/*
* Created on Aug 4, 2003
*
*/
package jekl.mini;
import java.awt.geom.*;
import java.io.*;
import java.util.zip.*;
import robocode.*;
import robocode.util.Utils;
* Created on Aug 4, 2003
*
*/
package jekl.mini;
import java.awt.geom.*;
import java.io.*;
import java.util.zip.*;
import robocode.*;
import robocode.util.Utils;
public
class BlackPearl extends AdvancedRobot
{
private static final double MAX_STAND_OFF_DISTANCE = 600D;
private static final double MIN_STAND_OFF_DISTANCE = 500D;
private static final double GUESS_FACTORS = 23D;
private static final double MIDDLE_FACTOR = (GUESS_FACTORS -1) / 2;
private static final double WALL_CURVE_DISTANCE = 180D; //pixels
private static final int CLOSE_IN = -1;
private static final int BACK_OFF = 1;
private static Rectangle2D.Double field;
private static int statBuffer[][][][][][];
private static String targetName;
private static int hits;
private int direction = 1;
private int eDirection;
private double eEnergy = 100D;
private double eX, eY, eDelta, eAbsBearing, eVelocity, eDistance, eHeading;
private boolean flatten = (hits > 2);
private double eLastShot = 3;
private static int ticksSinceReverse = 0;
int lastLatVelIndex = 0;
private static final double MAX_STAND_OFF_DISTANCE = 600D;
private static final double MIN_STAND_OFF_DISTANCE = 500D;
private static final double GUESS_FACTORS = 23D;
private static final double MIDDLE_FACTOR = (GUESS_FACTORS -1) / 2;
private static final double WALL_CURVE_DISTANCE = 180D; //pixels
private static final int CLOSE_IN = -1;
private static final int BACK_OFF = 1;
private static Rectangle2D.Double field;
private static int statBuffer[][][][][][];
private static String targetName;
private static int hits;
private int direction = 1;
private int eDirection;
private double eEnergy = 100D;
private double eX, eY, eDelta, eAbsBearing, eVelocity, eDistance, eHeading;
private boolean flatten = (hits > 2);
private double eLastShot = 3;
private static int ticksSinceReverse = 0;
int lastLatVelIndex = 0;
public
void run()
{
//setColors(java.awt.Color.MAGENTA, java.awt.Color.LIGHT_GRAY, java.awt.Color.RED);
field = new Rectangle2D.Double(18, 18, getBattleFieldWidth() - 36, getBattleFieldHeight() - 36);
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);
do {
turnRadarRightRadians(Double.POSITIVE_INFINITY);
} while(true);
}
public void onScannedRobot(ScannedRobotEvent e) {
//Gather target information
targetName = e.getName();
if (Math.abs(eVelocity) > Math.abs(eVelocity = e.getVelocity())) {
ticksSinceReverse = 0;
}
double latVel = (eVelocity) * Math.sin(eHeading = e.getHeadingRadians() - (eAbsBearing = Utils.normalRelativeAngle(getHeadingRadians() + (e.getBearingRadians()))));
eX = getX() + Math.sin(eAbsBearing) * (eDistance = e.getDistance());
eY = getY() + Math.cos(eAbsBearing) * eDistance;
//setColors(java.awt.Color.MAGENTA, java.awt.Color.LIGHT_GRAY, java.awt.Color.RED);
field = new Rectangle2D.Double(18, 18, getBattleFieldWidth() - 36, getBattleFieldHeight() - 36);
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);
do {
turnRadarRightRadians(Double.POSITIVE_INFINITY);
} while(true);
}
public void onScannedRobot(ScannedRobotEvent e) {
//Gather target information
targetName = e.getName();
if (Math.abs(eVelocity) > Math.abs(eVelocity = e.getVelocity())) {
ticksSinceReverse = 0;
}
double latVel = (eVelocity) * Math.sin(eHeading = e.getHeadingRadians() - (eAbsBearing = Utils.normalRelativeAngle(getHeadingRadians() + (e.getBearingRadians()))));
eX = getX() + Math.sin(eAbsBearing) * (eDistance = e.getDistance());
eY = getY() + Math.cos(eAbsBearing) * eDistance;
//Keep the
sign of the direction last used if latVel is
zero
if (latVel != 0) {
eDirection = (int)(Math.abs(latVel) / latVel);
}
if (latVel != 0) {
eDirection = (int)(Math.abs(latVel) / latVel);
