public double GetAngleToPoint(Point p, Pod myLastPod)
{
//var lineOfSightUnitVector = new Unit() { X = Math.Sin(Angle), Y = Math.Cos(Angle) };
//var originVector = new Unit() { X = p.X - this.X, Y = p.Y - this.Y };
//var originVector = this.Normalize(p);
//var normalVector = this.Normalize(myLastPod);
var angleToCheckPoint = this.GetAngle(p);
var relativeAngle = myLastPod.GetAngle(p);
//var relativeAngle = this.GetAngle(myLastPod);
Console.Error.WriteLine(string.Format("HP: angleToCheckPoint: {0}, lastAngleToCheckPoint: {1}.", angleToCheckPoint, relativeAngle));
//return (Math.Atan2(normalVector.Y, normalVector.X) - Math.Atan2(originVector.Y, originVector.X));
return(Math.Floor(angleToCheckPoint - relativeAngle));
//return this.GetVectorAngle(originVector);
}
static void Main(string[] args)
{
string[] inputs;
bool thrustUsed = false;
var checkPoints = new List <CheckPoint>();
var laps = int.Parse(Console.ReadLine());
var checkPointCount = int.Parse(Console.ReadLine());
for (var i = 0; i < checkPointCount; i++)
{
inputs = Console.ReadLine().Split(' ');
checkPoints.Add(new CheckPoint()
{
Id = i, X = int.Parse(inputs[0]), Y = int.Parse(inputs[1])
});
}
CheckPoint nextCheckPoint = null;
CheckPoint nextNextCheckPoint = null;
var turn = 0;
var gameBoard = new Point()
{
X = 16000, Y = 9000
};
var topLeft = new Point()
{
X = 0, Y = 0
};
double xToGo = 0;
double yToGo = 0;
var checkPointRadius = 600;
var MaxTimeout = 100;
var MaxThrust = 100;
var timeout = MaxTimeout;
Pod myLastPod = null;
var isStillOrienting = false;
var stillOrientingThrust = 60; //70; //10
var currentCheckPointLargeAngleThrust = Math.Floor((double)(MaxThrust / 1.5)); //20
var podDriftingFromCurrentCheckPointThrust = 80; //30
var nextCheckPointLargeAngleAsApproachCurrentCheckPointThrust = Math.Floor((double)(MaxThrust / 3)); //60
var approachingCurrentCheckPointThrust = 85; //70
var maxProportionalApproachThrust = 20; //80
var isShortCircuitMidpointOnBigAngle = false;
var isMadKnightTrick = true;
var isAdjustForNextCheckpoint = false;
var isOverrideBasedOnAngle = false;
while (true)
{
var pods = new List <Pod>();
var lastPods = new List <Pod>();
string thrust;
turn++;
for (var i = 0; i < 4; i++)
{
inputs = Console.ReadLine().Split(' ');
double x = double.Parse(inputs[0]);
double y = double.Parse(inputs[1]);
double vx = double.Parse(inputs[2]); // x position of the next check point
double vy = double.Parse(inputs[3]); // y position of the next check point
int angle = int.Parse(inputs[4]); // angle between your pod orientation and the direction of the next checkpoint
int nextCheckPointId = int.Parse(inputs[5]); // distance to the next checkpoint
var pod = new Pod()
{
Id = i, X = x, Y = y, Vx = vx, Vy = vy, Angle = angle, NextCheckPointId = nextCheckPointId
};
var cp = checkPoints.Where(c => c.Id == nextCheckPointId).First();
pod.AngleToCheckPoint = pod.GetAngle(new Point()
{
X = cp.X, Y = cp.Y
});
pods.Add(pod);
}
var myPods = pods.Where(p => p.IsMine).ToList();
var otherPods = pods.Where(p => !p.IsMine).ToList();
foreach (var myPod in myPods)
{
double velocity = 0;
nextCheckPoint = checkPoints.Where(c => c.Id == myPod.NextCheckPointId).First();
if (checkPoints.Any(c => c.Id == myPod.NextCheckPointId + 1))
{
nextNextCheckPoint = checkPoints.Where(c => c.Id == myPod.NextCheckPointId + 1).First();
}
else
{
nextNextCheckPoint = checkPoints.Where(c => c.Id == 0).First();
