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package bayen; /* *\ ___ ___ ____ | | | | | \ /\ | | | | | / | | | | | | | \ / \ \ \___/ / | \ | | \_____/ |____/ /__/\__\ Author: Bayen Last Updated: 1 - 12 - 06 || 6:16 pm /****************************************\ *=* *=* *=* This code is released under the RWPCL RoboWiki Public Code License http://robowiki.net/?RWPCLCode was used from: MicroAspid -- Base for my movement Faclon -- My GF Gun Misc snippets from RoboWiki -- my LT gun *=* *=* *=* \****************************************/ |
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package bayen.uba; |
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import java.awt.Color; import java.awt.geom.Point2D; |
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/** * Uba: A Robot By Bayen */ |
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import java.awt.Color; import java.awt.geom.*; import java.util.*; /** * ___ ___ ____ * | | | | | \ /\ * | | | | | / | | * | | | | | \ / \ * \ \___/ / | \ | | * \_____/ |____/ /__/\__\ * A Robot by Bayen */ |
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static final double BULLET_POWER = 3.0; |
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/** * Declare Variables */ Enemy t; //A place to store info on my target double dir = 1; //My? direction, forward or backward int corner = 1; //which corner to go to? double missCount = 0; //how many shots we missed double hitCount = 0; //how many shots hit! static final double BULLET_POWER = 3.0; |
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static double FORWARD = 1;//choose forward or backward static String targeting = "linear";//the targeting type int misscount = 0; //# of times I missed double energy = Double.POSITIVE_INFINITY; String name = ""; /** * Uba's run method */ public void run() { setColors(Color.yellow,Color.blue,Color.yellow); setAdjustGunForRobotTurn(true);//allow gun and radar setAdjustRadarForGunTurn(true);//free movement targeting = "gf"; while(true){ //keep scanning execute(); turnRadarRight?(Double.POSITIVE_INFINITY);//for enemies } } /** * onScannedRobot: We have a target. Go get it. */ //This? onScannedRobot "we have a target" phrase //is from the original base for this bot, //TrackFire?. So I am leaving there as a tribute //to Uba's heritage public void onScannedRobot(ScannedRobotEvent e) { if(e.getEnergy() == 0){ setTurnRight?(e.getBearing()); setAhead(e.getDistance()); return; } if(getOthers() > 1){ if(e.getDistance() < 100){ setTurnRight?(e.getBearing()); setBack(100); } if(getX() <200){ setTurnLeft?(getHeading() - 90); setBack(50); } if(getX() < getBattleFieldWidth?() - 200){ setTurnLeft?(getHeading() - 270); setBack(50); } if(getY() < 200){ setTurnLeft?(getHeading() - 180); setBack(50); } if(getY() < getBattleFieldHeight?() - 200){ setTurnLeft?(getHeading()); setBack(50); } if(e.getEnergy() > energy && getOthers() > 1 && e.getName()!=name){ setTurnRadarRight(360); } else{ energy = e.getEnergy(); name = e.getName(); }} double enemyAbsoluteBearing? = 0; int mostVisited = 0; int i = 0; Wave wave; addCustomEvent(wave = new Wave()); wave.wBearingDirection? = 0; |
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private int timeSinceLastScan? = 10; Point2D robotLocation = new Point2D.Double(); Point2D enemyLocation = new Point2D.Double(); static double enemyAbsoluteBearing?; /** * run: -Set my colors * -uncouple my radar, gun, and bot, * -begin my radarlock mechanism */ public void run() { /** * Set Colors */ setColors(Color.blue,Color.blue,Color.yellow); /** * Uncouple components */ setAdjustGunForRobotTurn(true); setAdjustRadarForGunTurn(true); /** * begin the radar lock */ while(true) turnRadarRight?(Double.POSITIVE_INFINITY); } /** * onScannedRobot: -record enemy info * -lock onto them with my radar * -other misc operations */ public void onScannedRobot(ScannedRobotEvent e) { /** * calculate enemy x and y */ double enemyBearing = this.getHeading() + e.getBearing(); double enemyX = getX() + e.getDistance() * Math.sin(Math.toRadians(enemyBearing)); double enemyY = getY() + e.getDistance() * Math.cos(Math.toRadians(enemyBearing)); /** * save enemy info into an accessable class */ t = new Enemy(e.getName(), e.getBearing(), e.getHeading(), getTime(), e.getVelocity(), enemyX, enemyY, e.getDistance(), e.getEnergy()); /** * call my gun */ doGun(); /** * call my movement */ doMovement(); /** * do my firing checker */ if(getGunHeat() == 0){ if(getOthers() == 1){ if(hitCount/(missCount + hitCount) > .50) setFire(3); else{ hitCount=hitCount + .5; } } else{ setFire(3); } } /** * complete the radar lock */ setTurnRadarRightRadians (Utils.normalRelativeAngle((getHeadingRadians() + e.getBearingRadians?()) - getRadarHeadingRadians?())); } |
