public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 4)
return false;
var current = MyStrategy.map.tileAt(vehicle.position);
var currentToFirst = current.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
var thirdToFour = tilePath[2].directionForTile(tilePath[3]).Value;
if (!currentToFirst.isSameAxis(firstToSecond))
return false;
if (firstToSecond.isSameAxis(secondToThird))
return false;
if (firstToSecond.back() != thirdToFour)
return false;
var turningFrom = new Vector(currentToFirst);
var turningTo = new Vector(firstToSecond);
move.EnginePower = 1;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize));
if (vehicle.speed.length > 15) {
move.IsBrake = true;
} else {
move.IsBrake = false;
}
return true;
}
private double AngelToWayPoint(Car self, World world, Game game, Move move)
{
double nextWaypointX = (self.NextWaypointX + 0.5D) * game.TrackTileSize;
double nextWaypointY = (self.NextWaypointY + 0.5D) * game.TrackTileSize;
double speedModule = Math.Sqrt(self.SpeedX * self.SpeedX + self.SpeedY * self.SpeedY);
double max = .32D;
double delta = speedModule / MaxSpeed;
double cornerTileOffset = max * delta * game.TrackTileSize;
switch (world.TilesXY[self.NextWaypointX][self.NextWaypointY])
{
case TileType.LeftTopCorner:
nextWaypointX += cornerTileOffset;
nextWaypointY += cornerTileOffset;
break;
case TileType.RightTopCorner:
nextWaypointX -= cornerTileOffset;
nextWaypointY += cornerTileOffset;
break;
case TileType.LeftBottomCorner:
nextWaypointX += cornerTileOffset;
nextWaypointY -= cornerTileOffset;
break;
case TileType.RightBottomCorner:
nextWaypointX -= cornerTileOffset;
nextWaypointY -= cornerTileOffset;
break;
}
return self.GetAngleTo(nextWaypointX, nextWaypointY);
}
public void Move(Car self, World world, Game game, Move move)
{
move.EnginePower = 1.0D;
move.IsThrowProjectile = true;
move.IsSpillOil = true;
if (world.Tick > game.InitialFreezeDurationTicks) {
move.IsUseNitro = true;
}
}
public void Move(Car self, World world, Game game, Move move)
{
double nextWaypointX = (self.NextWaypointX + 0.5) * game.TrackTileSize;
double nextWaypointY = (self.NextWaypointY + 0.5) * game.TrackTileSize;
Console.WriteLine (self.NextWaypointX + " " + self.NextWaypointY);
double cornerTileOffset = 0.25D * game.TrackTileSize;
switch (world.TilesXY [self.NextWaypointX] [self.NextWaypointY]) {
case TileType.LeftTopCorner:
nextWaypointX += cornerTileOffset;
nextWaypointY += cornerTileOffset;
break;
case TileType.RightTopCorner:
nextWaypointX -= cornerTileOffset;
nextWaypointY += cornerTileOffset;
break;
case TileType.LeftBottomCorner:
nextWaypointX += cornerTileOffset;
nextWaypointY -= cornerTileOffset;
break;
case TileType.RightBottomCorner:
nextWaypointX -= cornerTileOffset;
nextWaypointY -= cornerTileOffset;
break;
}
double angleToWaypoint = self.GetAngleTo (nextWaypointX, nextWaypointY);
double speedModule = hypot (self.SpeedX, self.SpeedY);
move.WheelTurn = (angleToWaypoint * 32.0D / System.Math.PI);
move.EnginePower = (1.0D);
if (speedModule > 30)
move.EnginePower = 0;
if (speedModule * speedModule * System.Math.Abs (angleToWaypoint)
> 2.5D * 2.5D * System.Math.PI) {
move.EnginePower = (0.0D);
if (speedModule > 10) {
move.IsBrake = true;
if (angleToWaypoint > 0)
move.WheelTurn = 1;
else
move.WheelTurn = -1;
}
}
move.IsThrowProjectile = true;
move.IsSpillOil = true;
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
var nextTile = tilePath[0];
// nextTile.draw(0xFF0000);
// nextTile.center.draw(0xFF1010);
if (vehicle.forward * (nextTile.center - vehicle.position) < 0.4 && vehicle.speed.length > 10) {
move.IsBrake = true;
move.EnginePower = -1;
} else {
move.IsBrake = false;
move.EnginePower = 1;
}
move.WheelTurn = vehicle.forward.angleTo((nextTile.center - vehicle.position)) * 4;
return true;
}
public void Move(Car self, World world, Game game, Move move)
{
double nextWaypointX = (self.NextWaypointX + 0.5D) * game.TrackTileSize;
