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| | | parent = Basilisk | | | parent = Basilisk |
| | | page1 = Version History | | | page1 = Version History |
| | + | | page2 = Code |
| | }} | | }} |
| | | | |
| Line 75: |
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| | Special thanks to Dsekercioglu for help identifying bugs and beating bullet shielders =) | | Special thanks to Dsekercioglu for help identifying bugs and beating bullet shielders =) |
| | | | |
| − | == Code ==
| |
| − |
| |
| − | '''Version 2.35'''
| |
| − |
| |
| − | <syntaxhighlight>
| |
| − | package slugzilla;
| |
| − | import robocode.*;
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| − | import java.awt.geom.*;
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| − | import robocode.util.*;
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| − | import java.awt.*;
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| − | import static robocode.util.Utils.normalRelativeAngleDegrees;
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| − | import robocode.BulletHitEvent;
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| − | import robocode.HitByBulletEvent;
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| − |
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| − | public class Basilisk extends AdvancedRobot {
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| − |
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| − | private static double lateralDirection;
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| − | private static double lastEnemyVelocity;
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| − | static double enemyFirePower;
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| − | static double enemyBulletVelocity;
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| − | double enemyDistance;
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| − | double enemyAbsoluteBearing;
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| − | double enemyVelocity;
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| − | static double direction = 1;
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| − | static int movementMode;
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| − | static double hits;
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| − | private static double enemyEnergy;
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| − | static double deltaT;
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| − | static double lastDeltaT;
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| − | static double lastReverseTime;
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| − | static double firePower;
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| − | public void run() {
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| − | setAdjustRadarForGunTurn(true);
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| − | setAdjustGunForRobotTurn(true);
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| − | setBodyColor(new Color(40, 100, 100));
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| − | setGunColor(new Color(34, 50, 50));
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| − | setRadarColor(new Color(0, 255, 0));
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| − | setScanColor(new Color(0, 255, 0));
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| − | turnRadarRightRadians(Double.POSITIVE_INFINITY);
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| − | do {
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| − | scan();
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| − | } while (true);
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| − | }
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| − |
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| − | public void onScannedRobot(ScannedRobotEvent e) {
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| − | //radar ↓
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| − | double radarTurn = getHeadingRadians() + e.getBearingRadians() - getRadarHeadingRadians();
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| − | setTurnRadarRightRadians(Utils.normalRelativeAngle(radarTurn));
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| − | //movement ↓
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| − |
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| − | double v2;
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| − | double offset;
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| − | double theta = 0.5952*(20D - 3D*enemyFirePower)/enemyDistance;
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| − |
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| − | if (movementMode >= 1) {
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| − | offset = 2 + 100/e.getDistance();
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| − | } else {
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| − | //offset = 1.5 + 100/e.getDistance();
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| − | offset = 2 + (int)(100/e.getDistance());
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| − | }
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| − |
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| − | enemyAbsoluteBearing = getHeadingRadians() + e.getBearingRadians();
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| − | double v1 = enemyAbsoluteBearing;
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| − | enemyDistance = e.getDistance();
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| − | enemyVelocity = e.getVelocity();
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| − | enemyBulletVelocity = 20 - 3 * enemyFirePower;
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| − |
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| − | if (enemyEnergy > e.getEnergy() && enemyEnergy - 3 <= e.getEnergy()) {
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| − | enemyFirePower = enemyEnergy - e.getEnergy();
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| − | }
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| − | while(!new Rectangle2D.Double(18, 18, 764, 564).