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/** * onBulletHit?: Update our bullet hit count! */ public void onBulletHit?(BulletHitEvent? e) { if(getOthers() == 1) hitCount++; } |
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/** * onBulletMissed?: Update our bullet hit count! */ public void onBulletMissed?(BulletMissedEvent? e) { if(getOthers() == 1) missCount++; } /** * doGun: Do my Gun! * based off PEZ's Tiny Faclon's Gun * and the Wiki's Targeting Challenge bot B */ public void doGun() { Wave wave; addCustomEvent(wave = new Wave()); double enemyAbsoluteBearing? = getHeadingRadians() + Math.toRadians(t.getBearing()); enemyX = (wave.wGunX? = getX()) + Math.sin(enemyAbsoluteBearing?) * t.getDistance(); enemyY = (wave.wGunY? = getY()) + Math.cos(enemyAbsoluteBearing?) * t.getDistance(); |
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enemyAbsoluteBearing? = getHeadingRadians() + e.getBearingRadians?(); enemyX = (wave.wGunX? = getX()) + Math.sin(enemyAbsoluteBearing?) * e.getDistance(); enemyY = (wave.wGunY? = getY()) + Math.cos(enemyAbsoluteBearing?) * e.getDistance(); wave.wBearingDirection? = (e.getVelocity() * Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing?) < 0 ? -1.0/MIDDLE_FACTOR : 1.0/MIDDLE_FACTOR) ; |
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wave.wBearingDirection? = (t.getVelocity() * Math.sin(Math.toRadians(t.getHeading()) - enemyAbsoluteBearing?) < 0 ? -1.0/MIDDLE_FACTOR : 1.0/MIDDLE_FACTOR) ; |
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mostVisited = 0; i = 0; |
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int mostVisited = 0; int i = 0; |
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double bulletPower = Math.min(3.0,getEnergy()); double myX = getX(); double myY = getY(); double absoluteBearing = getHeadingRadians() + Math.toRadians(t.getBearing()); double enemyX = t.getX(); double enemyY = t.getY(); double enemyHeading = Math.toRadians(t.getHeading()); double enemyVelocity = t.getVelocity(); double deltaTime = 0; double battleFieldHeight? = getBattleFieldHeight?(), battleFieldWidth? = getBattleFieldWidth?(); double predictedX = enemyX, predictedY = enemyY; while((++deltaTime) * (20.0 - 3.0 * bulletPower) < Point2D.Double.distance(myX, myY, predictedX, predictedY)){ predictedX += Math.sin(enemyHeading) * enemyVelocity; predictedY += Math.cos(enemyHeading) * enemyVelocity; if( predictedX < 18.0 || predictedY < 18.0 || predictedX > battleFieldWidth? - 18.0 || predictedY > battleFieldHeight? - 18.0){ predictedX = Math.min(Math.max(18.0, predictedX), battleFieldWidth? - 18.0); predictedY = Math.min(Math.max(18.0, predictedY), battleFieldHeight? - 18.0); break; } } double theta = Utils.normalAbsoluteAngle?(Math.atan2 (predictedX - getX(), predictedY - getY())); setTurnGunRightRadians?(Utils.normalRelativeAngle(theta - getGunHeadingRadians?())); if(getOthers() == 1 && t.gfhit >= t.lthit){ setTurnGunRightRadians?(Utils.normalRelativeAngle( enemyAbsoluteBearing? - getGunHeadingRadians?() + wave.wBearingDirection? * (mostVisited - MIDDLE_FACTOR))); out.println("GF"); } if(getOthers() > 1 || t.gfhit < t.lthit){ setTurnGunRightRadians?(Utils.normalRelativeAngle(theta - getGunHeadingRadians?())); out.println("GF"); } robotLocation.setLocation(getX(), getY()); toLocation((Utils.normalRelativeAngle( enemyAbsoluteBearing? - getGunHeadingRadians?() + wave.wBearingDirection? * (mostVisited - MIDDLE_FACTOR))), t.getDistance(), robotLocation, enemyLocation); addCustomEvent(new VirtualBulletsTrigger?(11, "gf")); robotLocation.setLocation(getX(), getY()); toLocation((Utils.normalRelativeAngle(theta - getGunHeadingRadians?())), t.getDistance(), robotLocation, enemyLocation); addCustomEvent(new VirtualBulletsTrigger?(11, "lt")); } |