double nextWaypointY = (self.NextWaypointY + 0.5D) * game.TrackTileSize;
double angleToWaypoint = self.GetAngleTo(nextWaypointX, nextWaypointY);
if (backNumber < maxBackNumber)
{
backNumber++;
move.WheelTurn = -oldAngle;
move.EnginePower = -1;
number = -100;
return;
}
double speedModule = Math.Sqrt(self.SpeedX * self.SpeedX + self.SpeedY * self.SpeedY);
if (Math.Abs(speedModule) < .05)
number++;
else
number = 0;
if (number > maxNumber)
{
backNumber = 0;
number = 0;
oldAngle = angleToWaypoint * 32.0D / Math.PI;
}
move.EnginePower = 1;
if (Math.Abs(nextWaypointX - self.X) < 1600 && Math.Abs(nextWaypointY - self.Y) < 1600)
{
angleToWaypoint = AngelToWayPoint(self, world, game, move);
move.IsBrake = IsUseBreak(self, world, game, move);
}
move.WheelTurn = angleToWaypoint * 32.0D / Math.PI;
Console.WriteLine(String.Format("{0} - {1}", self.SpeedX, self.SpeedY));
move.IsUseNitro = IsUseNitro(self, world, game, move);
move.IsThrowProjectile = IsThrow(self, world, game, move);
move.IsSpillOil = IsSpillOil(self, world, game, move);
veryOldTileType = oldTileType;
oldTileType = world.TilesXY[self.NextWaypointX][self.NextWaypointY];
Console.WriteLine(speedModule);
}
public void Move(Car self, World world, Game game, Move move)
{
Debug.beginPost();
Constants.setConstants(game, world);
currentTick = world.Tick;
if (map == null) {
waypoints = world.Waypoints;
map = new RoadMap(world.Width, world.Height);
map.updateMap(world.TilesXY);
}
if (currentVehicle == null) {
currentVehicle = new ManagedVehicle();
}
currentVehicle.setCar(self);
currentVehicle.tick(move);
Debug.endPost();
}
public void run()
{
try {
remoteProcessClient.WriteTokenMessage(token);
int teamSize = remoteProcessClient.ReadTeamSizeMessage();
remoteProcessClient.WriteProtocolVersionMessage();
Game game = remoteProcessClient.ReadGameContextMessage();
IStrategy[] strategies = new IStrategy[teamSize];
for (int strategyIndex = 0; strategyIndex < teamSize; ++strategyIndex) {
strategies[strategyIndex] = new MyStrategy();
}
PlayerContext playerContext;
while ((playerContext = remoteProcessClient.ReadPlayerContextMessage()) != null) {
Car[] playerCars = playerContext.Cars;
if (playerCars == null || playerCars.Length != teamSize) {
break;
}
Move[] moves = new Move[teamSize];
for (int carIndex = 0; carIndex < teamSize; ++carIndex) {
Car playerCar = playerCars[carIndex];
Move move = new Move();
moves[carIndex] = move;
strategies[playerCar.TeammateIndex].Move(playerCar, playerContext.World, game, move);
}
remoteProcessClient.WriteMovesMessage(moves);
}
} finally {
remoteProcessClient.Close();
}
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
var current = MyStrategy.map.tileAt(vehicle.position);
AxisDirection dir;
{
dir = current.directionForTile(tilePath[0]) ?? AxisDirection.up;
for (int i = 1; i < 3 && i < tilePath.Count; ++i) {
if (tilePath[i - 1].directionForTile(tilePath[i]) != dir)
return false;
}
}
var dirVec = new Vector(dir);
var last = current;
int lineTilesCtr = 0;
foreach (var tile in tilePath) {
if (dir.turnLeft() == last.directionForTile(tile)) {
var turnVector = new Vector(dir.turnLeft());
var dist = (vehicle.position - current.center) * turnVector + 0.15 * Constants.tileSize;
dirVec -= turnVector * dist / Constants.tileSize;
break;
} else if (dir.turnRight() == last.directionForTile(tile)) {
var turnVector = new Vector(dir.turnRight());
var dist = (vehicle.position - current.center) * turnVector + 0.15 * Constants.tileSize;
dirVec -= turnVector * dist / Constants.tileSize;
break;
} else if (dir != last.directionForTile(tile))
break;
lineTilesCtr += 1;
last = tile;
}
if (lineTilesCtr >= 8) {
move.IsUseNitro = true;
}
if (vehicle.forward * dirVec > 0.3) {
move.EnginePower = 1;
move.WheelTurn = vehicle.steeringAngleForDirection(dirVec);
} else {
move.EnginePower = 0.2;
move.WheelTurn = vehicle.steeringAngleForDirection(dirVec);
}
move.IsBrake = false;
return true;
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 3)
