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I think this robot would do very very badly against anything besides SpinBot. But I might modify it a bit and enter one in that. :-) --David Alves |
Please do not enter modified versions of this bot in the SpinBotChallenge, although you are welcome to use my ideas in your own bot for the challenge.
![[Home]](/images/RoboWiki.png)
/* Created on Oct 13, 2004
David Alves presents
_____ __ .__ _________ .__ __________ __
/ _ \ ____ _/ |_ |__| / _____/______ |__| ____ \______ \ ____ _/ |_
/ /_\ \ / \ \ __\| | \_____ \ \____ \ | | / \ | | _/ / _ \ \ __\ .
/ | \| | \ | | | | / \| |_> >| || | \ | | \( <_> ) | |
\____|__ /|___| / |__| |__|/_______ /| __/ |__||___| / |______ / \____/ |__|
\/ \/ \/ |__| \/ \/
____ ______
|_ | | |
_| |_ __ | -- |
|______||__||______|
*/
package davidalves.robot;
import java.awt.Color;
import java.awt.geom.*;
import robocode.*;
/**
* @author David Alves
*
*/
public class AntiSpinBot extends Robot{
static final boolean firingEnabled = true;
static final boolean movingEnabled = true;
static final int ENEMY_FIREPOWER = 3;
static final int ENEMY_BULLET_SPEED = 20 - 3 * ENEMY_FIREPOWER;
//Time SpinBot takes to drive a complete circle.
static final int ENEMY_CIRCLE_TIME = 58;
//SpinBot fires once per revolution
static final int ENEMY_FIRE_FREQUENCY = ENEMY_CIRCLE_TIME;
//Size of the circle that SpinBot drives in
static final int ENEMY_TURN_CIRCLE_RADIUS = 46;
//We stay at less than this distance to ensure that there will only be one enemy bullet in the air at a time
static final int MAX_DISTANCE = (ENEMY_FIRE_FREQUENCY - 12) * ENEMY_BULLET_SPEED;
//We need at least 30 ticks to dodge safely
static final int MIN_DISTANCE = 30 * ENEMY_BULLET_SPEED;
//If we only have 24 ticks or less to dodge each bullet,
//forget about dodging and just drive far away
static final int PANIC_DISTANCE = 19 * ENEMY_BULLET_SPEED;
//try to maintain this distance
static final int IDEAL_DISTANCE = (MAX_DISTANCE + MIN_DISTANCE) / 2;
static Rectangle2D field;
static double enemyEnergy;
static long lastScanTime = 0;
static long lastFireTime = 0;
static long nextFireTime;
static double fireRange;
static boolean lastDirectionWasClockwise;
static double enemyHeadingAtMoveStart;
static double enemyHeadingDegrees;
static double enemyAngleDegrees;
Point2D.Double enemy, circleCenter, fire;
//A "death hop" is a dodge made after spinbot dies... in case he fired right before dying and we didn't notice
//This variable ensures we only do one death hop per round.
static boolean okToDeathHop = true;
//stats
static int skippedTurns;
static int damageTaken;
static int ramCount;
static String state = "";
public void run(){
//My colors, used on all my bots
setColors(Color.darkGray, Color.darkGray, Color.cyan);
enemyHeadingAtMoveStart = Double.NaN;
enemyHeadingDegrees = Double.NaN;
okToDeathHop = true;
fireRange = 0;
enemyEnergy = 100;
lastFireTime = -100;
nextFireTime = 30;
lastScanTime = -100;
enemy = null;
circleCenter = null;
fire = null;
enemyAngleDegrees = Double.NaN;
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);
setAdjustRadarForRobotTurn(true);
field = new Rectangle2D.Double(18,18, getBattleFieldWidth() - 36, getBattleFieldHeight() - 36);
do{
//First find SpinBot
state = "find SpinBot";
findSpinBot();
//Sit still until enemy fires, then we dodge. If moving is disabled we never leave this loop,
//and therefore never dodge.
while(movingEnabled == false || getTime() - lastFireTime > 10){
//Sit still and sweep radar back and forth across enemy. Fire if gun is cool.
state = "sit still";
sitStill();
//If enemy is very close to us, retreat to bullet-dodging range.