}
var pointNextCheckpoint = new Unit()
{
X = nextCheckPoint.X, Y = nextCheckPoint.Y
};
var nextCheckpointDist = myPod.Distance(nextCheckPoint);
myLastPod = lastPods.Where(lp => lp.Id == myPod.Id).SingleOrDefault();
if (myLastPod != null)
{
velocity = myPod.Distance(myLastPod);
}
var checkPoint = new CheckPoint()
{
X = nextCheckPoint.X, Y = nextCheckPoint.Y
};
var isSameCheckPoint = checkPoint.IsEqual(nextCheckPoint);
timeout--;
double angleToPoint = 0;
double angleToNextPoint = 0;
if (!isSameCheckPoint)
{
if (nextCheckPoint != null)
{
nextCheckPoint.TimesVisited++;
Console.Error.WriteLine(nextCheckPoint.ToString());
Console.Error.WriteLine(nextNextCheckPoint == null ? "No Next Next Checkpoint Yet" : nextNextCheckPoint.ToString());
}
if (isShortCircuitMidpointOnBigAngle)
{
isStillOrienting = true;
}
}
if (isStillOrienting && (myPod.AngleToCheckPoint > 10 || myPod.AngleToCheckPoint < -10))
{
//var midPointOfNextCheckPoint = new Point() { X = Math.Abs(nextCheckPoint.X + myPod.X ) / 2, Y = Math.Abs(nextCheckPoint.Y + myPod.Y) / 2 };
var midPointOfNextCheckPoint = nextCheckPoint.GetMidpoint(myPod);
xToGo = Math.Floor(midPointOfNextCheckPoint.X);
yToGo = Math.Floor(midPointOfNextCheckPoint.Y);
//thrust = "70";
thrust = stillOrientingThrust.ToString();
Console.Error.WriteLine("Printing from 10");
Console.Error.WriteLine(string.Format("{0} degrees and {1} units from next Checkpoint.", myPod.AngleToCheckPoint, nextCheckpointDist));
Console.WriteLine(string.Format("{0} {1} {2} Big Angle, still orienting!!!", xToGo, yToGo, thrust));
continue;
}
else
{
isStillOrienting = false;
}
if (nextNextCheckPoint != null)
{
if (myLastPod != null)
{
angleToPoint = myPod.GetAngleToPoint(nextCheckPoint, myLastPod);
}
angleToNextPoint = myPod.CalculateAngleFromPoints(nextCheckPoint, nextNextCheckPoint);
if (isAdjustForNextCheckpoint)
{
//Adjust the target, to go to the side of the current checkpoint that is opposite of the next checkpoint.
var newTargetPoint = myPod.AdjustedCoordinates(nextNextCheckPoint, pointNextCheckpoint);
pointNextCheckpoint.X = newTargetPoint.X;
pointNextCheckpoint.Y = newTargetPoint.Y;
}
Console.Error.WriteLine(string.Format("{0} degrees and {1} units from current Checkpoint.", angleToPoint, myPod.Distance(nextCheckPoint)));
Console.Error.WriteLine(string.Format("{0} degrees and {1} units from next Checkpoint.", angleToNextPoint, myPod.Distance(nextNextCheckPoint)));
}
else
{
var midPoint = topLeft.GetMidpoint(gameBoard);
angleToNextPoint = myPod.CalculateAngleFromPoints(nextCheckPoint, midPoint);
Console.Error.WriteLine(string.Format("{0} degrees from current Checkpoint, and Next CheckPoint Unknown.", myPod.Angle));
Console.Error.WriteLine(string.Format("{0} degrees and {1} units from next Checkpoint (approxmiated Midpoint).", angleToNextPoint, myPod.Distance(midPoint)));
}
xToGo = pointNextCheckpoint.X;
yToGo = pointNextCheckpoint.Y;
var checkPointsVisitedThreeTimes = checkPoints.Count(cp => cp.TimesVisited == 3);
var checkPointsCount = checkPoints.Count();
var isFinalCheckPoint = checkPointsVisitedThreeTimes == checkPointsCount;
Console.Error.WriteLine(string.Format("{0} out of {1} CheckPoints have been Visited 3 Times.", checkPointsVisitedThreeTimes, checkPointsCount));
if (isFinalCheckPoint)
{
Console.Error.WriteLine(string.Format("Last Checkpoint. Balls to the Wall!!!!!"));
}