return false;
var currentTile = MyStrategy.map.tileAt(vehicle.position);
Vector turningTo;
Vector turningFrom;
{
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
turningTo = new Vector(firstToSecond);
if (firstToSecond != tilePath[1].directionForTile(tilePath[2])) {
return false;
}
var currentToFirst = currentTile.directionForTile(tilePath[0]).Value;
if (currentToFirst.isSameAxis(firstToSecond)) {
return false;
}
turningFrom = new Vector(currentToFirst);
}
if (vehicle.speed.length > 10) {
var innerSide1 = Ray.line(
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) + turningFrom * Constants.tileSize * 0.5
);
//innerSide1.draw(0x00FF00);
var innerCircle = new Circle(currentTile.center + (turningTo + turningFrom) * Constants.tileSize * 0.5, Constants.roadMargin);
//innerCircle.draw(0x00FF00);
var innerCircleExtended = new Circle(innerCircle.position, innerCircle.radius + 10);
var backWall = new Ray(tilePath[0].center + turningFrom * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningTo * Constants.tileSize * 0.5,
turningTo * Constants.tileSize * 2);
//backWall.draw(0x00FF00);
if (vehicle.forward * turningFrom > 0.45) {
var vv = new VirtualVehicle(vehicle);
var steering = Math.Sign(turningFrom.angleTo(turningTo));
for (int i = 0; i < 100; ++i) {
vv.simulateTick(1.0, steering);
if (vv.rect.isIntersect(innerSide1) || vv.rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, currentTile.center, turningTo, -0.15 * Constants.tileSize));
move.IsBrake = false;
return true;
}
if (vv.rect.isIntersect(backWall)) {
move.IsBrake = true;
move.EnginePower = 1;
move.WheelTurn = steering;
return true;
}
if (tilePath[1].rect.contains(vv.position)) {
// защита от слишком быстрого захода в поворот и ударения в заднюю стенку
for (int j = 0; j < 50; ++j) {
vv.simulateTick(1, steering);
if (vv.rect.isIntersect(backWall)) {
move.EnginePower = 1;
move.WheelTurn = steering;
move.IsBrake = true;
return true;
}
//vv.position.draw(0x00FF00);
//vv.rect.draw(0x0000FF);
}
move.EnginePower = 1;
move.WheelTurn = steering;
move.IsBrake = false;
return true;
}
//vv.position.draw(0xFF0000);
//vv.rect.draw(0x0000FF);
}
} else if (vehicle.forward * turningTo > 0.5) {
var vv = new VirtualVehicle(vehicle);
var steering = Math.Sign(turningFrom.angleTo(turningTo));
for (int i = 0; i < 100; ++i) {
vv.simulateTick(1.0, 0);
if (vv.rect.isIntersect(innerSide1) || vv.rect.isIntersect(innerCircleExtended)) {
move.EnginePower = 1;
move.WheelTurn = -steering;
move.IsBrake = false;
return true;
}
if (tilePath[1].rect.contains(vv.position)) {
move.EnginePower = 1;
move.WheelTurn = 0;
move.IsBrake = false;
return true;
}
//vv.position.draw(0xFF0000);
//vv.rect.draw(0x0000FF);
}
} else {
move.IsBrake = true;
move.WheelTurn = 0;
move.EnginePower = 1;
return true;
}
}
move.IsBrake = false;
move.EnginePower = 1;
var turn = turningTo + turningFrom;
move.WheelTurn = vehicle.steeringAngleForDirection(turn);
return true;
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
var forceGetBack = false;
if (MyStrategy.currentTick > 180) {
if (vehicle.speed.length < 1) {
zeroSpeedTicks += 1;
} else {
zeroSpeedTicks = 0;
}
if (zeroSpeedTicks > 30) {
forceGetBack = true;
}
}
if (vehicle.speed.length > 5 && !forceGetBack)
return false;
var target = tilePath[0].center;
if (MyStrategy.map.intersect(vehicle.forwardRay * Constants.vehicleLength * 2) != null || forceGetBack) {
move.IsBrake = false;
move.EnginePower = -1;
move.WheelTurn = -vehicle.forward.angleTo(target - vehicle.position) * 4;
return true;
}
return false;
}
public void Move(Car self, World world, Game game, Move move) {
lastX1 = lastX2;
lastX2 = lastX3;
lastX3 = Math.Round(self.X, 2);
lastY1 = lastY2;
lastY2 = lastY3;
lastY3 = Math.Round(self.Y, 2);
this._game = game;
this._move = move;
this._self = self;
this._world = world;
if (rearMove) {
move.EnginePower = -1.0D;
move.WheelTurn = 0;//(activeTicks > 50) ? -1 : 0;
}
