protected override Task AliveAsync()
{
// await base.AliveAsync();
foreach (var sensor in Sensors)
{
sensor.Sense();
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, true);
SteerAngle(angle);
var willShoot = CanShoot;
if (CanBoost && boost && (this.SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold)
{
if (ShootUntil < GameTime)
{
Boost();
}
willShoot = false;
}
if (CanShoot && willShoot)
{
var target = (AttackFleets ? FleetTargeting.ChooseTarget() : null)
?? (AttackAbandoned ? AbandonedTargeting.ChooseTarget() : null)
?? (AttackFish ? FishTargeting.ChooseTarget() : null);
if (target != null)
{
var shootAngle = MathF.Atan2(target.Position.Y - this.Position.Y, target.Position.X - this.Position.X);
bool dangerous = false;
if (!AttackFleets && this.SensorFleets.MyFleet != null)
{
var flets = FleetTargeting.PotentialTargetFleets();
foreach (var flet in flets)
{
if (RoboMath.MightHit(this.HookComputer, this.SensorFleets.MyFleet, flet, shootAngle))
{
dangerous = true;
}
}
}
if (!Safe || !dangerous)
{
ShootAt(target.Position);
}
}
}
if (ReloadConfigAfter > 0 && ReloadConfigAfter < GameTime)
{
LoadConfig();
ReloadConfigAfter = 0;
}
return(Task.FromResult(0));
}
private void Behave()
{
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
BlendedRing = finalRing;
SteerAngle(angle);
}
private void Behave()
{
Random r = new Random();
//this.JumpMS=(int)(r.NextDouble()*100.0)+100;
this.Steps = 8;
// System.Console.WriteLine(this.Steps);
if (this.SensorFleets.MyFleet != null)
{
var teamMode = this.HookComputer.Hook.TeamMode;
this.DangerousBullets = this.SensorBullets.VisibleBullets
.Where(b => b.Group.Owner != this.FleetID)
.Where(b => !teamMode || b.Group.Color != this.Color)
.ToList();
var baseS = new TreeState(0, this.SensorFleets.MyFleet, this);
(var ddd, var qq) = this.Score(baseS);
baseS.Score = ddd;
if (qq < -0.5f)
{
//Boost();
}
if (qq <= -1.0f)
{
//Boost();
System.Console.WriteLine("OOOF: " + qq.ToString());
}
var searchPaths = new List <TreeState> {
baseS
};
var newSearchPaths = new List <TreeState>();
for (var i = 0; i < this.Depth; i++)
{
newSearchPaths = new List <TreeState>();
for (int j = 0; j < Math.Min(searchPaths.Count, MaxSearch); j++)
{
if (searchPaths[j].Fleet.Ships.Count > 0 && searchPaths[j].Children.Count < 1)
{
for (int k = 0; k < this.Steps; k++)
{
// if(searchPaths[j].Fleet.Ships.Count>0 && searchPaths[j].Children.Count<1){
var p = searchPaths[j].ProjectClone(JumpMS * (1 + i), ((float)k) * 360.0f / ((float)this.Steps), k >= this.Steps);
(var md, var xd) = this.Score(p);
p.Score = md;
//if(p.Score>-1.0f){
newSearchPaths.Add(p);
//}
}
}
else
{
searchPaths.RemoveAt(j);
j--;
}
}
if (i == 0)
{
firstRow = newSearchPaths.ToList();
}
searchPaths = ((newSearchPaths.ToList()).OrderByDescending(p => p.Score + r.NextDouble() * 0.0f)).ToList();//.Take(i==0?Steps+1:MaxSearch).ToList();
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
BlendedRing = finalRing;
(var bestp, var bestc) = baseS.bestChildScorePath();
if (bestp.Last().Fleet.Ships.Count * 2 <= this.SensorFleets.MyFleet.Ships.Count && CanBoost)
{
//Boost();
//System.Console.WriteLine("BOOST");
}
//Boost();
//System.Console.WriteLine("SC: "+bestc+", Ships: "+bestp.Last().Fleet.Ships.Count);
// System.Console.WriteLine(bestp.Select(x=>x.Angle).ToArray()[1]);
Vector2 angleM = new Vector2(MathF.Cos(GameTime * 10.0f), MathF.Sin(GameTime * 10.0f));
float cangle = MathF.Atan2(angleM.Y, angleM.X);
if (bestp.Count > 1)
{