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| − | contains(getX() + 160 * Math.sin(v2 = v1 + direction * (offset -= .02)), getY() + 160 * Math.cos(v2)));
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| − |
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| − | if (offset < 0.75) {
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| − | direction = -direction;
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| − | lastDeltaT = deltaT;
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| − | lastReverseTime = getTime();
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| − | }
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| − | setTurnRightRadians(Math.tan(v2 -= getHeadingRadians()));
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| − | deltaT = getTime() - lastReverseTime;
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| − |
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| − | if(movementMode >= 1) {
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| − | setAhead(1000 * Math.cos(v2));
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| − | if (Math.random() > Math.pow(theta, theta) && enemyDistance > 100) {
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| − | if (deltaT >= lastDeltaT +2 || deltaT <= lastDeltaT -2) {
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| − | direction = -direction;
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| − | lastDeltaT = deltaT;
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| − | lastReverseTime = getTime();
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| − | }
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| − | }
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| − | } else {
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| − | double energyDrop = enemyEnergy - e.getEnergy();
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| − | if ((int)(100/enemyDistance) + energyDrop > 0) {
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| − | setAhead(((3 + (int)(energyDrop * 1.999999)) << 3 ) * Math.signum(Math.cos(v2)));
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| − | }
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| − | }
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| − | enemyEnergy = e.getEnergy();
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| − | //gun ↓
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| − | double enemyLateralVelocity = e.getVelocity() * Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing);
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| − | if (enemyVelocity != 0) {
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| − | lateralDirection = GFTUtils.sign(enemyVelocity * Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing));
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| − | }
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| − | GFTWave wave = new GFTWave(this);
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| − |
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| − | wave.bulletPower = Math.min(Math.min(e.getEnergy()/4, getEnergy()/8), Math.min(0.05 * Math.round((1.8+100/enemyDistance)/0.05), 3));
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| − | firePower = wave.bulletPower;
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| − | wave.MAX_ESCAPE_ANGLE = (Math.asin(8/(20 - 3 * wave.bulletPower)));
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| − | wave.BIN_WIDTH = wave.MAX_ESCAPE_ANGLE / wave.MIDDLE_BIN;
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| − | wave.gunLocation = new Point2D.Double(getX(), getY());
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| − | GFTWave.targetLocation = GFTUtils.project(wave.gunLocation, enemyAbsoluteBearing, enemyDistance);
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| − | wave.lateralDirection = lateralDirection;
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| − | wave.setSegmentations(enemyDistance, enemyVelocity, lastEnemyVelocity, enemyLateralVelocity);
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| − | lastEnemyVelocity = enemyVelocity;
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| − | wave.bearing = enemyAbsoluteBearing;
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| − |
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| − | setTurnGunRightRadians(Utils.normalRelativeAngle(enemyAbsoluteBearing - getGunHeadingRadians() + wave.mostVisitedBearingOffset()) + ((Math.random()/500)-0.002));
| |
| − | if (getEnergy() > 0.4) {
| |
| − | //fire at will! ↓
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| − | setFire(wave.bulletPower);
| |
| − | }
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| − |
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| − | if (getEnergy() >= wave.bulletPower) {
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| − | addCustomEvent(wave);
| |
| − | }
| |
| − |
| |
| − | }
| |
| − | //movement ↓
| |
| − | public void onHitByBullet(HitByBulletEvent e) {
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| − | //enemyEnergy += 3 * enemyFirePower;
| |
| − | enemyEnergy -= Rules.getBulletDamage(e.getBullet().getPower());
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| − | if ((hits += (4.25 / enemyBulletVelocity)) > getRoundNum() + 1) {
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| − | movementMode++;
| |
| − | }
| |
| − | }
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| − | public void onBulletHit(BulletHitEvent e) {
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| − | //enemyEnergy -= 4 * firePower + firePower > 1 ? 2 * firePower - 1 : 0;
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| − | enemyEnergy -= Rules.getBulletDamage(e.getBullet().getPower());
| |
| − | }
| |
| − | }
| |
| − | //gun ↓
| |
| − | class GFTWave extends Condition {
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| − | static Point2D targetLocation;
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| − | double bulletPower;
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| − | Point2D gunLocation;
