BasicGTSurfer/Code

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BasicGTSurferCode

package wiki.tutorial;
 
import robocode.*;
import robocode.util.Utils;
import java.awt.geom.*;     // for Point2D's
import java.lang.*;         // for Double and Integer objects
import java.util.ArrayList; // for collection of waves
import java.awt.*;
 
public class BasicGTSurfer extends AdvancedRobot {
  public static int BINS = 47;
  public static double _surfStats[] = new double[BINS]; // we'll use 47 bins
  public Point2D.Double _myLocation;     // our bot's location
  public Point2D.Double _enemyLocation;  // enemy bot's location
 
  public Point2D.Double _lastGoToPoint;
  public double direction = 1;
 
  public ArrayList _enemyWaves;
  public ArrayList _surfDirections;
  public ArrayList _surfAbsBearings;
 
// We must keep track of the enemy's energy level to detect EnergyDrop,
// indicating a bullet is fired
  public static double _oppEnergy = 100.0;
 
// This is a rectangle that represents an 800x600 battle field,
// used for a simple, iterative WallSmoothing method (by Kawigi).
// If you're not familiar with WallSmoothing, the wall stick indicates
// the amount of space we try to always have on either end of the tank
// (extending straight out the front or back) before touching a wall.
  public static Rectangle2D.Double _fieldRect
    = new java.awt.geom.Rectangle2D.Double(18, 18, 764, 564);
  public static double WALL_STICK = 160;
 
   public void run() {
     _enemyWaves = new ArrayList();
     _surfDirections = new ArrayList();
     _surfAbsBearings = new ArrayList();
 
     setAdjustGunForRobotTurn(true);
     setAdjustRadarForGunTurn(true);
 
     do {
        // basic mini-radar code
        turnRadarRightRadians(Double.POSITIVE_INFINITY);
     } while (true);
  }
 
   public void onScannedRobot(ScannedRobotEvent e) {
     _myLocation = new Point2D.Double(getX(), getY());
 
     double lateralVelocity = getVelocity()*Math.sin(e.getBearingRadians());
     double absBearing = e.getBearingRadians() + getHeadingRadians();
 
     setTurnRadarRightRadians(Utils.normalRelativeAngle(absBearing - getRadarHeadingRadians()) * 2);
 
     _surfDirections.add(0,
        new Integer((lateralVelocity >= 0) ? 1 : -1));
     _surfAbsBearings.add(0, new Double(absBearing + Math.PI));
 
 
     double bulletPower = _oppEnergy - e.getEnergy();
     if (bulletPower < 3.01 && bulletPower > 0.09
        && _surfDirections.size() > 2) {
        EnemyWave ew = new EnemyWave();
        ew.fireTime = getTime() - 1;
        ew.bulletVelocity = bulletVelocity(bulletPower);
        ew.distanceTraveled = bulletVelocity(bulletPower);
        ew.direction = ((Integer)_surfDirections.get(2)).intValue();
        ew.directAngle = ((Double)_surfAbsBearings.get(2)).doubleValue();
        ew.fireLocation = (Point2D.Double)_enemyLocation.clone(); // last tick
 
        _enemyWaves.add(ew);
     }
 
     _oppEnergy = e.getEnergy();
 
    // update after EnemyWave detection, because that needs the previous
    // enemy location as the source of the wave
     _enemyLocation = project(_myLocation, absBearing, e.getDistance());
 
     updateWaves();
     doSurfing();
 
    // gun code would go here...
  }
 
   public void updateWaves() {
     for (int x = 0; x < _enemyWaves.size(); x++) {
        EnemyWave ew = (EnemyWave)_enemyWaves.get(x);
 
        ew.distanceTraveled = (getTime() - ew.fireTime) * ew.bulletVelocity;
        if (ew.distanceTraveled >
            _myLocation.distance(ew.fireLocation) + 50) {
           _enemyWaves.remove(x);
           x--;
        }
     }
  }
 
   public EnemyWave getClosestSurfableWave() {
     double closestDistance = 50000; // I juse use some very big number here
     EnemyWave surfWave = null;
 
