Wall Smoothing - Revision history

D414 at 15:56, 25 January 2024

2024-01-25T15:56:52Z

Xor: fix: as wall smoothing is suitable in melee.

2017-09-24T23:53:18Z

fix: as wall smoothing is suitable in melee.

MultiplyByZer0: Adjustments

2017-09-24T15:51:24Z

Adjustments

Voidious: fix typo

2009-08-24T20:07:19Z

fix typo

Voidious: /* Examples */ fix link

2009-08-21T20:18:36Z

Examples: fix link

Positive: Added youtube example (Raiko's stick)

2009-08-21T20:07:26Z

Added youtube example (Raiko's stick)

Voidious: change sub-page link

2009-08-21T19:11:19Z

change sub-page link

Voidious: migrating from old wiki, merging "introduction", code on sub-page

2009-08-21T18:34:53Z

migrating from old wiki, merging "introduction", code on sub-page

New page

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A method for avoiding collisions with walls without needing to reverse direction. In other words, instead of reversing direction every time your bot would hit the wall (which can be very predictable), your bot will instead turn as it approaches the wall, then move right along the wall.

== How it works ==
Generally, Wall Smoothing is accomplished by extending an imaginary stick (sometimes called a "blind man's stick") from the front and back of the bot and testing if that stick would touch the wall. If it would, then you adjust the bot's new heading until the stick would not touch the wall. A stick length of about 120 to 150 works well for most bots.

=== Graphical demonstrationn ===

[[File:Wallsmooth4.png]]

In the image above, our robot (the small blue circle) is driving in a circle around an enemy (the red circle). The enemy is 250 units away. Our Wall Smoothing algorithm is currently using a 150 unit distance, so we're going to pick destinations that lie somewhere on the outer dark blue circle. The bright green circle is our destination if we drive clockwise around our enemy, the darker green circle is our destination if we drive counter-clockwise around our enemy. Since we're not yet near a wall, no smoothing is needed.

[[File:Wallsmooth5.png]]

Now we've been driving around our enemy clockwise for a bit more time, and we're starting to approach a wall. The end of the black field is the side of the battlefield. The gray line represents the closest we can get to that wall, which is 18 units. Since we can't drive directly perpendicular to our opponent for 150 units any more, we choose a "smoothed" point which is closer to the enemy. In other words, we choose the intersection of the gray line and our 150 unit dark blue circle. The advantages of doing this are

# We don't hit any walls.
# We can still drive clockwise or counter-clockwise, so we're less predictable (and therefore harder to shoot) than if we always just reversed direction when we came near a wall.

[[File:Wallsmooth6.png]]

If we keep driving clockwise, the "smoothing angle" will get steeper and steeper, meaning that we are driving more towards our enemy instead of perpendicular.

== Examples ==
There are several implementations of Wall Smoothing available on the [[/Code]] sub-page.

== See also ==
* [[Dive Protection]]

[[Category:Terminology]]
[[Category:Movement]]

@@ Line 7: / Line 7: @@
 A method for [[Wall Avoidance|avoiding collisions with walls]] without needing to reverse direction. In other words, instead of reversing direction every time your bot would hit the wall (which can be very predictable), your bot will instead turn as it approaches the wall, then move right along the wall.
-Wall smoothing is not only suitable for [[Movement|movements]] that orbit an enemy, but also in [[Melee]] situations, which require moving relative to multiple enemies. It is also suitable for [[GoTo]]-based movements, such as [[Minimum Risk Movement]]. However, in non-orbital situations, wall sommthing is different, and is difficult. Some simply selects some point far from walls, but it still can’t prevent you from hitting the wall (ocationaly), as your path can still intersect with the wall, even if destination is not. Anyway, correct melee wall smothing borrows several ideas from orbital wall smothing. For details, see [[/Melee Wall Smoothing]]
+Wall smoothing is not only suitable for [[Movement|movements]] that orbit an enemy, but also in [[Melee]] situations, which require moving relative to multiple enemies. It is also suitable for [[GoTo]]-based movements, such as [[Minimum Risk Movement]]. However, in non-orbital situations, wall smoothing is different, and is difficult. Some simply selects some point far from walls, but it still can’t prevent you from hitting the wall (ocationaly), as your path can still intersect with the wall, even if destination is not. Anyway, correct melee wall smothing borrows several ideas from orbital wall smothing. For details, see [[/Melee Wall Smoothing]]
 == How it works ==