if (myPod.AngleToCheckPoint > 60 || myPod.AngleToCheckPoint < -60)
{
thrust = currentCheckPointLargeAngleThrust.ToString();
Console.Error.WriteLine("Printing from 20");
//} else if (myLastPod != null && Math.Abs(myPod.AngleToCheckPoint) > Math.Abs(myLastPod.AngleToCheckPoint))
//{
//thrust = "80";
// thrust = podDriftingFromCurrentCheckPointThrust.ToString();
// Console.Error.WriteLine("Printing from 30");
}
else if (isFinalCheckPoint || nextCheckpointDist >= myPod.TurningRadius)
{
thrust = MaxThrust.ToString();
Console.Error.WriteLine("Printing from 40");
}
else if (nextCheckpointDist < myPod.TurningRadius && myPod.AngleToCheckPoint == 0)
{
thrust = MaxThrust.ToString();
Console.Error.WriteLine("Printing from 50");
//} //else if ( nextNextCheckPoint != null && nextCheckpointDist < myPod.TurningRadius && angleToNextPoint != 0 && ((angleToNextPoint >= 170 && angleToNextPoint <= 180)|| (angleToNextPoint <= -170 && angleToNextPoint >= -180 )))
//{
// thrust = MaxThrust.ToString();
// xToGo = nextNextCheckPoint.X;
// yToGo = nextNextCheckPoint.Y;
/*
* } else if ( nextCheckpointDist < myPod.TurningRadius
* && angleToNextPoint != 0
* && (
* (angleToNextPoint > 60 && angleToNextPoint < 120)
|| (angleToNextPoint < -60 && angleToNextPoint > -120 )
|| (angleToNextPoint < 15 && angleToNextPoint > -15 && nextNextCheckPoint != null && myPod.IsBehind(nextNextCheckPoint))
|| ))
|| {
|| Console.Error.WriteLine("Printing from 60");
||
|| if (nextNextCheckPoint != null)
|| {
|| var midPointOfCheckpoints = nextNextCheckPoint.GetMidpoint(nextCheckPoint);
|| xToGo = Math.Floor(midPointOfCheckpoints.X);
|| yToGo = Math.Floor(midPointOfCheckpoints.Y);
|| }
|| //thrust = (MaxThrust / 6).ToString();
|| thrust = nextCheckPointLargeAngleAsApproachCurrentCheckPointThrust.ToString();
*/
}
else if (nextCheckpointDist < myPod.TurningRadius && myPod.AngleToCheckPoint < 5)
{
Console.Error.WriteLine("Printing from 70");
thrust = approachingCurrentCheckPointThrust.ToString();
}
else
{
var proportionalThrust = (nextCheckpointDist / myPod.TurningRadius) * 100.0 * .2;
var roundedThrust = Math.Round(proportionalThrust, 0);
thrust = Math.Max(roundedThrust, maxProportionalApproachThrust).ToString();
Console.Error.WriteLine("Printing from 80");
Console.Error.WriteLine(string.Format("Proportional Thust: {0}, Rounded Thrust: {1}, Final Thrust: {2}.", proportionalThrust, roundedThrust, thrust));
}
Console.Error.WriteLine(string.Format("NextCPDist: {0}, NextCPAngle: {1}, Vx: {2}, Vy: {3}, Timeout: {4}.", nextCheckpointDist, myPod.AngleToCheckPoint, myPod.Vx, myPod.Vy, timeout));
if (!thrustUsed && ((myPod.AngleToCheckPoint == 0 && nextCheckpointDist >= 5000) || isFinalCheckPoint))
{
thrust = "BOOST";
thrustUsed = true;
}
if (isMadKnightTrick && thrust != "BOOST" && myPod.Id == 0)
{
Console.Error.WriteLine("MadKnight Trick");
xToGo = Convert.ToInt32(nextCheckPoint.X - (myPod.Vx * 3));
yToGo = Convert.ToInt32(nextCheckPoint.Y - (myPod.Vy * 3));
thrust = "100";
}
if (myPod.Id == 1)
{
var otherPod = otherPods.FirstOrDefault(op => op.Id == 2);
CheckPoint opponentNextCheckPoint = null;
CheckPoint opponentNextNextCheckPoint = null;
opponentNextCheckPoint = checkPoints.Where(c => c.Id == otherPod.NextCheckPointId).First();
if (checkPoints.Any(c => c.Id == otherPod.NextCheckPointId + 1))
{
opponentNextNextCheckPoint = checkPoints.Where(c => c.Id == otherPod.NextCheckPointId + 1).First();
