Komarious/Code
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This is the code to Komarious 1.712. Code size is 1492 when compiled with Jikes (3 colors = 13 bytes).
package voidious.mini;
import robocode.*;
import robocode.util.Utils;
import java.awt.geom.*;
import java.util.LinkedList;
import java.awt.Color;
/**
* Komarious - a MiniBot by Voidious
*
* She's a duelist, and assumes it's a 1 on 1. This is a first attempt by
* Voidious at making a mini-WaveSurfer.
*
* CREDITS:
* Jamougha - gun based on RaikoMicro 1.44
* rozu - mini-sized PrecisePrediction from Apollon
* Iiley - small codesize BackAsFront method
* PEZ - iterative WallSmoothing algorithm
*
* Code is open source, released under the RoboWiki Public Code License:
* http://robowiki.net/cgi-bin/robowiki?RWPCL
*/
public class Komarious extends AdvancedRobot {
private static double _surfStats[][][] = new double[4][5][47];
private static double _nextSurfSegment[];
public static Point2D.Double _myLocation;
public static Point2D.Double _enemyLocation;
public static LinkedList _enemyWaves;
private static double _oppEnergy;
private static Wave _surfWave;
private static double _lastDistance;
private static int _lastLastOrientation;
private static double _lastLatVel;
private static double _lastLastAbsBearingRadians;
private static double _lastAbsBearingRadians;
private static double _lastPredictedDistance;
private static double _goAngle;
private static int _ramCounter;
private static java.awt.geom.Rectangle2D.Double _fieldRect
= new java.awt.geom.Rectangle2D.Double(18, 18, 764, 564);
// Math.PI/2 would be perpendicular movement, less will keep moving
// further away
static final double A_LITTLE_LESS_THAN_HALF_PI = 1.25;
static final double WALL_STICK = 140;
static final int GF_ZERO = 23;
static final int GF_ONE = 46;
private static double _enemyAbsoluteBearing;
private static int _lastGunOrientation;
////////////////////////////////////////////////////////
// RaikoMicro's gun
static double lastVChangeTime;
static int enemyVelocity;
static double[][][][][][] _gunStats = new double[6][4][4][2][3][GF_ONE+1];
static final double LOG_BASE_E_TO_2_CONVERSION_CONSTANT = 1.4427;
////////////////////////////////////////////////////////
public void run() {
setColors(Color.black, Color.black, Color.white);
_enemyWaves = new LinkedList();
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);
do {
turnRadarRightRadians(Double.POSITIVE_INFINITY);
} while (true);
}
public void onScannedRobot(ScannedRobotEvent e) {
Wave w;
double bulletPower;
if ((bulletPower = _oppEnergy - e.getEnergy()) <= 3
&& bulletPower > 0) {
addCustomEvent(w = new Wave());
w.bulletVelocity = (20D - (bulletPower*3));
w.directAngle = _lastLastAbsBearingRadians;
w.sourceLocation = _enemyLocation;
w.orientation = _lastLastOrientation;
w.waveGuessFactors = _nextSurfSegment;
_enemyWaves.addLast(w);
}
_nextSurfSegment = _surfStats[(int)(Math.min((_lastDistance+50)/200, 3))][(int)((Math.abs(_lastLatVel)+1)/2)];
// _oppEnergy = e.getEnergy(); // MC (done in gun normally)
addCustomEvent(w = new Wave());
setTurnRadarRightRadians(Utils.normalRelativeAngle((w.directAngle = _enemyAbsoluteBearing = getHeadingRadians() + e.getBearingRadians()) - getRadarHeadingRadians()) * 2);
_enemyLocation =
project((w.sourceLocation = _myLocation = new Point2D.Double(getX(), getY())),
_enemyAbsoluteBearing, _lastDistance = e.getDistance());
// WaveSurfing /////////////////////////////////////////////////////////
int direction = (_lastLastOrientation = sign(_lastLatVel));
try {
_goAngle = (_surfWave = (Wave)(_enemyWaves.getFirst()))