     for (int x = 0; x < _enemyWaves.size(); x++) {
        EnemyWave ew = (EnemyWave)_enemyWaves.get(x);
        double distance = _myLocation.distance(ew.fireLocation)
            - ew.distanceTraveled;
 
        if (distance > ew.bulletVelocity && distance < closestDistance) {
           surfWave = ew;
           closestDistance = distance;
        }
     }
 
     return surfWave;
  }
 
// Given the EnemyWave that the bullet was on, and the point where we
// were hit, calculate the index into our stat array for that factor.
   public static int getFactorIndex(EnemyWave ew, Point2D.Double targetLocation) {
     double offsetAngle = (absoluteBearing(ew.fireLocation, targetLocation)
        - ew.directAngle);
     double factor = Utils.normalRelativeAngle(offsetAngle)
        / maxEscapeAngle(ew.bulletVelocity) * ew.direction;
 
     return (int)limit(0,
        (factor * ((BINS - 1) / 2)) + ((BINS - 1) / 2),
        BINS - 1);
  }
 
// Given the EnemyWave that the bullet was on, and the point where we
// were hit, update our stat array to reflect the danger in that area.
   public void logHit(EnemyWave ew, Point2D.Double targetLocation) {
     int index = getFactorIndex(ew, targetLocation);
 
     for (int x = 0; x < BINS; x++) {
        // for the spot bin that we were hit on, add 1;
        // for the bins next to it, add 1 / 2;
        // the next one, add 1 / 5; and so on...
        _surfStats[x] += 1.0 / (Math.pow(index - x, 2) + 1);
     }
  }
 
   public void onHitByBullet(HitByBulletEvent e) {
    // If the _enemyWaves collection is empty, we must have missed the
    // detection of this wave somehow.
     if (!_enemyWaves.isEmpty()) {
        Point2D.Double hitBulletLocation = new Point2D.Double(
            e.getBullet().getX(), e.getBullet().getY());
        EnemyWave hitWave = null;
 
        // look through the EnemyWaves, and find one that could've hit us.
        for (int x = 0; x < _enemyWaves.size(); x++) {
           EnemyWave ew = (EnemyWave)_enemyWaves.get(x);
 
           if (Math.abs(ew.distanceTraveled -
               _myLocation.distance(ew.fireLocation)) < 50
               && Math.abs(bulletVelocity(e.getBullet().getPower()) 
                   - ew.bulletVelocity) < 0.001) {
              hitWave = ew;
              break;
           }
        }
 
        if (hitWave != null) {
           logHit(hitWave, hitBulletLocation);
 
            // We can remove this wave now, of course.
           _enemyWaves.remove(_enemyWaves.lastIndexOf(hitWave));
        }
     }
  }
 
// CREDIT: mini sized predictor from Apollon, by rozu
// http://robowiki.net?Apollon
   public ArrayList predictPositions(EnemyWave surfWave, int direction) {
     Point2D.Double predictedPosition = (Point2D.Double)_myLocation.clone();
     double predictedVelocity = getVelocity();
     double predictedHeading = getHeadingRadians();
     double maxTurning, moveAngle, moveDir;
     ArrayList traveledPoints = new ArrayList();
 
     int counter = 0; // number of ticks in the future
     boolean intercepted = false;
 
     do {
        double distance = predictedPosition.distance(surfWave.fireLocation);
        double offset = Math.PI/2 - 1 + distance/400;
 
        moveAngle =
            wallSmoothing(predictedPosition, absoluteBearing(surfWave.fireLocation,
            predictedPosition) + (direction * (offset)), direction)
            - predictedHeading;
        moveDir = 1;
 
        if(Math.cos(moveAngle) < 0) {
           moveAngle += Math.PI;
           moveDir = -1;
        }
 
        moveAngle = Utils.normalRelativeAngle(moveAngle);
 
     // maxTurning is built in like this, you can't turn more then this in one tick
        maxTurning = Math.PI/720d*(40d - 3d*Math.abs(predictedVelocity));
        predictedHeading = Utils.normalRelativeAngle(predictedHeading
            + limit(-maxTurning, moveAngle, maxTurning));
 