if (activeTicks == 90 && Math.Abs (lastX1 - lastX3) < 0.05 && Math.Abs (lastY1 - lastY3) < 0.05 && _world.Tick > _game.InitialFreezeDurationTicks)
rearMove = false;
if (activeTicks > 0) {
activeTicks --;
return;
}
if (noStuck > 0)
noStuck--;
if (slowDown > 0) {
move.EnginePower = 0.5D;
}
else
move.EnginePower = 1.0D;
if (noIgnite > 0)
{
noIgnite--;
//return;
}
move.IsThrowProjectile = false;
move.IsSpillOil = false;
if (world.Tick > game.InitialFreezeDurationTicks && world.Tick < game.InitialFreezeDurationTicks + 10) {
move.WheelTurn = -15;
}
if (world.Tick > game.InitialFreezeDurationTicks && world.Tick < game.InitialFreezeDurationTicks + 20) {
// move.IsSpillOil = true;
// move.WheelTurn = 0;
sDirection = world.StartingDirection;
}
if (world.Tick > game.InitialFreezeDurationTicks && world.Tick < game.InitialFreezeDurationTicks + 10 && move.WheelTurn == 0) {
// move.WheelTurn = 1;
}
if (world.Tick > game.InitialFreezeDurationTicks + 30) {
move.IsUseNitro = (noIgnite == 0);
CheckTurn();
NewTurnWheel ();
CheckStuck ();
if (Math.Abs(_move.WheelTurn) > Math.PI / 6)
move.IsUseNitro = false;
}
if (_thisTile != TileType.Empty) {
// saveDirection = sDirection;
}
}
private bool IsSpillOil(Car self, World world, Game game, Move move)
{
int currentTileX = (int)(self.X / game.TrackTileSize);
int currentTileY = (int)(self.Y / game.TrackTileSize);
switch (world.TilesXY[currentTileX][currentTileY])
{
case TileType.LeftBottomCorner:
case TileType.LeftTopCorner:
case TileType.RightBottomCorner:
case TileType.RightTopCorner:
return true;
default:
return false;
}
}
public abstract bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move);
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 2)
return false;
var current = MyStrategy.map.tileAt(vehicle.position);
var currentToFirst = current.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
if (currentToFirst.isSameAxis(firstToSecond))
return false;
if (currentToFirst.back() != secondToThird)
return false;
var turningFrom = new Vector(currentToFirst);
var turningTo = new Vector(firstToSecond);
if (vehicle.speed.length > 10) {
var steering = Math.Sign(turningFrom.angleTo(turningTo));
var backWall = new Ray(
tilePath[0].center + turningFrom * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningTo * Constants.tileSize * 0.5,
turningTo * Constants.tileSize * 2
);
var backSideWall = new Ray(
backWall.p2 - turningTo * Constants.roadMargin,
-turningFrom * (Constants.tileSize - Constants.roadMargin)
);
var innerWall = new Ray(current.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * Constants.tileSize);
var innerCircle = new Circle(current.center + (new Vector(currentToFirst) + new Vector(firstToSecond)) * Constants.tileSize * 0.5, Constants.roadMargin);
backWall.draw(0x00FF00);
backSideWall.draw(0x00FF00);
innerWall.draw(0x00FF00);
innerCircle.draw(0x00FF00);
var vv = new VirtualVehicle(vehicle);
for (int i = 0; i < 100; ++i) {
vv.simulateTick(0.5, steering);
var rect = vv.rect;
if (rect.isIntersect(innerWall) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.WheelTurn = -steering;
move.IsBrake = false;
return true;
}
if (rect.isIntersect(backWall) || rect.isIntersect(backSideWall)) {
move.IsBrake = false;
move.EnginePower = -1;
//move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize));
move.WheelTurn = steering;
return true;
}
vv.position.draw(0xFF0000);
vv.rect.draw(0x0000FF);
}
}
move.EnginePower = 0.5;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize));
move.IsBrake = false;
return true;
}
private bool IsThrow(Car self, World world, Game game, Move move)
{
int maxShootDistance = 1000;
if (self.ProjectileCount <= 0)
{
return false;
}
foreach (Car c in world.Cars)
{
if (c.IsTeammate)
{
continue;
}
double enemyCarAngel = self.GetAngleTo(c.X, c.Y);
Console.WriteLine(self.GetDistanceTo(c));
if (self.GetDistanceTo(c) > maxShootDistance)
{
continue;
}
if (Math.Abs(enemyCarAngel) < 0.1)
{
return true;
}
}
return false;
}