if(circleCenter != null && circleCenter.distance(getX(), getY()) < PANIC_DISTANCE){
print("SpinBot is too close... retreating");
break;
}
Point2D.Double me = new Point2D.Double(getX(), getY());
if( normalRelativeAngle(enemyHeadingAtMoveStart - absoluteBearing(enemy, me)) < 0 &&
normalRelativeAngle(enemyHeadingDegrees - absoluteBearing(enemy, me)) > 0){
long detectedTime = Math.round(getTime() - normalRelativeAngle(enemyHeadingDegrees - absoluteBearing(enemy, me)) / (360.0 / ENEMY_CIRCLE_TIME) );
if(Math.abs(detectedTime - lastFireTime) > 10){
print("SpinBot fired while I was moving!! estimated time: " + detectedTime);
break;
}
}
}
enemyHeadingAtMoveStart = enemyHeadingDegrees;
//Dodge
goTo(getDodgePoint());
}while(true);
}
public void onScannedRobot(ScannedRobotEvent e) {
double enemyAngleRadians = Math.toRadians(getHeading()) + e.getBearingRadians();
enemyAngleDegrees = Math.toDegrees(enemyAngleRadians);
double distance = e.getDistance();
enemy = new Point2D.Double( getX() + Math.sin(enemyAngleRadians) * distance,
getY() + Math.cos(enemyAngleRadians) * distance);
enemyHeadingDegrees = e.getHeading();
boolean enemyHeadingIndicatesFired = Math.abs(normalRelativeAngle(absoluteBearing(enemy, new Point2D.Double(getX(), getY())) - e.getHeading())) < 10;
boolean enemyEnergyIndicatesFiredAtStartOfRound = lastScanTime == -100 && e.getEnergy() <= 97.0;
boolean fired = enemyEnergyIndicatesFiredAtStartOfRound || enemyHeadingIndicatesFired;
if(fired){
fire = new Point2D.Double(enemy.x, enemy.y);
lastFireTime = getTime();
print("Enemy fired at range " + distance);
fireRange = distance;
}
enemyEnergy = e.getEnergy();
//The point that SpinBot is orbiting
circleCenter = project(enemy, ENEMY_TURN_CIRCLE_RADIUS, e.getHeading() + 90);
lastScanTime = e.getTime();
}
private Point2D getDodgePoint(){
Point2D.Double enemyCircleCenter = circleCenter;
double angleOffset;
double dodgeDistance;
double distance = enemyCircleCenter.distance(getX(), getY());
if(distance < PANIC_DISTANCE) {
//out.println("< min");
state = "panic move - " + distance;
angleOffset = 140;
dodgeDistance = 170;
} else if(distance < MIN_DISTANCE) {
state = "min move - " + distance;
//out.println("< min");
angleOffset = 140;
dodgeDistance = 120;
} else if(distance < IDEAL_DISTANCE){
state = "less than ideal move - " + distance;
//out.println("< ideal");
angleOffset = 95;
dodgeDistance = 65;
} else if (distance < MAX_DISTANCE){
state = "greater than ideal move - " + distance;
//out.println("< max");
angleOffset = 75;
dodgeDistance = 65;
} else {
//print("> max");
state = "greater than max move - " + distance;
angleOffset = 55;
dodgeDistance = 100;
}
Point2D.Double me = new Point2D.Double(getX(), getY());
double angleToTarget = absoluteBearing(me, circleCenter);
Point2D cw, ccw;
int smoothCW = 0; //How much we have to wallsmooth to drive clockwise
do{
cw = project(me, dodgeDistance, angleToTarget + angleOffset - smoothCW * 3);
smoothCW++;
}while(!field.contains(cw));
int smoothCCW = 0; //How much we have to wallsmooth to drive counter-clockwise
do{
ccw = project(me, dodgeDistance, angleToTarget - angleOffset + smoothCCW * 3);
smoothCCW++;
}while(!field.contains(ccw));
//Keep traveling in the same direction unless it forces us to wallsmooth a lot more than reversing
if(lastDirectionWasClockwise){
if(smoothCW <= smoothCCW + 3){
return cw;
} else {
lastDirectionWasClockwise = false;
return ccw;
}
} else {
if(smoothCCW <= smoothCW + 3){
return ccw;
} else {
lastDirectionWasClockwise = true;
return cw;
}
}
}
public void findSpinBot(){
while(lastScanTime != getTime()) turnRadarRight(44.9);
}
public void sitStill(){
//if(firingEnabled && getGunHeat() == 0.0 && getTime() - lastScanTime <= 1 && enemy.distance(getX(), getY()) > MIN_DISTANCE){
if(firingEnabled && getGunHeat() == 0.0 && getTime() - lastScanTime <= 1 && circleCenter.distance(getX(), getY()) > MIN_DISTANCE){