}
else
{
opponentNextNextCheckPoint = checkPoints.Where(c => c.Id == 0).First();
}
xToGo = opponentNextNextCheckPoint.X;
yToGo = opponentNextNextCheckPoint.Y;
thrust = "100";
}
if (isOverrideBasedOnAngle && thrust != "BOOST")
{
xToGo = Convert.ToInt32(nextCheckPoint.X - (myPod.Vx * 3));
yToGo = Convert.ToInt32(nextCheckPoint.Y - (myPod.Vy * 3));
thrust = "100";
/*
* if (nextCheckpointAngle > 120 || nextCheckpointAngle < -120)
* thrust = "15";
* else if (nextCheckpointAngle > 110 || nextCheckpointAngle < -110)
* thrust = "25";
* else if (nextCheckpointAngle > 100 || nextCheckpointAngle < -100)
* thrust = "35";
* else if (nextCheckpointAngle > 90 || nextCheckpointAngle < -90)
* thrust = "45";
* else if (nextCheckpointAngle > 80 || nextCheckpointAngle < -80)
* thrust = "55";
* else if (nextCheckpointAngle > 70 || nextCheckpointAngle < -70)
* thrust = "65";
* else if (nextCheckpointAngle > 60 || nextCheckpointAngle < -60)
* thrust = "75";
* else if (nextCheckpointAngle > 50 || nextCheckpointAngle < -50)
* thrust = "85";
* else if (nextCheckpointAngle > 40 || nextCheckpointAngle < -40)
* thrust = "95";
* else
* {
* xToGo = nextCheckPoint.X;
* yToGo = nextCheckPoint.Y;
*
* thrust = "100";
* }
*/
}
//Console.WriteLine(string.Format("{0} {1} {2} {3} {4} {5} {6} {7}", xToGo, yToGo, thrust, thrust, myPod.AngleToCheckPoint, myPod.Vx, myPod.Vy, myPod.R));
Console.WriteLine(string.Format("{0} {1} {2} {3} {4} {5} {6}", xToGo, yToGo, thrust, thrust, myPod.AngleToCheckPoint, angleToPoint, angleToNextPoint));
}
lastPods = pods.Select(p => p).ToList();
}
}
static void Main(string[] args)
{
string[] inputs;
bool thrustUsed = false;
// game loop
var checkPoints = new List <CheckPoint>();
var allCheckPointsFound = false;
var currentId = 0;
var numberOfCheckPoints = 0;
CheckPoint nextCheckPoint = null;
CheckPoint nextNextCheckPoint = null;
float xToGo = 0;
float yToGo = 0;
var checkPointRadius = 600;
var MaxTimeout = 100;
var MaxThrust = 100;
var timeout = MaxTimeout;
Pod myLastPod = null;
var isDecelerate = false;
while (true)
{
var pods = new List <Pod>();
inputs = Console.ReadLine().Split(' ');
float x = float.Parse(inputs[0]);
float y = float.Parse(inputs[1]);
float nextCheckpointX = float.Parse(inputs[2]); // x position of the next check point
float nextCheckpointY = float.Parse(inputs[3]); // y position of the next check point
int nextCheckpointDist = int.Parse(inputs[4]); // distance to the next checkpoint
int nextCheckpointAngle = int.Parse(inputs[5]); // angle between your pod orientation and the direction of the next checkpoint
inputs = Console.ReadLine().Split(' ');
int opponentX = int.Parse(inputs[0]);
int opponentY = int.Parse(inputs[1]);
var point = new Point()
{
X = xToGo, Y = yToGo
};
var myPod = new Pod()
{
Id = 0, X = x, Y = y
};
var otherPod = new Pod()
{
Id = 1, X = opponentX, Y = opponentY
};
myPod.Angle = myPod.GetAngle(point);
pods.Add(myPod);
pods.Add(otherPod);
var checkPoint = new CheckPoint()
{
X = nextCheckpointX, Y = nextCheckpointY
};
var isSameCheckPoint = checkPoint.IsEqual(nextCheckPoint);
timeout--;
if (!isSameCheckPoint)
{
timeout = MaxTimeout;
nextCheckPoint = checkPoints.FirstOrDefault(cp => cp.X == nextCheckpointX && cp.Y == nextCheckpointY);
nextNextCheckPoint = null;
if (nextCheckPoint != null)
{
allCheckPointsFound = true;
nextCheckPoint.TimesVisited++;