     // this one is nice ;). if predictedVelocity and moveDir have
        // different signs you want to breack down
     // otherwise you want to accelerate (look at the factor "2")
        predictedVelocity += (predictedVelocity * moveDir < 0 ? 2*moveDir : moveDir);
        predictedVelocity = limit(-8, predictedVelocity, 8);
 
     // calculate the new predicted position
        predictedPosition = project(predictedPosition, predictedHeading, predictedVelocity);
 
     //add this point the our prediction
        traveledPoints.add(predictedPosition);
 
        counter++;
 
        if (predictedPosition.distance(surfWave.fireLocation) - 20 <
            surfWave.distanceTraveled + (counter * surfWave.bulletVelocity)
          //   + surfWave.bulletVelocity
             ) {
           intercepted = true;
        }
     } while(!intercepted && counter < 500);
 
  //we can't get the the last point, because we need to slow down
     if(traveledPoints.size() > 1)
        traveledPoints.remove(traveledPoints.size() - 1);
 
     return traveledPoints;
  }
 
   public double checkDanger(EnemyWave surfWave, Point2D.Double position) {
     int index = getFactorIndex(surfWave, position);
     double distance = position.distance(surfWave.fireLocation);
     return _surfStats[index]/distance;
  }
 
   public Point2D.Double getBestPoint(EnemyWave surfWave){
     if(surfWave.safePoints == null){
        ArrayList forwardPoints = predictPositions(surfWave, 1);
        ArrayList reversePoints = predictPositions(surfWave, -1);
        int FminDangerIndex = 0;
        int RminDangerIndex = 0;
        double FminDanger = Double.POSITIVE_INFINITY;
        double RminDanger = Double.POSITIVE_INFINITY;
        for(int i = 0, k = forwardPoints.size(); i < k; i++){
           double thisDanger = checkDanger(surfWave, (Point2D.Double)(forwardPoints.get(i)));
           if(thisDanger <= FminDanger){
              FminDangerIndex = i;
              FminDanger = thisDanger;
           }
        }
        for(int i = 0, k = reversePoints.size(); i < k; i++){
           double thisDanger = checkDanger(surfWave, (Point2D.Double)(reversePoints.get(i)));
           if(thisDanger <= RminDanger){
              RminDangerIndex = i;
              RminDanger = thisDanger;
           }
        }
        ArrayList bestPoints;
        int minDangerIndex;
 
        if(FminDanger < RminDanger ){
           bestPoints = forwardPoints;
           minDangerIndex = FminDangerIndex;
        }
        else {
           bestPoints = reversePoints;
           minDangerIndex = RminDangerIndex;
        }
 
        Point2D.Double bestPoint = (Point2D.Double)bestPoints.get(minDangerIndex);
 
        while(bestPoints.indexOf(bestPoint) != -1)
           bestPoints.remove(bestPoints.size() - 1);
        bestPoints.add(bestPoint);
 
        surfWave.safePoints = bestPoints;
 
        //debugging - so that we should always be on top of the last point
        bestPoints.add(0,new Point2D.Double(getX(), getY()));
 
     }
     else
        if(surfWave.safePoints.size() > 1)
           surfWave.safePoints.remove(0);
 
 
     if(surfWave.safePoints.size() >= 1){
        for(int i = 0,k=surfWave.safePoints.size(); i < k; i++){
           Point2D.Double goToPoint = (Point2D.Double)surfWave.safePoints.get(i);
           if(goToPoint.distanceSq(_myLocation) > 20*20*1.1)
           //if it's not 20 units away we won't reach max velocity
              return goToPoint;
        }
     //if we don't find a point 20 units away, return the end point
        return (Point2D.Double)surfWave.safePoints.get(surfWave.safePoints.size() - 1);
 
 
     }
 
     return null;
  }
 
   public void doSurfing() {
     EnemyWave surfWave = getClosestSurfableWave();
     double distance = _enemyLocation.distance(_myLocation);
     if (surfWave == null || distance < 50) { 
        //do 'away' movement  best distance of 400 - modified from RaikoNano
        double absBearing = absoluteBearing(_myLocation, _enemyLocation);
        double headingRadians = getHeadingRadians();
        double stick = 160;//Math.min(160,distance);
        double  v2, offset = Math.PI/2 + 1 - distance/400;
 
        while(!_fieldRect.
        contains(project(_myLocation,v2 = absBearing + direction*(offset -= 0.02), stick)
 