.absoluteBearing(_myLocation) +
A_LITTLE_LESS_THAN_HALF_PI *
(direction = (sign(checkDanger(-1) - checkDanger(1))));
} catch (Exception ex) { }
// CREDIT: code by Iiley,
// http://robowiki.net?BackAsFront
double angle = Utils.normalRelativeAngle(
wallSmoothing(_myLocation, _goAngle, direction) - getHeadingRadians());
double turnAngle;
setTurnRightRadians(turnAngle = Math.atan(Math.tan(angle)));
setAhead((angle == turnAngle) ? 100 : -100);
////////////////////////////////////////////////////////
// CREDIT: RaikoMicro's gun, by Jamougha
// http://robowiki.net?RaikoMicro
/////
// TC
/*
Wave w;
addCustomEvent(w = new Wave());
_enemyLocation =
project((w.sourceLocation = _myLocation = new Point2D.Double(getX(), getY())),
_enemyAbsoluteBearing, _lastDistance = e.getDistance());
*/
/////
// ------------- Fire control -------
double enemyLatVel;
_lastGunOrientation = w.orientation = sign(enemyLatVel = (e.getVelocity())*Math.sin(e.getHeadingRadians() - _enemyAbsoluteBearing));
int bestGF = Math.min(3, (int)(Math.pow(280*lastVChangeTime++/_lastDistance, .7)));
// int bestGF = Math.min(3, (int)(Math.sqrt(220D*lastVChangeTime++/_lastDistance))); // TC
int newVelocity;
if (enemyVelocity != (newVelocity = (int)(enemyLatVel = Math.abs(enemyLatVel)))) {
lastVChangeTime = 0;
bestGF = 4;
if (enemyVelocity > newVelocity) {
bestGF = 5;
}
}
enemyVelocity = newVelocity;
// w.sourceLocation = _myLocation;
// w.directAngle = _enemyAbsoluteBearing;
w.waveGuessFactors = _gunStats[bestGF][(int)(LOG_BASE_E_TO_2_CONVERSION_CONSTANT * Math.log(enemyLatVel + 1.5))][gunWallDistance(0.18247367367) ? (gunWallDistance(0.36494734735) ? (gunWallDistance(0.63865785787) ? 3 : 2) : 1) : 0][gunWallDistance(-0.36494734735) ? 0 : 1][(int)limit(0, (_lastDistance-75)/200, 2)];
// w.waveGuessFactors = _gunStats[bestGF][(int)(LOG_BASE_E_TO_2_CONVERSION_CONSTANT * Math.log(enemyLatVel + 1.5))][gunWallDistance(0.24430198263) ? (gunWallDistance(0.48860396528) ? (gunWallDistance(0.85505693924) ? 3 : 2) : 1) : 0][gunWallDistance(-0.48860396528) ? 0 : 1][(int)limit(0, (_lastDistance-75)/200, 2)]; // TC
bestGF = GF_ZERO;
for (int gf = GF_ONE; gf >= 0 && (_oppEnergy = e.getEnergy()) > 0; gf--) // Jamougha: Saves one byte compared to going up, weird
if (w.waveGuessFactors[gf] > w.waveGuessFactors[bestGF])
bestGF = gf;
double power = 2 - Math.max(0, (30 - getEnergy()) / 16);
// double power = 3; // TC
w.distance = -1.5 * (w.bulletVelocity = (20 - 3*power));
setTurnGunRightRadians(Utils.normalRelativeAngle(_enemyAbsoluteBearing - getGunHeadingRadians() + ((_lastGunOrientation*(Math.asin(8/w.bulletVelocity)/GF_ZERO))*(bestGF-GF_ZERO)) ));
// setTurnGunRightRadians(Utils.normalRelativeAngle(_enemyAbsoluteBearing - getGunHeadingRadians() + ((_lastGunOrientation*.035406)*(bestGF-GF_ZERO)) )); // TC
if (Math.abs(getGunTurnRemaining()) < 3 && setFireBullet(power + (_ramCounter / (3*getRoundNum()+1))) != null) {
// if (Math.abs(getGunTurnRemaining()) < 3 && setFireBullet(3) != null) { // TC
w.weight = 4;
}
////////////////////////////////////////////////////////
_lastLatVel = getVelocity()*Math.sin(e.getBearingRadians());
_lastLastAbsBearingRadians = _lastAbsBearingRadians;
_goAngle = _lastAbsBearingRadians = _enemyAbsoluteBearing + Math.PI;
}
public void onHitByBullet(HitByBulletEvent e) {
_oppEnergy += e.getBullet().getPower() * 3;
if (_surfWave.distanceToPoint(_myLocation) - _surfWave.distance < 100) {
// The waves are removed quickly enough that it's possible
// I could be hit by a bullet on a wave that's been removed...