currentId = nextCheckPoint.Id;
nextNextCheckPoint = checkPoints.FirstOrDefault(cp => cp.Id == (currentId == numberOfCheckPoints - 1 ? 0 : currentId + 1));
Console.Error.WriteLine(nextCheckPoint.ToString());
Console.Error.WriteLine(nextNextCheckPoint == null ? "No Next Next Checkpoint Yet" : nextNextCheckPoint.ToString());
}
else
{
nextCheckPoint = new CheckPoint()
{
Id = currentId++, X = nextCheckpointX, Y = nextCheckpointY, TimesVisited = 1
};
checkPoints.Add(nextCheckPoint);
numberOfCheckPoints++;
}
}
if (nextNextCheckPoint != null)
{
Console.Error.WriteLine(string.Format("{0} degrees (or {1}) and {2} units from current Checkpoint.", myPod.GetAngle(nextCheckPoint), myPod.GetVectorAngle(nextCheckPoint), myPod.Distance(nextCheckPoint)));
Console.Error.WriteLine(string.Format("{0} degrees and {1} units from next Checkpoint.", myPod.GetAngle(nextNextCheckPoint), myPod.Distance(nextNextCheckPoint)));
}
else
{
Console.Error.WriteLine(string.Format("{0} degrees from current Checkpoint, and Next CheckPoint Unknown.", myPod.Angle));
}
string thrust;
xToGo = nextCheckpointX;
yToGo = nextCheckpointY;
var checkPointsVisitedThreeTimes = checkPoints.Count(cp => cp.TimesVisited == 3);
var checkPointsCount = checkPoints.Count();
var isFinalCheckPoint = checkPointsVisitedThreeTimes == checkPointsCount;
Console.Error.WriteLine(string.Format("{0} out of {1} CheckPoints have been Visited 3 Times.", checkPointsVisitedThreeTimes, checkPointsCount));
if (isFinalCheckPoint)
{
Console.Error.WriteLine(string.Format("Last Checkpoint. Balls to the Wall!!!!!"));
}
if (nextCheckpointAngle > 60 || nextCheckpointAngle < -60)
{
thrust = (MaxThrust / 5).ToString();
}
else if (isFinalCheckPoint || nextCheckpointDist >= myPod.TurningRadius)
{
thrust = MaxThrust.ToString();
}
else if (nextCheckpointDist < myPod.TurningRadius && nextCheckpointAngle == 0)
{
thrust = MaxThrust.ToString();
}
else if (nextCheckpointDist < myPod.TurningRadius && nextCheckpointAngle < 5)
{
thrust = (MaxThrust / 2).ToString();
}
else
{
var proportionalThrust = (nextCheckpointDist / myPod.TurningRadius) * 100.0 * .2;
var roundedThrust = Math.Round(proportionalThrust, 0);
thrust = Math.Max(roundedThrust, 20).ToString();
Console.Error.WriteLine(string.Format("Proportional Thust: {0}, Rounded Thrust: {1}, Final Thrust: {2}.", proportionalThrust, roundedThrust, thrust));
}
float velocity = 0;
if (myLastPod != null)
{
velocity = myPod.Distance(myLastPod);
myPod.SetVector(myLastPod);
Console.Error.WriteLine((myPod as Unit).ToString());
}
if (velocity > 500)
{
isDecelerate = true;
}
//if (isDecelerate)
// thrust = "0";
Console.Error.WriteLine(string.Format("NextCheckpointDist: {0}, NextCheckpointAngle: {1}, Velocity: {2}, Timeout: {3}.", nextCheckpointDist, nextCheckpointAngle, velocity, timeout));
//if (Math.Abs(opponentX - x) < 5 && Math.Abs(opponentY - y) < 5 && !thrustUsed) {
if (!thrustUsed && ((nextCheckpointAngle == 0 && nextCheckpointDist >= 5000) || isFinalCheckPoint))
{
//thrust = "BOOST";
thrustUsed = true;
}
// You have to output the target position
// followed by the power (0 <= thrust <= 100)
// i.e.: "x y thrust"
/*
* if (nextCheckpointAngle > 30 || nextCheckpointAngle < -30)
* {
* xToGo = xToGo * -3;
* yToGo = yToGo * -3;
* thrust = "100";
* }
*/
Console.WriteLine(xToGo + " " + yToGo + " " + thrust + " " + thrust + " " + nextCheckpointAngle);
myLastPod = myPod;
}
}