}
//Set the
indicies for
shooting
int distanceIndex = (int)Math.min(4, eDistance / 180D);
//Reverse chance
if ((eDelta = eEnergy - (eEnergy = e.getEnergy())) > 0 && eDelta <= 3) {
eLastShot = eDelta;
}
//Set the firePower
double firePower = (distanceIndex <=1 ? 3.0 : 1.9);
//double firePower = (getEnergy() > 0 ? 3.0 : 0);
int distanceIndex = (int)Math.min(4, eDistance / 180D);
//Reverse chance
if ((eDelta = eEnergy - (eEnergy = e.getEnergy())) > 0 && eDelta <= 3) {
eLastShot = eDelta;
}
//Set the firePower
double firePower = (distanceIndex <=1 ? 3.0 : 1.9);
//double firePower = (getEnergy() > 0 ? 3.0 : 0);
//Movement
//This is an adaptation from Raiko. If you can't beat 'em, join 'em
double distDelta = 0.02 + Math.PI/2 + (e.getDistance() > 400 ? -.1 : .5);
double theta = 0.5952*bulletV(eLastShot)/eDistance;
if ( (Math.random() > Math.pow(theta, theta) && flatten)|| distDelta < Math.PI/4 || (distDelta < Math.PI/3 && eDistance < 400)){
//double theta = .64 * bulletV(eLastShot)/eDistance;
//if ((Math.random() > Math.pow(theta, theta) && flatten)) {
direction = -direction;
}
//This is an adaptation from Raiko. If you can't beat 'em, join 'em
double distDelta = 0.02 + Math.PI/2 + (e.getDistance() > 400 ? -.1 : .5);
double theta = 0.5952*bulletV(eLastShot)/eDistance;
if ( (Math.random() > Math.pow(theta, theta) && flatten)|| distDelta < Math.PI/4 || (distDelta < Math.PI/3 && eDistance < 400)){
//double theta = .64 * bulletV(eLastShot)/eDistance;
//if ((Math.random() > Math.pow(theta, theta) && flatten)) {
direction = -direction;
}
//Finally
move
goTo(getDestination(new Point2D.Double(getX(), getY()),direction));
goTo(getDestination(new Point2D.Double(getX(), getY()),direction));
//Radar
setTurnRadarRightRadians(Math.sin(eAbsBearing - getRadarHeadingRadians()));
setTurnRadarRightRadians(Math.sin(eAbsBearing - getRadarHeadingRadians()));
//Gun
//Initialize the statbuffer
if (statBuffer == null) {
statBuffer = (int[][][][][][]) readObject(targetName);
}
//Initialize the statbuffer
if (statBuffer == null) {
statBuffer = (int[][][][][][]) readObject(targetName);
}
//Retrieve
the current stat segment to
use
int stats[] = statBuffer[getOutIndex()][lastLatVelIndex][(lastLatVelIndex = ((int)Math.abs(latVel) / 2))][Math.min(4, ++ticksSinceReverse/10)][distanceIndex];
int stats[] = statBuffer[getOutIndex()][lastLatVelIndex][(lastLatVelIndex = ((int)Math.abs(latVel) / 2))][Math.min(4, ++ticksSinceReverse/10)][distanceIndex];
//Get the
current best Guess Factor to shoot
at
int bestIndex = (int)MIDDLE_FACTOR;
for (int i = 0; i < stats.length ; i++) {
if (stats[i] > stats[bestIndex])
bestIndex = i;
}
int bestIndex = (int)MIDDLE_FACTOR;
for (int i = 0; i < stats.length ; i++) {
if (stats[i] > stats[bestIndex])
bestIndex = i;
}
//Aim the
gun
//Original
setTurnGunRightRadians(Utils.normalRelativeAngle(eAbsBearing - getGunHeadingRadians() + (getGuessAngle(bestIndex, firePower))));
//Original
setTurnGunRightRadians(Utils.normalRelativeAngle(eAbsBearing - getGunHeadingRadians() + (getGuessAngle(bestIndex, firePower))));
if
(firePower > 0)
{
setFire(firePower);
Wave w = new Wave();
w.guessFactors = stats;
w.wDirection = eDirection;
w.bulletVel=bulletV(firePower);
w.dist+=w.bulletVel;
w.shotOrigin = new Point2D.Double(getX(), getY());
w.startingAbsTargetBearing = eAbsBearing;
w.maxAnglePossible = Math.asin(8.0 / w.bulletVel);
addCustomEvent(w);
}
//lastLatVelIndex = latVelIndex;
}
// Check if we are hit with full lead aim
// Adapted from Axe's Musashi: http://robowiki.net/?Musashi
public void onHitByBullet(HitByBulletEvent e) {
//if (ticksSinceReverse > (eDistance / e.getVelocity()) && !flatten) {
if (!flatten) {
flatten = (++hits > 0);
}
}
setFire(firePower);
Wave w = new Wave();
w.guessFactors = stats;