        // 	getX() + stick * Math.sin(v2 = absBearing + direction * (offset -= .02)), getY() + stick * Math.cos(v2)
        ));
 
 
        if( offset < Math.PI/3 ) 
           direction = -direction;
        setAhead(50*Math.cos(v2 - headingRadians));
        setTurnRightRadians(Math.tan(v2 - headingRadians));
 
     }
     else
        goTo(getBestPoint(surfWave));
  }
   private void goTo(Point2D.Double destination) {
     if(destination == null){
        if(_lastGoToPoint != null)
           destination = _lastGoToPoint;
        else
           return;
     }
 
     _lastGoToPoint = destination;
     Point2D.Double location = new Point2D.Double(getX(), getY());
     double distance = location.distance(destination);
     double angle = Utils.normalRelativeAngle(absoluteBearing(location, destination) - getHeadingRadians());
     if (Math.abs(angle) > Math.PI/2) {
        distance = -distance;
        if (angle > 0) {
           angle -= Math.PI;
        }
        else {
           angle += Math.PI;
        }
     }
 
    //this is hacked so that the bot doesn't turn once we get to our destination
     setTurnRightRadians(angle*Math.signum(Math.abs((int)distance)));
 
     setAhead(distance);
  }
 
// This can be defined as an inner class if you want.
   class EnemyWave {
     Point2D.Double fireLocation;
     long fireTime;
     double bulletVelocity, directAngle, distanceTraveled;
     int direction;
     ArrayList safePoints;
 
      public EnemyWave() { }
  }
 
// CREDIT: Iterative WallSmoothing by Kawigi
//   - return absolute angle to move at after account for WallSmoothing
// robowiki.net?WallSmoothing
   public double wallSmoothing(Point2D.Double botLocation, double angle, int orientation) {
     while (!_fieldRect.contains(project(botLocation, angle, 160))) {
        angle += orientation*0.05;
     }
     return angle;
  }
 
// CREDIT: from CassiusClay, by PEZ
//   - returns point length away from sourceLocation, at angle
// robowiki.net?CassiusClay
   public static Point2D.Double project(Point2D.Double sourceLocation, double angle, double length) {
     return new Point2D.Double(sourceLocation.x + Math.sin(angle) * length,
        sourceLocation.y + Math.cos(angle) * length);
  }
 
// got this from RaikoMicro, by Jamougha, but I think it's used by many authors
//  - returns the absolute angle (in radians) from source to target points
   public static double absoluteBearing(Point2D.Double source, Point2D.Double target) {
     return Math.atan2(target.x - source.x, target.y - source.y);
  }
 
   public static double limit(double min, double value, double max) {
     return Math.max(min, Math.min(value, max));
  }
 
   public static double bulletVelocity(double power) {
     return (20D - (3D*power));
  }
 
   public static double maxEscapeAngle(double velocity) {
     return Math.asin(8.0/velocity);
  }
 
   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);
     }
  }
 
   public void onPaint(java.awt.Graphics2D g) {
     g.setColor(Color.red);
     for(int i = 0; i < _enemyWaves.size(); i++){
        EnemyWave w = (EnemyWave)(_enemyWaves.get(i));
        Point2D.Double center = w.fireLocation;
 
        //int radius = (int)(w.distanceTraveled + w.bulletVelocity);
        //hack to make waves line up visually, due to execution sequence in robocode engine
        //use this only if you advance waves in the event handlers (eg. in onScannedRobot())
        //NB! above hack is now only necessary for robocode versions before 1.4.2
        //otherwise use: 
        int radius = (int)w.distanceTraveled;
 
        if(radius - 40 < center.distance(_myLocation))
           g.drawOval((int)(center.x - radius ), (int)(center.y - radius), radius*2, radius*2);
     }
  }
}
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