public int waves_over(double x, double y) {
int current_waves = 0;
for (WaveModel wave : surf_bum) {
// System.out.println("Evaluating distance");
double distance_early = Brain.distance(wave.early_origin_x, wave.early_origin_y, x, y);
double distance_late = Brain.distance(wave.late_origin_x, wave.late_origin_y, x, y);
// System.out.println("early distance "+distance_early+" <= "+wave.early_radius);
// System.out.println("late distance "+distance_late+" >= "+wave.late_radius);
if (distance_early >= wave.early_radius && distance_late <= wave.late_radius) {
current_waves++;
// System.out.println("waves overlap "+current_waves);
}
}
return current_waves;
}
public void process() {
// super.process();
// run the default process first, so that it will always generate some movement
// then update all of the waves to the most up to date time and location
check_surf();
// System.out.println(" tracking "+surf_bum.size()+" waves");
long current_time = robot.getTime();
for (int i = 0; i < surf_bum.size(); i++) {
update(surf_bum.get(i), current_time);
}
if (robot.getTurnRemainingRadians() <= .01) {
double[] output = inner_points_test(long_points_test());
double desired_math_heading = Math.atan2(robot.getY() - output[1], robot.getX() - output[0]);
System.out.println("desired math = " + desired_math_heading);
double desired_heading = (-desired_math_heading + Math.PI / 2);
double current_heading = robot.getHeadingRadians();
moveEndTheta = (desired_heading - current_heading) % (2 * Math.PI);
System.out.println("move End Theta = " + moveEndTheta);
moveEndDistance = Brain.distance(output[0], output[1], robot.getX(), robot.getY());
}
// TODO IDEAPAD
/*
* The robot should test 32 points at radius of 50 around itself, and evaluate
* based on the waves washing over that point.
* This uses a similar function to below, with distance from current heading being good
* divided by the number of waves washing over
* f: (1-cos(delta angle)/2*(waves+1)
*
* The bearing to that point is stored.
* Then randomly generate 8 points at random that are at less than 50 units away
* , and rate them based on how close they are in bearing to the first point
* (cos of delta bearing) and wave crossings (sum of waves washing over) for a
* f: cos(bearing_50-bearing_8)/(num of waves+1).
*
* Use a move to point function to move to the interior point
* with the highest rating
*
* TODO implement this first. It shouldn't be to hard,
* //DONE create a function that takes a point and counts wave overlap
* //DONE Then create a function that generates outer points, tests and returns the
* optimal outer point bearing
* //DONE From there, use a different function to generate random inner points (8<=d<50),
* choose the best one, and then output the point to move to.
* //DONE displaying all wave data, appears to be functioning
* TODO display movement data
*/
// TODO Improvements
/*
* Filter our waves that are not from shootings (recharge time, etc)
* Other sources:
* Walls
* Self-bullet contacts
* Other bullet contacts
* Ramming
*
* Stay away from other robots
* robot size ~= 40, move speed 8
* needs 5++ turns to get out of it's own way
* bullets travel at max 20
* have the robot try to avoid being closer than 140-160 from other robots
* This gives "reaction time" to wave of 7-8 turns
*/
}