w.wDirection = eDirection;
w.bulletVel=bulletV(firePower);
w.dist+=w.bulletVel;
w.shotOrigin = new Point2D.Double(getX(), getY());
w.startingAbsTargetBearing = eAbsBearing;
w.maxAnglePossible = Math.asin(8.0 / w.bulletVel);
addCustomEvent(w);
}
//lastLatVelIndex = latVelIndex;
}
// Check if we are hit with full lead aim
// Adapted from Axe's Musashi: http://robowiki.net/?Musashi
public void onHitByBullet(HitByBulletEvent e) {
//if (ticksSinceReverse > (eDistance / e.getVelocity()) && !flatten) {
if (!flatten) {
flatten = (++hits > 0);
}
}
// Save
the data if I win the
round
public void onWin(WinEvent e) {
try {
ObjectOutputStream oos = new ObjectOutputStream(new GZIPOutputStream(new RobocodeFileOutputStream(getDataFile(targetName))));
oos.writeObject(statBuffer);
oos.close();
} catch (IOException ex) {
//Should do something here but alas it is too big
//e.printStackTrace();
}
}
public void onWin(WinEvent e) {
try {
ObjectOutputStream oos = new ObjectOutputStream(new GZIPOutputStream(new RobocodeFileOutputStream(getDataFile(targetName))));
oos.writeObject(statBuffer);
oos.close();
} catch (IOException ex) {
//Should do something here but alas it is too big
//e.printStackTrace();
}
}
// Figures
the Guess Angle Radians to offset the gun
by
private double getGuessAngle(int guessIndex, double firePower) {
if (eEnergy == 0.0) //If the enemy bot is disabled, fire directly at it.
return 0.0;
return (guessIndex - MIDDLE_FACTOR) / MIDDLE_FACTOR * Math.asin(8.0 / bulletV(firePower)) * eDirection;
}
private double getGuessAngle(int guessIndex, double firePower) {
if (eEnergy == 0.0) //If the enemy bot is disabled, fire directly at it.
return 0.0;
return (guessIndex - MIDDLE_FACTOR) / MIDDLE_FACTOR * Math.asin(8.0 / bulletV(firePower)) * eDirection;
}
// Method
to read data from disc. Taken from
SandboxMini
Object readObject(String fileName) {
try {
ObjectInputStream ois = new ObjectInputStream(new GZIPInputStream(new FileInputStream(getDataFile(fileName))));
Object o = ois.readObject();
ois.close();
return o;
} catch (Exception e) {
//int stats[] = statBuffer[getOutIndex()][lastLatVelIndex][latVelIndex][Math.min(4, ++ticksSinceReverse/5)][distanceIndex];
return new int[5][5][5][5][5][(int)GUESS_FACTORS];
//Should do something here but alas it is too big
//e.printStackTrace();
}
}
//Retrieve the bullets velocity
private double bulletV (double shotPower) {
return (20 - (3 * shotPower));
}
//Gets the point we are going to aim for in the next tick
private Point2D.Double getDestination(Point2D.Double startFrom, int direct) {
double fudge = 0; //Adjustment to rotate the heading by
Point2D.Double dest = new Point2D.Double();
//If we are in the "sweet spot" no need to move in or out
double dir = eAbsBearing + (Math.PI / 2) + (.2618 * direct * (eDistance > MAX_STAND_OFF_DISTANCE ? CLOSE_IN : (eDistance < MIN_STAND_OFF_DISTANCE ? BACK_OFF : 0)));
int counter = 0;
//Rotate the position we are heading for until it is in the field
do {
dest.setLocation(startFrom.x + Math.sin(dir + (fudge * direct)) * WALL_CURVE_DISTANCE * direct,
startFrom.y + Math.cos(dir + (fudge * direct)) * (WALL_CURVE_DISTANCE * direct));
fudge-=.0085; //.5 degrees radians
} while (!field.contains(dest) && ++counter < 180);
if (counter >= 55 && flatten) {
direction = -direction;
}
return dest;
}
Object readObject(String fileName) {
try {
ObjectInputStream ois = new ObjectInputStream(new GZIPInputStream(new FileInputStream(getDataFile(fileName))));
Object o = ois.readObject();
ois.close();
return o;
} catch (Exception e) {
//int stats[] = statBuffer[getOutIndex()][lastLatVelIndex][latVelIndex][Math.min(4, ++ticksSinceReverse/5)][distanceIndex];
return new int[5][5][5][5][5][(int)GUESS_FACTORS];
//Should do something here but alas it is too big
//e.printStackTrace();
