SuperMercutio

SuperMercutio
Author(s)	CrazyBassoonist
Extends	AdvancedRobot
Targeting	Segmented Last Bearing Offset Targeting
Movement	Anti-Gravity Movement, Wave/Virtual Bullet Dodging
Current Version	1.0
Code License	Public domain
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SuperMercutio is part of the Super Sample Bots set. These robots are meant to provide newcomers with a challenge after they can easily beat all the sample bots, but aren't quite ready for the big leagues. They are also intended to educate new Robocoders about different methods of targeting and movement, as well as basic concepts of Robocoding.

This robot is by far the strongest Super Sample, and is recommended for medium-level Robocoders. SuperMercutio is meant to teach how to use Waves effectively in both movement and targeting, which is a somewhat advanced concept. If you do not understand what waves are, it is recommended that you take a peek at the corresponding article.

Movement

SuperMercutio uses waves to try to avoid being hit. However, unlike wave surfers, its movement is not adaptive. In fact, it really uses a form of Anti-Gravity Movement to dodge simulated bullets. When the enemy fires, it records a wave with along with the angles of a shot fired with Head-On Targeting and Linear Targeting. It then repels away from these points to avoid the enemy's shots.

Targeting

SuperMercutio uses the last angle the enemy moved to, segmented by Lateral Velocity. This gun uses waves to figure out the angles the enemy is moving to.

Code

package supersample;

import java.awt.*;
import java.awt.geom.*;
import java.util.*;

import robocode.*;
import robocode.util.*;
/*
 * SuperMercutio-A SuperSampleBot by CrazyBassoonist. This robot is an improved version of my 
 * micro melee robot Mercutio, which is personally one of my favorite robots because of its movement.
 * SuperMercutio is meant to demonstrate how to effectively use simple waves in both movement and targeting.
 * 
 * --Note--
 * This is a slightly more advanced SuperSample than any of the other ones, 
 * so if you have not yet mastered the basics you may wish to look at some of the other robots.
 * If you do not know what a wave is, there are some very informative articles on the robowiki.
 * That said, I will move onto a description of the robot.
 * 
 * --Movement--
 * Details:
 * When the enemy fires, SuperMercutio creates a wave and records two firing angles the enemy could have used:
 * a head-on targeting angle and a linear targeting angle. It then uses that information to create imaginary
 * bullets in the air, and uses a form of anti-gravity movement to avoid them.
 * 
 * Effectiveness:
 * This movement is very good at dodging simple targeting, as the waves make it very precise. It is a form
 * of wavesurfing in the strictest sense because it makes use of waves, but it is not what most people 
 * would think of as wavesurfing because it is not a learning movement and it does not make use of guessfactors.
 * Because it is not an adaptive movement and it is not random movement, advanced guns can hone in on its 
 * movement better than they can on most bots. However, the inherent complexity of its movement can make it a
 * hard target.
 * 
 * --Gun--
 * Details:
 * Upon firing, this robot logs a wave and records the lateral velocity of the opponent. When the wave passes
 * the opponent, it records the angle the other robot moved in and records this in an array segmented by the
 * lateral velocity of the opponent when the shot was fired. To aim its gun, it merely uses the most recent angle
 * the opponent ended up at at the opponent's current lateral velocity.
 * 
 * Effectiveness:
 * This gun adapts reasonably quickly to adaptive movements. However, because it doesn't save any more data than
 * the most recent angle for each lateral velocity segment, it does not capable of building accuracy over time
 * like guns such as patternmatching and guessfactor guns.
 */

public class SuperMercutio extends AdvancedRobot {
	final static double FIRE_POWER=2;
	final static double FIRE_SPEED=20-FIRE_POWER*3;
	final static double BULLET_DAMAGE=10;
	/*
	 * change these statistics to see different graphics.
	 */
	final static boolean PAINT_MOVEMENT=true;
	final static boolean PAINT_GUN=false;
	
	static double enemyEnergy;
	
	/*
	 * An ArrayList can hold a list of objects. 
	 * We'll be using the first one to hold all the waves that we wish to keep track of for movement, and the
	 * second for the targeting waves.
	 */
	ArrayList<SuperMercutio.MovementWave> moveWaves=new ArrayList<SuperMercutio.MovementWave>();
	ArrayList<SuperMercutio.GunWave> gunWaves=new ArrayList<SuperMercutio.GunWave>();
	
	/*
	 * This Array will hold the most recent movement angle for every lateral velocity segment;
	 */
	static double gunAngles[]=new double[16];
	public void run(){
		enemyEnergy=100;
		
		setAdjustGunForRobotTurn(true);
		setAdjustRadarForGunTurn(true);
		setColors(Color.white,Color.gray,Color.red);
		