var bestD = bestp[1].Angle; //bestp[1].Fleet.Center-this.SensorFleets.MyFleet.Center;
angleM = new Vector2(MathF.Cos(bestD), MathF.Sin(bestD)) * 20.0f; //+new Vector2(MathF.Cos(angle),MathF.Sin(angle))*1.0f;//-10.0f*this.SensorFleets.MyFleet.Center/this.SensorFleets.MyFleet.Center.Length();///((float)WorldSize);
}
// var Projections = DangerousBullets.Select(b => b.Position).ToList().Select(b=>(b-this.SensorFleets.MyFleet.Center).Length()).Concat(new List<float>{10000});
if (bestp.Count > 1)
{
SteerAngle(MathF.Atan2(angleM.Y, angleM.X));
PathV = bestp;
//System.Console.WriteLine(PathV.Count);
}
}
else
{
//System.Console.WriteLine("NJJHDfbhjdsfgyhtdsgfhtyfgdsuygt");
}
}
protected override Task AliveAsync()
{
foreach (var sensor in Sensors)
{
sensor.Sense();
}
if (SensorCTF.CTFModeEnabled)
{
if (SensorCTF.IsCarryingFlag)
{
// I'm carrying the flag
if (SensorCTF.OurTeam.FlagIsHome)
{
// our flag is home, head to base to score
Navigation.TargetPoint = SensorCTF.OurTeam.BasePosition;
}
else
{
// our flag is not home, attack the guy who stole it
// this seems required for 1v1, we might get trickier and
// change behavior here if we have a teammate
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
}
else
{
// I'm not carrying a flag
if (!SensorCTF.TheirTeam.FlagIsHome)
{
// our teammate is carrying a flag
if (!SensorCTF.OurTeam.FlagIsHome)
{
// our flag is not home, attack it
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
else
{
// our flag is home, defend teammate
Navigation.TargetPoint = SensorCTF.TheirTeam.FlagPosition;
}
}
else
{
// their flag is home
Navigation.TargetPoint = SensorCTF.TheirTeam.BasePosition;
}
}
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
var bangle = 0.0f;
if (SensorFleets.MyFleet != null)
{
bangle = MathF.Atan2(this.SensorFleets.MyFleet.Momentum.Y, this.SensorFleets.MyFleet.Momentum.X);
}
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
var combined = new ContextRing(this.Steps);
// blur
// lock (typeof(ContextRingBlendingWeighted))
// {
// Console.SetCursorPosition(0, 0);
// Console.WriteLine("RingDump");
// foreach (var context in contexts)
// {
// var name = context.Name;
// while (name.Length < 20)
// name += ' ';
// Console.WriteLine($"{name}\t{string.Join(',', context.Weights.Select(w => (w * context.RingWeight).ToString("+0.0;-0.0")))}");
// }
// }
if (contexts.Any())
{
for (var i = 0; i < this.Steps; i++)
{
combined.Weights[i] = contexts.Sum(c => c.Weights[i] * c.RingWeight);
}
var maxIndex = 0;
var minIndex = 0;
for (var i = 0; i < this.Steps; i++)
{
if (combined.Weights[i] > combined.Weights[maxIndex])
{
maxIndex = i;
}
if (combined.Weights[i] < combined.Weights[minIndex])
{
minIndex = i;
}
}
if (CanBoost && (SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold && (combined.Weights[maxIndex] < BoostDangerThreshold || (SensorFleets.MyFleet?.Ships.Count ?? 0) > 108))
{
Boost();
}
this.MidBad = combined.Weights[maxIndex] / 2.0f + combined.Weights[minIndex] / 2.0f;
if (CanShoot)
{
var target = FleetTargeting.ChooseTarget()
?? AbandonedTargeting.ChooseTarget()
?? FishTargeting.ChooseTarget();
if (target != null)
{
var fff = target;
Vector2 sp = fff.Position - this.Position;
var angleg = (int)(MathF.Atan2(sp.Y, sp.X) / MathF.Atan2(0.0f, -1.0f) / 2.0f * Steps);
if (true)//combined.Weights[((angleg)%Steps+Steps)%Steps]>combined.Weights[minIndex])
{
ShootAt(sp + this.Position);
}
}
else
{
if (SensorFleets.MyFleet != null)
{
ShootAt(SensorFleets.MyFleet.Momentum);
}
}
}
}
SteerAngle(angle);
return(Task.FromResult(0));
}