Пример #1
0
  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;
    }
  }
Пример #2
0
  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);
  }
 /** 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 static int getVelocitySegment(double velocity) {
   return (int) Math.max(0, velocity - 1);
 }
 public static int getBearingSegment(double bearing) {
   int index = (int) (bearing / (2 * Math.PI) * (BEARINGS));
   return Math.max(0, Math.min(BEARINGS - 1, index));
 }
Пример #6
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;
  }