// logging that could really screw up the stats.
logHit(_surfWave, _myLocation, 0.7);
}
}
public void onBulletHit(BulletHitEvent e) {
double bulletPower;
_oppEnergy -= (bulletPower = e.getBullet().getPower()) * 4 +
(Math.max(0, bulletPower - 1) * 2);
}
public void onHitRobot(HitRobotEvent event) {
_ramCounter++;
}
public void onCustomEvent(CustomEvent e) {
removeCustomEvent(e.getCondition());
}
public static void logHit(Wave w, Point2D.Double targetLocation, double rollingDepth) {
for (int x = 46; x >= 0; x--) {
w.waveGuessFactors[x] = ((w.waveGuessFactors[x] * rollingDepth)
+ ((1 + w.weight) / (Math.pow(x - getFactorIndex(w, targetLocation), 2) + 1)))
/ (rollingDepth + 1 + w.weight);
}
}
private static int getFactorIndex(Wave w, Point2D.Double botLocation) {
return (int)limit(0,
((((Utils.normalRelativeAngle(
w.absoluteBearing(botLocation)
- w.directAngle) * w.orientation)
/ Math.asin(8.0/w.bulletVelocity))
* (GF_ZERO)) + (GF_ZERO)), 46);
}
private double checkDanger(int direction) {
int index = getFactorIndex(_surfWave, predictPosition(direction));
return (_surfWave.waveGuessFactors[index]
+ .01 / (Math.abs(index - GF_ZERO) + 1))
/ Math.pow(_lastPredictedDistance, 4);
}
// CREDIT: mini sized predictor from Apollon, by rozu
// http://robowiki.net?Apollon
private Point2D.Double predictPosition(int direction) {
Point2D.Double predictedPosition = (Point2D.Double)_myLocation;
double predictedVelocity = getVelocity();
double predictedHeading = getHeadingRadians();
double maxTurning, moveAngle, moveDir;
// - actual distance traveled so far needs +bullet_velocity,
// because it's detected one after being fired
// - another +bullet_velocity b/c bullet advances before collisions
// ...So start the counter at 2.
// - another +bullet_velocity to approximate a bot's half width
// ...So start the counter at 3.
int counter = 3;
do {
moveDir = 1;
if (Math.cos(moveAngle =
wallSmoothing(predictedPosition, _surfWave.absoluteBearing(
predictedPosition) + (direction * A_LITTLE_LESS_THAN_HALF_PI), direction)
- predictedHeading) < 0) {
moveAngle += Math.PI;
moveDir = -1;
}
// rozu comment:
// 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 + (predictedVelocity * moveDir < 0 ? 2*moveDir : moveDir),
// 8);
// rozu comment:
// calculate the new predicted position
predictedPosition = project(predictedPosition,
predictedHeading = Utils.normalRelativeAngle(predictedHeading +
limit(-(maxTurning = Math.PI/720d*(40d -
3d*Math.abs(predictedVelocity))),
Utils.normalRelativeAngle(moveAngle), maxTurning)),
(predictedVelocity = limit(-8,
predictedVelocity + (predictedVelocity * moveDir < 0 ? 2*moveDir : moveDir),
8)));
if ((_lastPredictedDistance =
_surfWave.distanceToPoint(predictedPosition)) <
_surfWave.distance + ((++counter) * _surfWave.bulletVelocity)) {
return predictedPosition;
}
} while (true);
}
private static double limit(double min, double value, double max) {
return Math.max(min, Math.min(value, max));
}
// CREDIT: ganked from CassiusClay, by PEZ
// http://robowiki.net?CassiusClay
private 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);
}
private static int sign(double d) {
if (d < 0) { return -1; }
return 1;
}
// CREDIT: Iterative WallSmoothing by PEZ
// http://robowiki.net?WallSmoothing
private static double wallSmoothing(Point2D.Double botLocation, double angle, int orientation) {
while (!_fieldRect.contains(project(botLocation, angle, WALL_STICK))) {
angle += orientation*0.05;
}
return angle;
}
private static boolean gunWallDistance(double wallDistance) {
return _fieldRect.contains(project(_myLocation, _enemyAbsoluteBearing + (_lastGunOrientation*wallDistance), _lastDistance));
}
}
class Wave extends Condition {
Point2D.Double sourceLocation;
double[] waveGuessFactors;
double bulletVelocity, directAngle, distance;
int orientation, weight;
public double distanceToPoint(Point2D.Double p) {
return sourceLocation.distance(p);
}
public double absoluteBearing(Point2D.Double target) {
return Math.atan2(target.x - sourceLocation.x, target.y - sourceLocation.y);
}
public boolean test() {
boolean isSurfed;
if (distanceToPoint((isSurfed=Komarious._enemyWaves.contains(this))?
Komarious._myLocation:Komarious._enemyLocation)
<= (distance+=bulletVelocity) + (2*bulletVelocity)) {
// logHit((Wave)_enemyWaves.removeFirst(),
// Komarious._myLocation, 500);
if (!isSurfed) {
Komarious.logHit(this, Komarious._enemyLocation, 600);
}
Komarious._enemyWaves.remove(this);
return true;
}
return false;
}
}