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| − | double bearing;
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| − | double lateralDirection;
| |
| − | // 1000 is the maximum space away in a 800 by 600 battlefield
| |
| − | private static final double MAX_DISTANCE = 1000;
| |
| − | //segment into 5 sections ↓
| |
| − | private static final int DISTANCE_INDEXES = 5;
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| − | private static final int VELOCITY_INDEXES = 5;
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| − | private static final int ACCELERATION_INDEXES = 3;
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| − | private static final int LATERAL_VELOCITY_INDEXES = 5;
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| − |
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| − | static final int BINS = 25;
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| − | static final int MIDDLE_BIN = (BINS - 1) / 2;
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| − | static double MAX_ESCAPE_ANGLE;
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| − | static double BIN_WIDTH;
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| − | private static double[][][][][][] statBuffers = new double[DISTANCE_INDEXES][VELOCITY_INDEXES][VELOCITY_INDEXES][ACCELERATION_INDEXES][LATERAL_VELOCITY_INDEXES][BINS];
| |
| − |
| |
| − | private double[] buffer;
| |
| − | private AdvancedRobot robot;
| |
| − | private double distanceTraveled;
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| − |
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| − | GFTWave(AdvancedRobot _robot) {
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| − | this.robot = _robot;
| |
| − | }
| |
| − | public boolean test() {
| |
| − | advance();
| |
| − | //remove passed waves
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| − | if (hasArrived()) {
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| − | //buffer[currentBin()]++;
| |
| − | // value = buffer[currentBin()]
| |
| − | // newValue = .9*value +1
| |
| − | // buffer[currentBin()] = newValue
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| − |
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| − | for (int i = 0; i < BINS; i++) {
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| − | buffer[i] = 0.95 * buffer[i];
| |
| − | }
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| − | buffer[currentBin()] += 1;
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| − | robot.removeCustomEvent(this);
| |
| − | }
| |
| − | return false;
| |
| − | }
| |
| − | double mostVisitedBearingOffset() {
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| − | return (lateralDirection * BIN_WIDTH) * (mostVisitedBin() - MIDDLE_BIN);
| |
| − | }
| |
| − | void setSegmentations(double distance, double velocity, double lastVelocity, double lateralVelocity) {
| |
| − | int distanceIndex = (int)(distance / (MAX_DISTANCE / DISTANCE_INDEXES));
| |
| − | int velocityIndex = (int)Math.abs(velocity / 2);
| |
| − | int lastVelocityIndex = (int)Math.abs(lastVelocity / 2);
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| − | int deltaTime;
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| − | if (velocityIndex < lastVelocityIndex) {
| |
| − | deltaTime = 0;
| |
| − | } else if (velocityIndex > lastVelocityIndex) {
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| − | deltaTime = 1;
| |
| − | } else {
| |
| − | deltaTime = 2;
| |
| − | }
| |
| − | int accelerationIndex = deltaTime;
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| − | int lateralVelocityIndex = (int)Math.abs(lateralVelocity / 2);
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| − |
| |
| − | buffer = statBuffers[distanceIndex][velocityIndex][lastVelocityIndex][accelerationIndex][lateralVelocityIndex];
| |
| − | }
| |
| − | private void advance() {
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| − | distanceTraveled += GFTUtils.bulletVelocity(bulletPower);
| |
| − | }
| |
| − | private boolean hasArrived() {
| |
| − | return distanceTraveled > gunLocation.distance(targetLocation) - 18;
| |
| − | }
| |
| − | private int currentBin() {
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| − | int bin = (int)Math.round((
| |
| − | (Utils.normalRelativeAngle(GFTUtils.absoluteBearing(gunLocation, targetLocation) - bearing))
| |
| − | / (lateralDirection * BIN_WIDTH)
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| − | ) + MIDDLE_BIN);
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| − | return GFTUtils.minMax(bin, 0, BINS - 1);
| |
| − | }
| |
| − | private int mostVisitedBin() {
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| − | int mostVisited = MIDDLE_BIN;
| |
| − | for (int i = 0; i < BINS; i++) {
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| − | if (buffer[i] > buffer[mostVisited]) {
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| − | mostVisited = i;
| |
| − | }
| |
| − | }
| |
| − | return mostVisited;
| |
| − | }
| |
| − | }
| |
| − | //helpful utilities ↓
| |
| − | class GFTUtils {
| |
| − | static double bulletVelocity(double power) {
| |
| − | return 20 - 3 * power;
| |
| − | }
| |
| − | static Point2D project(Point2D sourceLocation, double angle, double length) {
| |
| − | return new Point2D.Double(sourceLocation.getX() + Math.sin(angle) * length,
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| − | sourceLocation.getY() + Math.cos(angle) * length);
| |
| − | }
| |
| − | static double absoluteBearing(Point2D source, Point2D target) {
| |
| − | return Math.atan2(target.getX() - source.getX(), target.getY() - source.getY());
| |
| − | }
| |
| − | static int sign(double v) {
| |
| − | return v < 0 ? -1 : 1;
| |
| − | }
| |
| − | static int minMax(int v, int min, int max) {
| |
| − | return Math.max(min, Math.min(max, v));
| |
| − | }
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| | [[Category:MiniBots]] | | [[Category:MiniBots]] |
| | [[Category:Bots]] | | [[Category:Bots]] |
| | [[Category:1-vs-1 Bots]] | | [[Category:1-vs-1 Bots]] |
