UnderDark4.java

package matt;

import robocode.*;
import java.awt.Color;
import java.awt.geom.*;

import matt.Wave;
import matt.Utils;

public class UnderDark4 extends Robot{
    int _maxWaves = 256;
    int _aveHistory = 2;
    int _segmentation = 11;
    
    double GuessFactor;
    double rawGF[] = new double[_segmentation];
    static double index[];
    int direction = 1;
    int numGoodHits = 0;
    int scanNum = 0;
    
    Bullet shells[] = new Bullet[_maxWaves];
    Rectangle2D.Double battleField = new Rectangle2D.Double();
    Wave waves[] = new Wave[_maxWaves];
    
    public void run() {
        for(int initWaves = 0; initWaves < _maxWaves; initWaves++){
            waves[initWaves] = new Wave();
        }
        
        rawGF[0] = -1;
        rawGF[1] = -.8;
        rawGF[2] = -.6;
        rawGF[3] = -.4;
        rawGF[4] = -.2;
        rawGF[5] = 0;
        rawGF[6] = .2;
        rawGF[7] = .4;
        rawGF[8] = .6;
        rawGF[9] = .8;
        rawGF[10] = 1;
        
        if(getRoundNum()==0){
            index = new double[_segmentation];
            for(int initIndex = 0; initIndex < _segmentation; initIndex++){
                index[initIndex] = 0;
            }
            out.println("Reseting Index");
        }
        
        battleField.setRect(0, 0, getBattleFieldWidth(), getBattleFieldHeight());
        
        setColors(new Color(125,125,125),new Color(125,125,125),new Color(125,125,125));
        setAdjustGunForRobotTurn(true);
        setAdjustRadarForRobotTurn(true);
        setAdjustRadarForGunTurn(true);
        while(true){
            for(int win=0; win < _segmentation; win++){
                out.println("Index of GF "+rawGF[win]+": "+index[win]);
            }
            turnRadarRight(Double.POSITIVE_INFINITY);
        }
    }

    public void onScannedRobot(ScannedRobotEvent e){
        //Update Waves
        for(int updateWave=0; updateWave < _maxWaves; updateWave++){
            if(waves[updateWave] != null && shells[updateWave] != null && waves[updateWave].getStatus()){
                waves[updateWave].update(shells[updateWave]);
                if(Point2D.distance(waves[updateWave].getOrigin().x, waves[updateWave].getOrigin().y, shells[updateWave].getX(), shells[updateWave].getX())-waves[updateWave].getDistanceTo()>waves[updateWave].getDistanceTo()+10){
                    waves[updateWave].kill();
                    out.println("Killed Wave "+updateWave);
                }
            }
        }
        
        //Generate New GF
        double GF = (int)(Math.random()*_segmentation);
        GF = rawGF[(int)GF];
        double power = (2200/Math.pow(e.getDistance(),1.15));
        if(power>3)
            power=3;
        if(power<.1)
            power=.1;
        
        //Shoot
        double v = 8*GF;
        if(scanNum%3==0 || getRoundNum()%3 != 0){
            double temp = Double.NEGATIVE_INFINITY;
            for(int peak=0; peak < _segmentation; peak++){
                if(index[peak] >= temp){
                    temp = index[peak];
                    GuessFactor = rawGF[peak];
                }
            }
            v = GuessFactor*8;
            GF = GuessFactor;
            out.println("Using GF: "+GuessFactor);
        }
        double theta = Utils.normalizeBearing(Math.toDegrees(Math.asin(v/(20-3*power)*Math.sin(Math.PI+Math.toRadians(getHeading())+Math.toRadians(e.getBearing())-Math.toRadians(e.getHeading())))+Math.toRadians(getHeading())+Math.toRadians(e.getBearing())-Math.toRadians(getGunHeading())));
        turnGunRight(theta);
        shells[getFreeWave()] = fireBullet(power);
        waves[getFreeWave()] = new Wave(new Point2D.Double(getX(), getY()), 0, e.getDistance(), GF, shells[getFreeWave()]);
        
        //Move
        if(scanNum%5==0)
            direction *= -1;
        turnRight(e.getBearing()+90-(10*direction));
        ahead(100*direction);
        
        scanNum++;
    }
    
    public void onBulletHit(BulletHitEvent e){
        Bullet focus = e.getBullet();
        for(int bulletSense=0; bulletSense < _maxWaves; bulletSense++){
            if(shells[bulletSense]==focus){
                index[reverseLookup(waves[bulletSense].getGF())]++;
                out.println("Wave "+bulletSense+" has hit & has been killed (GF: "+waves[bulletSense].getGF()+")");
                waves[bulletSense].kill();
            }
        }
    }
    
    public void onBulletMissed(BulletMissedEvent e){
        Bullet focus = e.getBullet();
        for(int bulletSense=0; bulletSense < _maxWaves; bulletSense++){
            if(shells[bulletSense]==focus){
                out.println("Wave "+bulletSense+" has missed & has been killed");
                waves[bulletSense].kill();
            }
        }
    }
    
    public void onDeath(DeathEvent e){
        for(int lose=0; lose < _segmentation; lose++){
            out.println("Index of GF "+rawGF[lose]+": "+index[lose]);
        }
    }
    
    public void onWin(WinEvent e){
        for(int win=0; win < _segmentation; win++){
            out.println("Index of GF "+rawGF[win]+": "+index[win]);
        }
    }
    
    public void onHitWall(HitWallEvent e){
        direction *= -1;
    }
    
    int getFreeWave(){
        for(int scan=0; scan < _maxWaves; scan++){
            if(!waves[scan].getStatus()){
                return scan;
            }
        }
        return -1;
    }
    
    int reverseLookup(double value){
        for(int lookup=0; lookup < _segmentation; lookup++){
            if(rawGF[lookup]==value){
                return lookup;
            }
        }
        return -5;
    }
}