private bool IsUseBreak(Car self, World world, Game game, Move move)
{
double speedModule = Math.Sqrt(self.SpeedX * self.SpeedX + self.SpeedY * self.SpeedY);
switch (world.TilesXY[self.NextWaypointX][self.NextWaypointY])
{
case TileType.LeftBottomCorner:
case TileType.LeftTopCorner:
case TileType.RightBottomCorner:
case TileType.RightTopCorner:
if (speedModule > MaxSpeed)
{
move.EnginePower = .8d;
return true;
}
break;
default:
return false;
}
return false;
}
private bool IsUseNitro(Car self, World world, Game game, Move move)
{
int currentTileX = (int)(self.X / game.TrackTileSize);
int currentTileY = (int)(self.Y / game.TrackTileSize);
switch (world.TilesXY[self.NextWaypointX][self.NextWaypointY])
{
case TileType.LeftBottomCorner:
case TileType.LeftTopCorner:
case TileType.RightBottomCorner:
case TileType.RightTopCorner:
return false;
}
switch (world.TilesXY[currentTileX][currentTileY])
{
case TileType.Crossroads:
case TileType.Horizontal:
case TileType.Vertical:
return true;
default:
return false;
}
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 3)
return false;
var currentTile = MyStrategy.map.tileAt(vehicle.position);
Vector target;
Vector turningFrom;
Vector turningTo;
{
var currentToFirst = currentTile.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
if (currentToFirst != secondToThird) {
return false;
}
if (firstToSecond.isSameAxis(currentToFirst)) {
return false;
}
turningFrom = new Vector(currentToFirst);
turningTo = new Vector(firstToSecond);
target = tilePath[2].center - turningFrom * 0.5 * Constants.tileSize;
}
var vehicleToTarget = target - vehicle.position;
if (vehicle.speed.length > 10 && vehicle.forward * (turningFrom + turningTo) > 0) {
var steering = Math.Sign(turningFrom.angleTo(turningTo));
Ray side = new Ray(
tilePath[0].center - turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * (Constants.tileSize - Constants.roadMargin)
);
Ray back = new Ray(side.p2, turningTo * (Constants.tileSize - Constants.roadMargin));
Circle backCircle = new Circle(back.p2 + turningFrom * Constants.roadMargin, Constants.roadMargin);
Ray innerSide = new Ray(
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * Constants.tileSize
);
Circle innerCircle = new Circle(innerSide.p2 + turningTo * Constants.roadMargin, Constants.roadMargin);
side.draw(0x00FF00);
back.draw(0x00FF00);
backCircle.draw(0x00FF00);
innerSide.draw(0x00FF00);
innerCircle.draw(0x00FF00);
var vv = new VirtualVehicle(vehicle);
for (int i = 0; i < 100; ++i) {
vv.simulateTick(1.0, 0.0);
var rect = vv.rect;
if (rect.isIntersect(side) || rect.isIntersect(back) || rect.isIntersect(backCircle)) {
vv = new VirtualVehicle(vehicle);
for (int j = 0; j < 100; ++j) {
vv.simulateTick(1, steering);
if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.IsBrake = true;
move.WheelTurn = steering;
return true;
}
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = steering;
return true;
} else if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
vv = new VirtualVehicle(vehicle);
for (int j = 0; j < 100; ++j) {
vv.simulateTick(1, -steering);
if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.IsBrake = true;
move.WheelTurn = -steering;
return true;
}
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = -steering;
return true;
}
if (tilePath[2].rect.contains(vv.position)) {
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
return true;
}
rect.draw(0x0000FF);
vv.position.draw(0xFF0000);
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
//new Ray(vehicle.position, vehicleToTarget).draw(0x00FFFF);
return true;
}
if (vehicle.forward * vehicleToTarget < 0.5) {
if (vehicle.speed.length > 10) {
move.IsBrake = true;
}
move.EnginePower = 0.3;
} else {
move.EnginePower = 1;
}
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
move.IsBrake = false;
return true;
}
public void Move(Car self, World world, Game game, Move move)
{
TimerStart();
MyStrategy.world = world;
Const.Game = game;
this.move = move;