@@ Line 7: / Line 7: @@
 A method for [[Wall Avoidance|avoiding collisions with walls]] without needing to reverse direction. In other words, instead of reversing direction every time your bot would hit the wall (which can be very predictable), your bot will instead turn as it approaches the wall, then move right along the wall.
-Wall smoothing is '''only''' suitable for [[Movement|movements]] that orbit an enemy. This makes it irrelevant in most [[Melee]] situations, which require moving relative to multiple enemies. It is also irrelevant for [[GoTo]]-based movements, such as [[Minimum Risk Movement]], where you should instead simply pick points that are some distance away from the walls.
+Wall smoothing is not only suitable for [[Movement|movements]] that orbit an enemy, but also in [[Melee]] situations, which require moving relative to multiple enemies. It is also suitable for [[GoTo]]-based movements, such as [[Minimum Risk Movement]]. However, in non-orbital situations, wall sommthing is different, and is difficult. Some simply selects some point far from walls, but it still can’t prevent you from hitting the wall (ocationaly), as your path can still intersect with the wall, even if destination is not. Anyway, correct melee wall smothing borrows several ideas from orbital wall smothing. For details, see [[/Melee Wall Smoothing]]
 == How it works ==

← Older revision		Revision as of 20:07, 21 August 2009
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	== How it works ==		== How it works ==
		+	{{Youtube\|SrbNxXiNp3k}}
	Generally, Wall Smoothing is accomplished by extending an imaginary stick (sometimes called a "blind man's stick") from the front and back of the bot and testing if that stick would touch the wall. If it would, then you adjust the bot's new heading until the stick would not touch the wall. A stick length of about 120 to 150 works well for most bots.		Generally, Wall Smoothing is accomplished by extending an imaginary stick (sometimes called a "blind man's stick") from the front and back of the bot and testing if that stick would touch the wall. If it would, then you adjust the bot's new heading until the stick would not touch the wall. A stick length of about 120 to 150 works well for most bots.

@@ Line 3: / Line 3: @@
 | page1        = Implementations
 }}
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+{{Youtube|SrbNxXiNp3k}}
 A method for avoiding collisions with walls without needing to reverse direction. In other words, instead of reversing direction every time your bot would hit the wall (which can be very predictable), your bot will instead turn as it approaches the wall, then move right along the wall.
 == How it works ==
-{{Youtube|SrbNxXiNp3k}}
 Generally, Wall Smoothing is accomplished by extending an imaginary stick (sometimes called a "blind man's stick") from the front and back of the bot and testing if that stick would touch the wall. If it would, then you adjust the bot's new heading until the stick would not touch the wall. A stick length of about 120 to 150 works well for most bots.
-=== Graphical demonstration ===
+== Graphical demonstration ==
 [[File:Wallsmooth4.png]]
 In the image above, our robot (the small blue circle) is driving in a circle around an enemy (the red circle). The enemy is 250 units away. Our Wall Smoothing algorithm is currently using a 150 unit distance, so we're going to pick destinations that lie somewhere on the outer dark blue circle. The bright green circle is our destination if we drive clockwise around our enemy, the darker green circle is our destination if we drive counter-clockwise around our enemy. Since we're not yet near a wall, no smoothing is needed.
 [[File:Wallsmooth5.png]]
@@ Line 22: / Line 26: @@
 # We don't hit any walls.
 # We can still drive clockwise or counter-clockwise, so we're less predictable (and therefore harder to shoot) than if we always just reversed direction when we came near a wall.
 [[File:Wallsmooth6.png]]
@@ Line 27: / Line 32: @@
 If we keep driving clockwise, the "smoothing angle" will get steeper and steeper, meaning that we are driving more towards our enemy instead of perpendicular.
-== Examples ==
+== Code ==
 There are several implementations of Wall Smoothing available on the [[/Implementations]] sub-page.
 == See also ==
 * [[Dive Protection]]
 [[Category:Terminology]]
 [[Category:Movement]]

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