示例#1
0
  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;
  }
示例#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;
  }