// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
if (lastpos.Count < 1)
{
action.accelerate = 1f;
steeringfactor = (float)new Random().NextDouble() * 2 - 1;
return(action);
}
lastpos.Add(this.positionV);
if (distance(lastpos[0].X, lastpos[0].Y, currentGoalV.X, currentGoalV.Y) < distance(positionX, positionY, currentGoalV.X, currentGoalV.Y))
{
action = lastactions[0];
}
else
{
action = lastactions[0];
action.accelerate = action.steer * -1;
}
action.accelerate = 1f;
// insanely awesome bot code goes here
Random random = new Random();
random.Next(-1, 1);
// set action.<> values to steer your bot
action.accelerate = 1f;
//action.steer = steerLeft() ? -steeringfactor : steeringfactor;
action.steer = steeringfactor;
action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
humanIntervene(action);
lastpos.Clear();
lastactions.Add(action);
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// insanely awesome bot code goes here
// set action.<> values to steer your bot
action.accelerate = rand.NextFloat();
action.steer = 1f;
action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
return(action);
}
private EnvCarRace.Action check_actions(EnvCarRace.Action action, Ranges range)
{
if (values[range.value_idx, 3] == 0)
{
if (values[range.value_idx, 0] >= range.start && values[range.value_idx, 0] <= range.end)
{
action = apply_action(action, range.acition);
}
}
else
{
if ((range.end > 0.5f && range.start > values[range.value_idx, 0]) ||
(range.end <= 0.5 && range.start <= values[range.value_idx, 0]))
{
action = apply_action(action, range.acition);
}
}
return(action);
}
protected void Start_Maneuver(ref EnvCarRace.Action action)
{
float direction = Get_Direction(this.currentGoalV);
if (direction < -0.01)
{
action.accelerate = 0.8f;
action.steer = -1f;
}
else if (direction > 0.01)
{
action.accelerate = 0.8f;
action.steer = 1f;
}
else
{
//this.carState = CarState.Collecting;
}
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
action.accelerate = 1f;
switch (carState)
{
case CarState.Started:
Start_Maneuver(ref action);
break;
case CarState.Collecting:
Collect(ref action);
break;
}
return(action);
}
private void humanIntervene(EnvCarRace.Action action)
{
if (Input.up.down)
{
action.accelerate = 1f;
}
if (Input.down.down)
{
action.brake = 1f;
}
if (Input.left.down)
{
action.steer--;
}
if (Input.right.down)
{
action.steer++;
}
}
private Tuple <EnvCarRace.Action, float> vec_to_steer()
{
float steer_const = 1.0f;
Vector2 goal_vec = new Vector2(this.currentGoalV.X - this.positionV.X, this.currentGoalV.Y - this.positionV.Y);
float bot_dir = (float)Math.Atan2(this.velocityV.Y, this.velocityV.X);
float goal_dir_rel_to_bot = (float)Math.Atan2(goal_vec.Y, goal_vec.X);
// Fix over 0 rads
if (bot_dir < goal_dir_rel_to_bot)
{
float dist = Math.Abs(goal_dir_rel_to_bot - bot_dir);
float dist_padded = Math.Abs((bot_dir + (float)(Math.PI * 2)) - goal_dir_rel_to_bot);
bot_dir = dist < dist_padded ? bot_dir : bot_dir + (float)(Math.PI * 2.0f);
}
else
{
float dist = Math.Abs(bot_dir - goal_dir_rel_to_bot);
float dist_padded = Math.Abs((goal_dir_rel_to_bot + (float)(Math.PI * 2)) - bot_dir);
goal_dir_rel_to_bot = dist < dist_padded ? goal_dir_rel_to_bot : goal_dir_rel_to_bot + (float)(Math.PI * 2.0f);