this.self = self;
Initialize();
#if DEBUG
while (Visualizer.Pause)
{
// pause here
}
Visualizer.CreateForm(world.Cars.Count(x => x.IsTeammate));
#endif
if (!self.IsFinishedTrack)
{
All = null;
MyTeam = null;
_move();
if (OpponentsCars != null)
{
var myTeam = new List<ACar[]>();
if (!ComputedPath.ContainsKey(self.Id))
ComputedPath[self.Id] = new int[MagicConst.OpponentsTicksPrediction].Select(x => new ACar(self)).ToArray();
myTeam.Add(ComputedPath[self.Id]);
if (TeammateCar != null)
myTeam.Add(TeammateCar);
MyTeam = myTeam.ToArray();
All = MyTeam.Concat(OpponentsCars).ToArray();
TimerStart();
if (CheckUseProjectile())
move.IsThrowProjectile = true;
if (CheckUseOil())
move.IsSpillOil = true;
TimerEndLog("CheckUseProjectile", 2);
}
}
else if (_finishTime == Infinity)
_finishTime = world.Tick;
if (_finishTime < Infinity)
Log(_finishTime);
#if DEBUG
if (move.IsBrake)
Visualizer.CircleFillQueue.Add(new Tuple<Brush, ACircularUnit>(Brushes.Red,
new ACircularUnit {X = self.X, Y = self.Y, Radius = 30}));
TimerEndLog("All");
if (Brutes != null)
{
for (var i = 0; i < Brutes.Length; i++)
{
var info = Brutes[i].GetMaxTicksInfo();
if (info == null)
continue;
Console.Write(i + ": ");
foreach (var a in info)
Console.Write(" " + a);
Console.WriteLine("(" + Brutes[i].SelectedCount + ")");
}
}
Console.WriteLine();
Visualizer.Draw();
Thread.Sleep(12);
#endif
}
public void drive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
//defaults
move.IsUseNitro = false;
foreach (var strategy in strategies) {
if (strategy.tryDrive(vehicle, tilePath, move)) {
Debug.print(vehicle.position + new Vector(15, 15), strategy.GetType().Name);
return;
}
}
//throw new Exception("Do not have strategy for this situation");
}
public void Move(Car self, World world, Game game, Move move)
{
if (stop)
return;
if (world.Tick == 0)
{
startX = self.X;
startY = self.Y;
prevX = self.X;
prevY = self.Y;
}
move.EnginePower = 0;
if (world.Tick > game.InitialFreezeDurationTicks)
{
double nextWaypointX = (self.NextWaypointX + 0.5D) * game.TrackTileSize;
double nextWaypointY = (self.NextWaypointY + 0.5D) * game.TrackTileSize;
double angleToWaypoint = self.GetAngleTo(nextWaypointX, nextWaypointY);
double distToWaypoint = self.GetDistanceTo(nextWaypointX, nextWaypointY);
double speedModule = Math.Sqrt(self.SpeedX * self.SpeedX + self.SpeedY * self.SpeedY);
travelled += self.GetDistanceTo(prevX, prevY);
travelled2 += self.GetDistanceTo(prevX, prevY);
prevX = self.X;
prevY = self.Y;
move.EnginePower = 1;
if (travelled > 1500)
{
move.EnginePower = 0;
if (self.EnginePower == 0)
{
if (t == -10)
{
travelled2 = 0;
Console.WriteLine("S: {0},{1} {2}", self.X, self.Y, self.SpeedY);
t = 1;
SimulatedControl ctrl = new SimulatedControl();
ctrl.enginePower = move.EnginePower;
pos = simulator.Simulate(t, 1, self, world, game, ctrl);
Console.WriteLine("P: {0},{1} {2}", pos.position.X, pos.position.Y, pos.speed.Y);
}
else if (t > 1)
{
t--;
}
else if (t == 1)
{
t--;
Console.WriteLine("R: {0},{1} {2}", self.X, self.Y, self.SpeedY);
Console.WriteLine("%: {0} / {1} ({2})", travelled2, self.GetDistanceTo(pos.position.X, pos.position.Y), 100 * self.GetDistanceTo(pos.position.X, pos.position.Y) / travelled2);
}
}
}
}
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 3)
return false;
var currentTile = MyStrategy.map.tileAt(vehicle.position);
Vector turningTo;
Vector turningFrom;
{
var currentToFirst = currentTile.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
if (currentToFirst != firstToSecond)
return false;
if (firstToSecond.isSameAxis(secondToThird))
return false;
if (tilePath.Count >= 4) {
if (tilePath[2].directionForTile(tilePath[3]).Value.back() == currentToFirst)
return false;
}
turningFrom = new Vector(currentToFirst);
turningTo = new Vector(secondToThird);
}
if (vehicle.speed.length > 10 && vehicle.forward * turningFrom > 0.45) {
var vv = new VirtualVehicle(vehicle);
var steering = Math.Sign(turningFrom.angleTo(turningTo));