		//This is the best possible radar lock
		while(true){
			if(getRadarTurnRemainingRadians()==0){
				setTurnRadarRightRadians(Double.POSITIVE_INFINITY);
			}
			//This method paints the waves.
			paint();
			execute();
		}
	}
	/*
	 * In this robot, as in many others, onScannedRobot is used as the main place to put actions done every tick.
	 */
	public void onScannedRobot(ScannedRobotEvent e){
		double absBearing=e.getBearingRadians()+getHeadingRadians();
		
		/*
		 * ==================Movement Section============================
		 * This makes us put a log into our log when we notice the enemy firing. 
		 * To see the actual logging of the wave, look at the logWave method.
		 */
		double energyChange=(enemyEnergy-(enemyEnergy=e.getEnergy()));
		MovementWave w;
		if(energyChange<=3&&energyChange>=0.1){
			logMovementWave(e,energyChange);
		}
		/*
		 * After we are done checking to see if we need to log any waves, we'll decide where to move.
		 * To see this process take a peek at the chooseDirection method.
		 */
		chooseDirection(project(new Point2D.Double(getX(),getY()),e.getDistance(),absBearing));
		
		/*
		 * logs a gun wave when we fire;
		 */
		if(getGunHeat()==0){
			logFiringWave(e);
		}
		/*
		 * This method checks our waves to see if they have reached the enemy yet.
		 */
		checkFiringWaves(project(new Point2D.Double(getX(),getY()),e.getDistance(),absBearing));
		
		/*
		 * Aiming our gun and firing
		 */
		setTurnGunRightRadians(Utils.normalRelativeAngle(absBearing-getGunHeadingRadians())
				+gunAngles[8+(int)(e.getVelocity()*Math.sin(e.getHeadingRadians()-absBearing))]);
		setFire(FIRE_POWER);
		
		setTurnRadarRightRadians(Utils.normalRelativeAngle(absBearing-getRadarHeadingRadians())*2);
	}
	/*
	 * This helps us keep from being confused about the enemy's energy after hitting them with a bullet.
	 */
	public void onBulletHit(BulletHitEvent e){
		enemyEnergy-=BULLET_DAMAGE;
	}
	/*
	 * This method receives a ScannedRobotEvent and uses that information to create a new wave and place it in
	 * our log. Basically we're going to take all the information we'll need to know later to figure out where
	 * to move to and store it in one object so we can use it easily later.
	 */
	public void logMovementWave(ScannedRobotEvent e,double energyChange){
		double absBearing=e.getBearingRadians()+getHeadingRadians();
		MovementWave w=new MovementWave();
		//This is the spot that the enemy was in when they fired.
		w.origin=project(new Point2D.Double(getX(),getY()),e.getDistance(),absBearing);
		//20-3*bulletPower is the formula to find a bullet's speed.
		w.speed=20-3*energyChange;
		//The time at which the bullet was fired.
		w.startTime=getTime();
		//The absolute bearing from the enemy to us can be found by adding Pi to our absolute bearing.
		w.angle=Utils.normalRelativeAngle(absBearing+Math.PI);
		/*
		 * Our lateral velocity, used to calculate where a bullet fired with linear targeting would be.
		 * Note that the speed has already been factored into the calculation.
		 */
		w.latVel=(getVelocity()*Math.sin(getHeadingRadians()-w.angle))/w.speed;
		//This actually adds the wave to the list.
		moveWaves.add(w);
	}
	/*
	 * This method looks at all the directions we could go, then rates them based on how close they will take us
	 * to simulated bullets fired with both linear and head-on targeting generated by the waves we have logged.
	 * It is the core of our movement.
	 */
	public void chooseDirection(Point2D.Double enemyLocation){
		MovementWave w;
		//This for loop rates each angle individually
		double bestRating=Double.POSITIVE_INFINITY;
		for(double moveAngle=0;moveAngle<Math.PI*2;moveAngle+=Math.PI/16D){
			double rating=0;
			
			//Movepoint is position we would be at if we were to move one robot-length in the given direction. 
			Point2D.Double movePoint=project(new Point2D.Double(getX(),getY()),36,moveAngle);
			
			/*
			 * This loop will iterate through each wave and add a risk for the simulated bullets on each one
			 * to the total risk for this angle.
			 */
			for(int i=0;i<moveWaves.size();i++){
				w=moveWaves.get(i);
				