}
EnvCarRace.Action act = new EnvCarRace.Action();
float dist_out = Math.Abs(goal_dir_rel_to_bot - bot_dir) / (float)(Math.PI * 2.0f);
// Right
if (goal_dir_rel_to_bot - bot_dir > 0)
{
act.steer = 1.0f;
}
// Left
else if (bot_dir - goal_dir_rel_to_bot > 0)
{
act.steer = -1.0f;
}
return(new Tuple <EnvCarRace.Action, float>(act, dist_out));
}
private EnvCarRace.Action apply_action(EnvCarRace.Action action, int action_int)
{
// Steer
if (action_int == 0)
{
action.steer = -1;
}
else if (action_int == 1)
{
action.steer = 0;
}
else if (action_int == 2)
{
action.steer = 1;
}
else if (action_int == 3)
{
action.accelerate = 0;
}
else if (action_int == 4)
{
action.accelerate = 1;
}
else if (action_int == 5)
{
action.brake = 0;
}
else if (action_int == 6)
{
action.brake = 1;
}
values[6, 0] = action.steer;
values[7, 0] = action.accelerate;
values[8, 0] = action.brake;
return(action);
}
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
if (Input.w.down)
{
action.accelerate = 1f;
}
if (Input.s.down)
{
action.brake = 1f;
}
if (Input.a.down)
{
action.steer--;
}
if (Input.d.down)
{
action.steer++;
}
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
float current_dist = (this.currentGoalV - this.positionV).Length();
float direction = Get_Direction(this.currentGoalV);
int next_dest = this.goalIndex + 1;
if (next_dest >= this.goals.Count)
{
next_dest = this.goalIndex;
}
float next_direction = Get_Direction(this.goals[next_dest]);
action.brake = 0f;
if (direction < -0.01)
{
action.steer = -1;
}
else if (direction > 0.01)
{
action.steer = 1;
}
else
{
action.steer = 0;
}
action.accelerate = 1f;
if (this.velocityV.Length() > 30)
{
float drift_dist = current_dist / currentGoalV.Length();
if (drift_dist > 10)
{
drift_dist = 10;
}
//if(Math.Abs(direction) - Math.Abs(next_direction))
if ((current_dist / currentGoalV.Length()) < (this.velocityV.Length() * 0.004))
{
if (next_direction < -0.01)
{
action.steer = -1;
}
else if (next_direction > 0.01)
{
action.steer = 1;
}
else
{
action.steer = 0;
}
action.accelerate = 0;
}
}
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
currentGoal = this.currentGoalV;
currentPosition = this.positionV;
meToGoal = currentGoal - currentPosition;
meToGoal.Normalize();
if (this.goalIndex < this.goals.Count - 1)
{
nextGoal = this.goals[goalIndex + 1];
}
else
{
nextGoal = null;
}
if (nextGoal != null)
{
meToNextGoal = nextGoal.Value - currentPosition;
meToNextGoal = Vector2.Normalize(meToNextGoal.Value);
currentGoalToNextGoal = nextGoal - currentGoal;
currentGoalToNextGoal = Vector2.Normalize(currentGoalToNextGoal.Value);
}
else
{
meToNextGoal = null;
}
if (this.goalIndex > 0)
{
lastGoal = this.goals[goalIndex - 1];
}
else
{
lastGoal = null;
}
if (lastGoal != null)
{
meToLastGoal = lastGoal - currentPosition;
meToLastGoal = Vector2.Normalize(meToLastGoal.Value);
}
else
{
meToLastGoal = null;
}
lineOfView = new Vector2 {
X = this.directionRightV.Y,
Y = -this.directionRightV.X
};
lineOfView.Normalize();
lineOfViewOrthogonalRight = directionRightV;
lineOfViewOrthogonalRight.Normalize();
lineOfViewOrthogonalLeft = Vector2.Negate(lineOfViewOrthogonalRight);
lineOfViewOrthogonalLeft.Normalize();
distanceToCurrentGoal = Vector2.Distance(currentGoal, currentPosition);