var innerSide1 = Ray.line(
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) + turningFrom * Constants.tileSize * 0.5
);
//innerSide1.draw(0x00FF00);
var innerSide2 = new Ray(innerSide1.position + turningFrom * Constants.tileSize, innerSide1.direction);
//innerSide2.draw(0x00FF00);
var innerCircle = new Circle(currentTile.center + (turningTo + turningFrom) * Constants.tileSize * 0.5 + turningFrom * Constants.tileSize, Constants.roadMargin);
//innerCircle.draw(0x00FF00);
var backWall = new Ray(tilePath[1].center + turningFrom * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningTo * (Constants.tileSize * 0.5), turningTo * 2 * Constants.tileSize);
//backWall.draw(0x00FF00);
var outerSide = new Ray(currentTile.center - turningTo * (Constants.halfTileSize - Constants.roadMargin) - turningFrom * Constants.halfTileSize, turningFrom * Constants.tileSize * 3);
//outerSide.draw(0x00FF00);
for (int i = 0; i < 100; ++i) {
vv.simulateTick(1.0, steering);
if (vv.rect.isIntersect(innerSide1) || vv.rect.isIntersect(innerSide2))
break;
if (vv.rect.isIntersect(innerCircle))
break;
if (vv.rect.isIntersect(outerSide)) {
var target = currentTile.center + turningFrom * Constants.tileSize * 1.5;
move.WheelTurn = steering;
move.EnginePower = 1;
move.IsBrake = true;
return true;
}
if (vv.rect.isIntersect(backWall)) {
move.EnginePower = 1;
move.WheelTurn = steering;
move.IsBrake = true;
return true;
}
if (tilePath[2].rect.contains(vv.position)) {
// защита от слишком быстрого захода в поворот и ударения в заднюю стенку
for (int j = 0; j < 50; ++j) {
vv.simulateTick(1, steering);
if (vv.rect.isIntersect(backWall)) {
move.EnginePower = 1;
move.WheelTurn = steering;
move.IsBrake = true;
return true;
}
//vv.position.draw(0x00FF00);
//vv.rect.draw(0x0000FF);
}
move.EnginePower = 1;
move.WheelTurn = steering;
move.IsBrake = false;
return true;
}
//vv.position.draw(0xFF0000);
//vv.rect.draw(0x0000FF);
}
}
move.WheelTurn = vehicle.steeringAngleForDirection((currentTile.center + turningFrom * Constants.tileSize * 1.5) - vehicle.position);
move.EnginePower = 1;
move.IsBrake = false;
return true;
}
public void Move(Car self, World world, Game game, Move move)
{
if (world.Tick == 0)
{
// Инициализация
TilesXY = new TileType[world.TilesXY.Length][];
for (int t = world.TilesXY.Length - 1; t >= 0; --t)
{
TilesXY[t] = new TileType[world.TilesXY[t].Length];
Array.Copy(world.TilesXY[t], TilesXY[t], world.TilesXY[t].Length);
}
}
// Предстартовое повышение мощности двигателя на холостых оборотах
if (world.Tick <= game.InitialFreezeDurationTicks)
{
move.EnginePower = 1.0D;
return;
}
// Координаты машины в таблице тайлов
int x = (int)(self.X / game.TrackTileSize);
int y = (int)(self.Y / game.TrackTileSize);
// Перерасчет пути
if (X != x || Y != y)
{
X = x;
Y = y;
int[][] LocalPathX = new int[3][];
int[][] LocalPathY = new int[3][];
// Путь между машиной и ближайшей путевой точкой
FindTargets(
X, Y,
world.Waypoints[self.NextWaypointIndex][0],
world.Waypoints[self.NextWaypointIndex][1],
out LocalPathX[0], out LocalPathY[0]);
// Путь между очередной путевой точкой и следующей путевой точкой
for (int i = 0; i < LocalPathX.Length - 1; ++i)
FindTargets(
world.Waypoints[(self.NextWaypointIndex + i) % world.Waypoints.Length][0],
world.Waypoints[(self.NextWaypointIndex + i) % world.Waypoints.Length][1],
world.Waypoints[(self.NextWaypointIndex + i + 1) % world.Waypoints.Length][0],
world.Waypoints[(self.NextWaypointIndex + i + 1) % world.Waypoints.Length][1],
out LocalPathX[i + 1], out LocalPathY[i + 1]);
// Путь от машины через промежуточные путевые точки к следующей путевой точке
int Len = 0;
for (int i = 0; i <= LocalPathX.Length - 1; ++i)
Len += LocalPathX[i].Length;
PathX = new int[Len];
PathY = new int[Len];
Len = 0;
for (int i = 0; i <= LocalPathX.Length - 1; ++i)
{
for (int j = LocalPathX[i].Length - 1; j >= 0; --j)
{
PathX[Len + j] = LocalPathX[i][j];
PathY[Len + j] = LocalPathY[i][j];
}