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/**One-on-One movement (zigsags)**\ \* Based From MicroAspid */ if(getOthers() == 1){ if (getDistanceRemaining?() == 0) {FORWARD =-FORWARD; setAhead(185 * Math.random() * FORWARD);} setTurnRightRadians?(e.getBearingRadians?() +Math.PI/2-0.5236*FORWARD *(e.getDistance()>200?1:-1));} //**Melee Movement--Random!**\\ if(getOthers() > 1){ |
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/** * doMove: Do my movement! */ public void doMovement() { if(getOthers() == 1){ double amt = 300; double random = Math.random(); if(getDistanceRemaining?() == 0){ dir=-dir; setAhead(amt*random*dir); } setTurnRight?(t.getBearing() + 90 - 90*dir*Math.random()* (t.getDistance()>200?1:-1)); } if(getOthers() > 1){ if(getDistanceRemaining?() == 0){ corner++; if(corner==5) corner = 1; if(corner == 1) goTo(new Point2D.Double(100,100)); if(corner == 2) goTo(new Point2D.Double(100,getBattleFieldHeight?() -100)); if(corner == 3) goTo(new Point2D.Double(getBattleFieldWidth?() - 100, getBattleFieldHeight?() -100)); if(corner == 4) goTo(new Point2D.Double(getBattleFieldWidth?() - 100,100)); } } } |
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if(getDistanceRemaining?() == 0){setAhead(200 * Math.random()*FORWARD); FORWARD=-FORWARD;} if(getTurnRemaining?() == 0) setTurnRightRadians?(2* Math.random()*FORWARD); } if(misscount > 1){ if(getOthers() > 1){ setTurnRadarRight(360); misscount = 0; execute(); |
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/** * goTo: Go to a point * from the Wiki's GoToBot */ 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; |
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else { angle += 180; |
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/*****LINEAR FACTOR TARGETING*****\ \* From The Wiki */ if(targeting == "linear" || getOthers() > 1){ double bulletPower = Math.min(3.0 ,getEnergy()); if(getOthers() == 1){ if(e.getDistance() > 290) bulletPower = 2.0; if(e.getDistance() > 390) bulletPower = 1.0;} double myX = getX();double myY = getY(); double absoluteBearing = getHeadingRadians() + e.getBearingRadians?(); double enemyX = getX() + e.getDistance() * Math.sin(absoluteBearing); double enemyY = getY() + e.getDistance() * Math.cos(absoluteBearing); double enemyHeading = e.getHeadingRadians(); double enemyVelocity = e.getVelocity(); double deltaTime = 0; double battleFieldHeight?= getBattleFieldHeight?(),battleFieldWidth?= getBattleFieldWidth?(); double predictedX = enemyX, predictedY = enemyY; while((++deltaTime)*(20.0 - 3.0*bulletPower) <Point2D.Double.distance(myX, myY, predictedX, predictedY)){ predictedX += Math.sin(enemyHeading) * enemyVelocity; predictedY += Math.cos(enemyHeading) * enemyVelocity; if( predictedX < 18.0 || predictedY < 18.0 || predictedX > battleFieldWidth? - 18.0 || predictedY > battleFieldHeight? - 18.0){ predictedX = Math.min(Math.max(18.0, predictedX), battleFieldWidth? - 18.0); predictedY = Math.min(Math.max(18.0, predictedY), battleFieldHeight? - 18.0);break;}} double theta = Utils.normalAbsoluteAngle?(Math.atan2(predictedX - getX(), predictedY - getY())); setTurnRadarRightRadians (Utils.normalRelativeAngle(absoluteBearing - getRadarHeadingRadians?())); setTurnGunRightRadians?(Utils.normalRelativeAngle(theta - getGunHeadingRadians?())); fire(bulletPower); } /*****GUESS FACTOR TARGETING*****\ \* From Falcon */ if(targeting=="gf" && getOthers() == 1){ setTurnGunRightRadians?(Utils.normalRelativeAngle( enemyAbsoluteBearing? - getGunHeadingRadians?() + wave.wBearingDirection? * (mostVisited - MIDDLE_FACTOR))); setFire(BULLET_POWER); setTurnRadarLeft(getRadarTurnRemaining?()); } } /** * onHitByBullet?: Attack them instead */ public void onHitByBullet?(HitByBulletEvent? e) { energy = Double.POSITIVE_INFINITY; name = e.getName(); turnRadarRight?(e.getBearing()); } /** * onHitRobot?: Back off and attack them! */ public void onHitRobot?(HitRobotEvent? e) { energy = e.getEnergy(); name = e.getName(); FORWARD =-FORWARD; setAhead(185 * Math.random() * FORWARD); turnRadarRight?(e.getBearing()); } /** * onHitWall?: Bounce off! */ public void onHitWall?(HitWallEvent? e) { FORWARD =-FORWARD; setAhead(185 * Math.random() * FORWARD); } /** * onBulletMissed?: Tally up misses */ public void onBulletMissed?(BulletMissedEvent? e) { misscount++; if(misscount > 2){ misscount = 0; if(targeting=="linear") targeting = "gf"; else if(targeting=="gf") targeting = "linear"; |