}
}
//Retrieve the bullets velocity
private double bulletV (double shotPower) {
return (20 - (3 * shotPower));
}
//Gets the point we are going to aim for in the next tick
private Point2D.Double getDestination(Point2D.Double startFrom, int direct) {
double fudge = 0; //Adjustment to rotate the heading by
Point2D.Double dest = new Point2D.Double();
//If we are in the "sweet spot" no need to move in or out
double dir = eAbsBearing + (Math.PI / 2) + (.2618 * direct * (eDistance > MAX_STAND_OFF_DISTANCE ? CLOSE_IN : (eDistance < MIN_STAND_OFF_DISTANCE ? BACK_OFF : 0)));
int counter = 0;
//Rotate the position we are heading for until it is in the field
do {
dest.setLocation(startFrom.x + Math.sin(dir + (fudge * direct)) * WALL_CURVE_DISTANCE * direct,
startFrom.y + Math.cos(dir + (fudge * direct)) * (WALL_CURVE_DISTANCE * direct));
fudge-=.0085; //.5 degrees radians
} while (!field.contains(dest) && ++counter < 180);
if (counter >= 55 && flatten) {
direction = -direction;
}
return dest;
}
//This
moves me about the
field
private void goTo(Point2D destination) {
ticksSinceReverse++;
double angle = Utils.normalRelativeAngle(Math.atan2((destination.getX() - getX()), (destination.getY()- getY())) - getHeadingRadians());
double turnAngle = Math.atan(Math.tan(angle));
setTurnRightRadians(turnAngle);
setAhead(destination.distance(getX(), getY()) * (angle == turnAngle ? 1 : -1) * Math.cos(turnAngle));
}
//Return the wall index
private int getOutIndex() {
int i = 0;
do {
} while (++i < 4 && field.contains((eX + (Math.sin(eHeading)* (45.0 * i) * eDirection)), (eY + (Math.cos(eHeading) * (45.0 * i) * eDirection))));
return (i);
}
// Jekyl's implementation of a Wave (mostly)
public class Wave extends Condition {
public Point2D.Double shotOrigin;
public double bulletVel;
public double dist;
public double startingAbsTargetBearing;
public double maxAnglePossible;
public int[] guessFactors;
public int wDirection;
private void goTo(Point2D destination) {
ticksSinceReverse++;
double angle = Utils.normalRelativeAngle(Math.atan2((destination.getX() - getX()), (destination.getY()- getY())) - getHeadingRadians());
double turnAngle = Math.atan(Math.tan(angle));
setTurnRightRadians(turnAngle);
setAhead(destination.distance(getX(), getY()) * (angle == turnAngle ? 1 : -1) * Math.cos(turnAngle));
}
//Return the wall index
private int getOutIndex() {
int i = 0;
do {
} while (++i < 4 && field.contains((eX + (Math.sin(eHeading)* (45.0 * i) * eDirection)), (eY + (Math.cos(eHeading) * (45.0 * i) * eDirection))));
return (i);
}
// Jekyl's implementation of a Wave (mostly)
public class Wave extends Condition {
public Point2D.Double shotOrigin;
public double bulletVel;
public double dist;
public double startingAbsTargetBearing;
public double maxAnglePossible;
public int[] guessFactors;
public int wDirection;
public
boolean test()
{
if ((dist+=bulletVel) >= shotOrigin.distance(eX,eY) - 18) {
double currentAbsBearingFromShotOrigin = Math.atan2(eX - shotOrigin.getX(), eY - shotOrigin.getY());
guessFactors[(int)Math.max(0, Math.min((GUESS_FACTORS - 1),(int) Math.round(((((Utils.normalRelativeAngle(currentAbsBearingFromShotOrigin - startingAbsTargetBearing) * wDirection) / maxAnglePossible) * MIDDLE_FACTOR) + MIDDLE_FACTOR))))]++;
removeCustomEvent(this);
}
return false;
}
} //End Wave
}
if ((dist+=bulletVel) >= shotOrigin.distance(eX,eY) - 18) {
double currentAbsBearingFromShotOrigin = Math.atan2(eX - shotOrigin.getX(), eY - shotOrigin.getY());
guessFactors[(int)Math.max(0, Math.min((GUESS_FACTORS - 1),(int) Math.round(((((Utils.normalRelativeAngle(currentAbsBearingFromShotOrigin - startingAbsTargetBearing) * wDirection) / maxAnglePossible) * MIDDLE_FACTOR) + MIDDLE_FACTOR))))]++;
removeCustomEvent(this);
}
return false;
}
} //End Wave
}