Len += LocalPathX[i].Length;
}
// Срезание углов на поворотах
correctX = 0.5;
correctY = 0.5;
// Определение длины прямолинейного участка пути
n = 0;
if (PathX[n] == X)
{
int dY = PathY[n] - Y;
// Отрезок по вертикали
while (PathX[n] == X && n < PathX.Length - 1)
if (PathX[n + 1] == X && dY == PathY[n + 1] - PathY[n]) n++; else break;
// Срезание углов на поворотах
if (n < PathX.Length - 1)
{
if (PathX[n + 1] < PathX[n]) correctX = 0.2;
else correctX = 0.8;
}
}
else if (PathY[n] == Y)
{
int dX = PathX[n] - X;
// Отрезок по горизонтали
while (PathY[n] == Y && n < PathY.Length - 1)
if (PathY[n + 1] == Y && dX == PathX[n + 1] - PathX[n]) n++; else break;
// Срезание углов на поворотах
if (n < PathX.Length - 1)
{
if (PathY[n + 1] < PathY[n]) correctY = 0.2;
else correctY = 0.8;
}
}
}
// Прицельная точка - ближайший поворот
double nextX = (PathX[n] + correctX) * game.TrackTileSize;
double nextY = (PathY[n] + correctY) * game.TrackTileSize;
// Расчет положения руля и педали газа - цель nextX, nextY
double power, turn;
GoTo(self, nextX, nextY, 0, 0, out power, out turn);
move.EnginePower = power;
move.WheelTurn = turn;
// Подбор попутных бонусов
bool bonus = false;
foreach (Bonus b in world.Bonuses)
{
bool OnPath = false;
for (int i = 0; i < n; i++)
if ((int)(b.X / game.TrackTileSize) == PathX[i] &&
(int)(b.Y / game.TrackTileSize) == PathY[i])
OnPath = true;
double angle = GetAngleBetween(self.X, self.Y, b.X, b.Y, self.Angle);
angle += GetAngleBetween(0, 0, self.SpeedX, self.SpeedY, self.Angle);
if (Math.Abs(angle) < Math.PI / 12.0 &&
self.GetDistanceTo(b) < (n - 1) * game.TrackTileSize &&
OnPath)
{
if (GetDistance(self, nextX, nextY) > GetDistance(self, b.X, b.Y))
{
nextX = b.X;
nextY = b.Y;
GoTo(self, nextX, nextY, 0, 0, out power, out turn);
move.EnginePower = power;
move.WheelTurn = turn;
bonus = true;
}
}
}
// Торможение при приближении к повороту
if (!bonus)
if (GetDistance(self.SpeedX, self.SpeedY, 0, 0) * 33 > self.GetDistanceTo(nextX, nextY))
{
if (Math.Abs(GetAngleBetween(0, 0, self.SpeedX, self.SpeedY, self.Angle)) < Math.PI / 2 &&
move.EnginePower > 0)
move.IsBrake = true;
if (Math.Abs(GetAngleBetween(0, 0, self.SpeedX, self.SpeedY, self.Angle)) > Math.PI / 2 &&
move.EnginePower < 0)
move.IsBrake = true;
move.EnginePower = -move.EnginePower;
}
// Взаимодействие с соперниками
foreach (Car c in world.Cars)
if (!c.IsTeammate)
{
if (Math.Abs(GetAngleBetween(self.X, self.Y, c.X, c.Y, self.Angle)) < Math.PI / 90.0 &&
self.GetDistanceTo(c) < 2400)
move.IsThrowProjectile = true;
if (Math.Abs(GetAngleBetween(self.X, self.Y, c.X, c.Y, Math.PI + self.Angle)) < Math.PI / 90.0 &&
self.GetDistanceTo(c) < 2400)
if (Math.Abs(self.AngularSpeed) > 0.005)
move.IsSpillOil = true;
}
// Если скорость меньше 1, то засекаем 60 тиков.
// Если скорость не изменилась за это время, то 60 тиков выруливать из тупика
// Засекаем 60 тиков перед включением режима выруливания
if (GetDistance(self.SpeedX, self.SpeedY, 0, 0) < 1 && TickStop == -1)
TickStop = world.Tick;
// Отмена режима выруливания, если скорость поднялась или вышло время работы режима
if (GetDistance(self.SpeedX, self.SpeedY, 0, 0) > 1 && (world.Tick - TickStop <= 60) ||
(TickStop != -1 && world.Tick - TickStop > 160) ||
GetDistance(self.SpeedX, self.SpeedY, 0, 0) > 10)
TickStop = -1;
// Режим выруливания 100 тиков
if (TickStop != -1 && world.Tick - TickStop > 60 && world.Tick - TickStop <= 160)
{
GoTo(self, 2 * self.X - nextX, 2 * self.Y - nextY, 0, 0, out power, out turn);
move.EnginePower = power;
move.WheelTurn = turn;
}
if (TickStop != -1 && world.Tick - TickStop > 140 && world.Tick - TickStop <= 160)
{
GoTo(self, nextX, nextY, 0, 0, out power, out turn);
move.EnginePower = power;
}
// Ускоряться
if (GetDistance(self.SpeedX, self.SpeedY, 0, 0) > 1 && GetDistance(self.SpeedX, self.SpeedY, 0, 0) < 20)
if (n > 5 && Math.Abs(GetAngleBetween(0, 0, self.SpeedX, self.SpeedY, self.Angle)) < Math.PI / 8.0D)
move.IsUseNitro = true;
}