, goalY);
// Calculate how the robot's heading and speed should be affected by objects that it has
// located
// as it explores the world.
Iterator it = obstacles.entrySet().iterator();
while (it.hasNext()) {
System.out.println("Iterating through objects.");
Map.Entry pairs = (Map.Entry) it.next();
// If the current item in the Iterator isn't the goal.
if (!pairs.getKey().equals(GOAL_NAME)) {
temp = (Enemy) pairs.getValue();
speedFromObs = calcObjRepulseSpeed(robotX, robotY, temp.x, temp.y);
// If the robot is in range of the object to be affected by it's repulsion.
if (speedFromObs != 0) {
obsAngle = Math.toDegrees(Math.atan2(robotY - temp.y, robotX - temp.x));
if (obsAngle < 0) obsAngle += 360;
angleDiff = obsAngle - angleToGoal;
angleDiff = normalizeAngle(angleDiff);
adjustment += (angleDiff * (speedFromObs / speedToGoal));
speedToGoal -= speedFromObs;
}
}
// Was getting a null pointer exception when using this. The internet lied about its
// usefulness.
// it.remove(); // avoids a ConcurrentModificationException
}
adjustment = normalizeAngle(adjustment);
setTurnLeft(adjustment);
// ahead(speedToGoal);
setAhead(speedToGoal);
}
execute();
}
}
/**
* When scanning a robot we need to add it to the collection of scanned objects so it can be used
* later for updates to the bots movement.
*/
public void onScannedRobot(ScannedRobotEvent e) {
double targetBearing = getHeading() + e.getBearing();
double tmpX = getX() + e.getDistance() * Math.sin(Math.toRadians(targetBearing));
double tmpY = getY() + e.getDistance() * Math.cos(Math.toRadians(targetBearing));
String name = e.getName();
if (name.equals(GOAL_NAME)) {
foundGoal = true;
}
obstacles.put(name, new Enemy(tmpX, tmpY, e.getBearing()));
setTurnRadarRight(getRadarTurnRemaining());
}
/** Linearly decay the speed of the robot when it nears the goal. */
public double calcRobotSpeedLinear(double robotX, double robotY, double goalX, double goalY) {
double speed = 0;
double distance = Math.sqrt(Math.pow(robotX - goalX, 2) + Math.pow(robotY - goalY, 2));
if (distance >= GOAL_DISTANCE) {
speed = MAX_SPEED;
} else {
speed = (distance / GOAL_DISTANCE) * MAX_SPEED + 0.5;
}
return speed;
}
/**
* Decay the speed "globally." The goal doens't have a range at which it starts to cause a speed
* drop off. Instead, the entire screen has a scaled gradient.
*/
public int calcRobotSpeedGlobalFields(double robotX, double robotY, double goalX, double goalY) {
double distance = Math.sqrt(Math.pow(robotX - goalX, 2) + Math.pow(robotY - goalY, 2));
return (int) ((distance / MAX_DISTANCE) * MAX_SPEED + 0.5);
}
/**
* Normalize an angle so it falls in the range -180 to 180 in the least efficient manner possible.
*/
public double normalizeAngle(double angle) {
if (angle <= -360) {
angle += 360;
} else if (angle >= 360) {
angle -= 360;
}
if (angle < -180) {
angle += 360;
} else if (angle > 180) {
angle -= 360;
}
return angle;
}
/** Calculate how repusled the scanning robot is by a nearby object. */
public double calcObjRepulseSpeed(double robotX, double robotY, double obsX, double obsY) {
double speed = 0.0;
double distance = Math.sqrt(Math.pow(robotX - obsX, 2) + Math.pow(robotY - obsY, 2));
if (distance <= OBJ_DISTANCE) {
speed = ((OBJ_DISTANCE - distance) / OBJ_DISTANCE) * MAX_SPEED;
}
return speed;
}
}
/** Computes a value within min and max */
public static double limit(double min, double val, double max) {
return Math.max(min, Math.min(val, max));
}
public double getTreeValue(int[] f, int[][] links, int node) {
double r1, r2, r3, r4;
double res;
r1 = 0;
r2 = 0;
r3 = 0;
r4 = 0;
switch (f[node]) {
case 7:
r4 = getTreeValue(f, links, links[node][3]);
case 3:
case 5:
r3 = getTreeValue(f, links, links[node][2]);
case 2:
case 4:
case 6:
r2 = getTreeValue(f, links, links[node][1]);
case 0:
case 1:
r1 = getTreeValue(f, links, links[node][0]);
break;
default:
r1 = 0;
r2 = 0;
r3 = 0;
r4 = 0;
break;
}
switch (f[node]) {
case 0:
res = 1 / (1 + Math.exp(-r1));
break;
case 1:
res = -r1;
break;
case 2:
res = r1 + r2;
break;
case 3:
res = r1 + r2 + r3;
break;
case 4:
res = r1 * r2;
break;
case 5:
res = r1 * r2 * r3;
break;
case 6:
res = (r1 > r2) ? r2 : r1;
break;
case 7:
res = (r1 > r2) ? r3 : r4;
break;
case 8:
res = env.x;
break;
case 9:
res = env.y;
break;
case 10:
res = env.dr;
break;
case 11:
res = env.tr;
break;
case 12:
res = env.w;
break;
case 13:
res = env.dh;
break;
case 14:
res = env.GH;
break;
case 15:
res = env.h;
break;
case 16:
res = env.d;
break;
case 17:
res = env.e;
break;
case 18:
res = env.E;
break;
case 19:
res = 0;
break;
case 20:
res = 0.5;
break;
case 21:
res = 1;
break;
case 22:
res = 2;
break;
case 23:
res = 5;
break;
case 24:
res = 10;
break;
default:
res = 0;
break;
}
return res;
}