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} setTurnRight?(angle); setAhead(distance); } /** * absoluteBearing: find the Absolute Bearing * from the Wiki's GoToBot */ private double absoluteBearing(Point2D source, Point2D target) { return Math.toDegrees(Math.atan2(target.getX() - source.getX(), target.getY() - source.getY())); } /** * normalRelativeAngle: prevent unneccesary spinning * from the Wiki's GoToBot */ private double normalRelativeAngle(double angle) { angle = Math.toRadians(angle); return Math.toDegrees(Math.atan2( Math.sin(angle), Math.cos(angle))); } void toLocation(double angle, double length, Point2D sourceLocation, Point2D targetLocation) { targetLocation.setLocation(sourceLocation.getX() + Math.sin(angle) * length, sourceLocation.getY() + Math.cos(angle) * length); } int sign(double v) { return v > 0 ? 1 : -1; } public void onWin(WinEvent? e) { while(true){ setTurnGunRight(360); if(getEnergy() > .1) setFire(.1); turnRight(30); setTurnGunRight(360); if(getEnergy() > .1) setFire(.1); turnLeft(30); } } class VirtualBulletsTrigger? extends Condition { private long time; private double bulletVelocity; private Point2D oldRobotLocation? = new Point2D.Double(); private String type; public VirtualBulletsTrigger?(double bulletVelocity, String type) { this.time = getTime(); this.bulletVelocity = bulletVelocity; this.oldRobotLocation?.setLocation(robotLocation); this.type = type; } public boolean test() { if (bulletVelocity * (getTime() - time) > oldRobotLocation?.distance(enemyLocation)) { //update your stats here //(you probably need some more instance variables in this class for this.) if(type.equals("gf") && getOthers() == 1) t.gfhit++; if(type.equals("lt") && getOthers() == 1) t.lthit++; removeCustomEvent(this); |
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} public void onBulletHit?(BulletHitEvent? e) { misscount = 0; } |
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return false; } } |
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public void onRobotDeath?(RobotDeathEvent? e){ if(e.getName() == name) energy = Double.POSITIVE_INFINITY; } |
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if ((wDistance += BULLET_VELOCITY) > Point2D.distance(wGunX?, wGunY?, enemyX, enemyY)) { |
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if ((wDistance += BULLET_VELOCITY) > Point2D.distance( wGunX?, wGunY?, enemyX, enemyY)) { |
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aimFactors[(int)((Utils.normalRelativeAngle(Math.atan2(enemyX - wGunX?, enemyY - wGunY?) - wBearing)) / |
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aimFactors[(int)((Utils.normalRelativeAngle( Math.atan2(enemyX - wGunX?, enemyY - wGunY?) - wBearing)) / |
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/** * Enemy: A class to store enemy info */ class Enemy { String name; private double bearing; private double heading; private long ctime; private double speed; private double x,y; private double distance; private double energy; double gfhit = 0; double lthit = 0; Enemy (String name, double bearing, double heading, long ctime, double speed, double x, double y, double distance, double energy) { this.name = name; this.bearing = bearing; this.heading = heading; this.ctime = ctime; this.speed = speed; this.x = x; this.y = y; this.distance = distance; this.energy = energy; } public String getName() { return name; } public double getBearing() { return bearing; } public double getHeading() { return heading; } public long getTime() { return ctime; } public double getVelocity() { return speed; } public double getX() { return x; } public double getY() { return y; } public double getDistance() { return distance; } public double getEnergy() { return energy; } } |
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