				//This part will remove waves that have passed our robot, so we no longer keep taking into account old ones
				if(new Point2D.Double(getX(),getY()).distance(w.origin)<(getTime()-w.startTime)*w.speed+w.speed){
					moveWaves.remove(w);
				}
				else{
					/*
					 * This adds two risks for each wave: one based on the distance from where a head-on targeting
					 * bullet would be, and one for where a linear targeting bullet would be.
					 */
					rating+=1D/Math.pow(movePoint.distance(project(w.origin,movePoint.distance(w.origin),w.angle)),2);
					rating+=1D/Math.pow(movePoint.distance(project(w.origin,movePoint.distance(w.origin),w.angle+w.latVel)),2);
				}
			}
			//This adds a risk associated with being to close to the other robot if there are no waves.
			if(moveWaves.size()==0){
				rating=1D/Math.pow(movePoint.distance(enemyLocation),2);
			}
			//This part tells us to go in the direction if it is better than the previous best option and is reachable.
			if(rating<bestRating&&new Rectangle2D.Double(50,50,getBattleFieldWidth()-100,getBattleFieldHeight()-100).contains(movePoint)){
				bestRating=rating;
				/*
				 * These next three lines are a very codesize-efficient way to 
				 * choose the best direction for moving to a point.
				 */
				int pointDir;
				setAhead(1000*(pointDir=(Math.abs(moveAngle-getHeadingRadians())<Math.PI/2?1:-1)));
				setTurnRightRadians(Utils.normalRelativeAngle(moveAngle+(pointDir==-1?Math.PI:0)-getHeadingRadians()));
			}
		}
	}
	
	/*
	 * This method will log a firing wave.
	 */
	public void logFiringWave(ScannedRobotEvent e){
		GunWave w=new GunWave();
		w.absBearing=e.getBearingRadians()+getHeadingRadians();
		w.speed=FIRE_SPEED;
		w.origin=new Point2D.Double(getX(),getY());
		w.velSeg=(int)(e.getVelocity()*Math.sin(e.getHeadingRadians()-w.absBearing));
		w.startTime=getTime();
		gunWaves.add(w);
	}
	/*
	 * This method checks firing waves to see if they have passed the enemy yet.
	 */
	public void checkFiringWaves(Point2D.Double ePos){
		GunWave w;
		for(int i=0;i<gunWaves.size();i++){
			w=gunWaves.get(i);
			if((getTime()-w.startTime)*w.speed>=w.origin.distance(ePos)){
				gunAngles[w.velSeg+8]=Utils.normalRelativeAngle(Utils.normalAbsoluteAngle(Math.atan2(ePos.x-w.origin.x, ePos.y-w.origin.y))-w.absBearing);
				gunWaves.remove(w);
			}
		}
	}
	/*
	 * This extremely useful method lets us project one point from another given a specific angle and distance.
	 */
	public Point2D.Double project(Point2D.Double origin,double dist,double angle){
		return new Point2D.Double(origin.x+dist*Math.sin(angle),origin.y+dist*Math.cos(angle));
	}
	/*
	 * This is where we will paint our waves;
	 */
	public void paint(){
		Graphics g=getGraphics();
		double radius;
		
		/*
		 * Paints the waves and the imaginary bullets from the movement.
		 */
		if(PAINT_MOVEMENT){
			for(int i=0;i<moveWaves.size();i++){
				MovementWave w=moveWaves.get(i);
				g.setColor(Color.blue);
				radius=(getTime()-w.startTime)*w.speed+w.speed;
				g.drawOval((int)(w.origin.x-radius),(int)(w.origin.y-radius),(int)radius*2,(int)radius*2);
				Point2D.Double hotBullet=project(w.origin,radius,w.angle);
				Point2D.Double latBullet=project(w.origin,radius,w.angle+w.latVel);
				g.setColor(Color.red);
				g.fillOval((int)hotBullet.x-3,(int)hotBullet.y-3,6,6);
				g.fillOval((int)latBullet.x-3,(int)latBullet.y-3,6,6);
			}
		}
		/*
		 * Just paints the waves for the targeting.
		 */
		if(PAINT_GUN){
			for(int i=0;i<gunWaves.size();i++){
				GunWave w=gunWaves.get(i);
				g.setColor(Color.blue);
				radius=(getTime()-w.startTime)*w.speed;
				g.drawOval((int)(w.origin.x-radius),(int)(w.origin.y-radius),(int)radius*2,(int)radius*2);
			}
		}
		
		
	}
	/*
	 * This class is the data we will need to use our movement waves.
	 */
	public static class MovementWave{
		Point2D.Double origin;
		double startTime;
		double speed;
		double angle;
		double latVel;
	}
	/*
	 * This class is the data we will need to use for our targeting waves.
	 */
	public class GunWave{
		double speed;
		Point2D.Double origin;
		int velSeg;
		double absBearing;
		double startTime;
	}
	
}