state = "aim and fire";
gun();
return;
}
state = "radar";
/*if(getTime() - lastScanTime >= 3){
turnRadarRight(44.9);
} else {*/
double radarTurnAngle = normalRelativeAngle(enemyAngleDegrees - getRadarHeading());
if(radarTurnAngle > 0){
radarTurnAngle = Math.min(44.9, radarTurnAngle + 15);
} else {
radarTurnAngle = Math.max(-44.9, radarTurnAngle - 15);
}
turnRadarRight(radarTurnAngle);
}
//}
public void gun(){
double gunTurnTime = Math.ceil(Math.abs(normalRelativeAngle(getGunHeading() - getAbsoluteAngleDegrees(getX(), getY(), enemy.x, enemy.y)))/ 10.0);
double distanceBulletTraveled = - 11 * gunTurnTime;
double enemyPositionOnCircle = absoluteBearing(circleCenter, enemy);
Point2D.Double projected;
//print("gunTurnTime: " + gunTurnTime);
if(enemyEnergy != 0.0){
do
{
distanceBulletTraveled += 11.0;
enemyPositionOnCircle += 360.0 / ENEMY_FIRE_FREQUENCY;
projected = project(circleCenter, ENEMY_TURN_CIRCLE_RADIUS, enemyPositionOnCircle);
}while (projected.distance(getX(), getY()) > distanceBulletTraveled);
} else {
projected = enemy;
}
//print("enemy: " + enemy);
//print("projected: " + projected);
double gunAngle = normalRelativeAngle(getAbsoluteAngleDegrees(getX(), getY(), projected.x, projected.y) - getGunHeading());
if(gunTurnTime < 5){
turnGunRight(gunAngle);
} else {
turnGunRight(Math.max(Math.min(gunAngle, 50), -50));
return;
}
fire(3);
}
private void goTo(Point2D destination) {
Point2D location = new Point2D.Double(getX(), getY());
double distance = location.distance(destination);
double angle = normalRelativeAngle(absoluteBearing(location, destination) - getHeading());
if (Math.abs(angle) > 90) {
distance *= -1;
if (angle > 0) {
angle -= 180;
}
else {
angle += 180;
}
}
turnRight(angle);
ahead(distance);
}
private void print(String s){
out.println(getRoundNum() + ":" + getTime() + ": " + s);
}
private double getAbsoluteAngleDegrees(double x1, double y1, double x2, double y2){
return Math.toDegrees(Math.atan2(x2 - x1, y2 - y1));
}
private double absoluteBearing(Point2D source, Point2D target) {
return Math.toDegrees(Math.atan2(target.getX() - source.getX(), target.getY() - source.getY()));
}
private double normalRelativeAngle(double angle) {
angle = Math.toRadians(angle);
return Math.toDegrees(Math.atan2(Math.sin(angle), Math.cos(angle)));
}
private Point2D.Double project(Point2D source, double distance, double angle){
return new Point2D.Double(source.getX() + distance * Math.sin(Math.toRadians(angle)), source.getY() + distance * Math.cos(Math.toRadians(angle)));
}
public void onRobotDeath(RobotDeathEvent e){
enemyEnergy = 0;
if(withinExpectedFireTime()) lastFireTime = e.getTime();
}
public boolean withinExpectedFireTime(){
return Math.abs(getTime() - (lastFireTime + ENEMY_FIRE_FREQUENCY)) < 10;
}
public void onSkippedTurn(SkippedTurnEvent e){
skippedTurns ++;
}
public void onWin(WinEvent e){
onDeath(null);
}
public void onDeath(DeathEvent e){
print("skipped turns: " + skippedTurns);
print("damage taken: " + damageTaken);
print("times rammed: " + ramCount);
}
public void onHitByBullet(HitByBulletEvent e){
damageTaken += 4 * e.getPower();
if(e.getPower() > 1) damageTaken += 2 * (e.getPower() - 1);
if(lastScanTime != e.getTime()){
enemyEnergy += 3 * e.getPower();
}
print("hit by bullet of power " + e.getPower() + " at distance " + fireRange + " while in state: " + state);
}
public void onHitRobot(HitRobotEvent e){
ramCount++;
enemyEnergy = e.getEnergy();
}
public void onBulletHit(BulletHitEvent e){
enemyEnergy = e.getEnergy();
}
}
I just want to say it's amazing, you are crazy, its the most amazing complex robot extends Robot i had seen. And the code is beautiful:). -- iiley
I'm as amazed as iiley is. How does this bot fare in the ExtendsRobotCompetition? -- PEZ
I think this robot would do very very badly against anything besides SpinBot. But I might modify it a bit and enter one in that. :-) --David Alves