directionToCurrentGoal = Vector2.Dot(directionRightV, meToGoal);
if (nextGoal != null)
{
directionToNextGoal = Vector2.Dot(directionRightV, meToNextGoal.Value);
angleCurrentGoalToNextGoal = (Vector2.Dot(meToGoal, currentGoalToNextGoal.Value) / (meToGoal.Length() * currentGoalToNextGoal.Value.Length()));
//Console.WriteLine(directionToCurrentGoal + " " + directionToNextGoal + " " + angleCurrentGoalToNextGoal + "\n");
nextGoalInCurrentDirection = angleCurrentGoalToNextGoal > .75;
}
angleCurrentDirectionToCurrentGoal = (Vector2.Dot(meToGoal, lineOfView) / (meToGoal.Length() * lineOfView.Length()));
currentGoalInCurrentDirection = angleCurrentDirectionToCurrentGoal > .75;
if (distanceToLastGoal == null)
{
distanceToLastGoal = -100000;
}
if (directionToCurrentGoal > 0)
{
if ((distanceToCurrentGoal < TRIGGER_DISTANCE_TO_GOAL && !nextGoalInCurrentDirection.Value) || (distanceToLastGoal.Value < TRIGGER_DISTANCE_TO_GOAL && !currentGoalInCurrentDirection))
{
action.accelerate = .1f;
action.brake = 1f;
}
else
{
action.accelerate = 1f;
action.brake = 0f;
}
}
else
{
action.accelerate = .2f;
}
float toGoalDir = Vector2.Dot(directionRightV, meToGoal);
if (distanceToCurrentGoal > TRIGGER_DISTANCE_TO_GOAL)
{
if (toGoalDir < 0)
{
action.steer = -1f;
}
else
{
action.steer = 1f;
}
}
else
{
if (nextGoal != null)
{
float toNextGoal = Vector2.Dot((Vector2)meToNextGoal, directionRightV);
if (toNextGoal < 0)
{
action.steer = -.5f;
}
else
{
action.steer = .5f;
}
}
}
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// create rotation matrix (0, 2pi) gegen uhrzeigersinn
Vector2 rotateV(Vector2 vec, double alpha)
{
Vector2 vec_rot = new Vector2();
vec_rot.X = (float)Math.Cos(alpha) * vec.X + (float)Math.Sin(alpha) * vec.Y;
vec_rot.Y = -(float)Math.Sin(alpha) * vec.X + (float)Math.Cos(alpha) * vec.Y;
return(vec_rot);
}
Vector2 goal_orientation = this.currentGoalV - this.positionV;
Vector2 orientation_rot_left = rotateV(this.orientationV, 0.5f * Math.PI);
Vector2 orientation_rot_right = rotateV(this.orientationV, 1.5f * Math.PI);
float orient_angle = (float)Math.Acos(Vector2.Dot(this.orientationV, goal_orientation) / (this.orientationV.Length() * goal_orientation.Length()));
float angle_left = (float)Math.Acos(Vector2.Dot(orientation_rot_left, goal_orientation) / (orientation_rot_left.Length() * goal_orientation.Length()));
float angle_right = (float)Math.Acos(Vector2.Dot(orientation_rot_right, goal_orientation) / (orientation_rot_left.Length() * goal_orientation.Length()));
bool next_target_bad_angle;
if (this.goalIndex < this.goals.Count - 1)
{
Vector2 next_goal_orientation = this.goals[this.goalIndex + 1] - this.positionV;
float next_orient_angle = (float)Math.Acos(Vector2.Dot(this.orientationV, next_goal_orientation) / (this.orientationV.Length() * next_goal_orientation.Length()));
float next_goal_brake_th = 2 * MathHelper.Pi / 4; // angle
next_target_bad_angle = next_orient_angle > next_goal_brake_th;
// target the next goal if next to current goal
float target_change_th = 5.0f;
if (goal_orientation.Length() < target_change_th)
{
float next_angle_left = (float)Math.Acos(Vector2.Dot(orientation_rot_left, next_goal_orientation) / (orientation_rot_left.Length() * next_goal_orientation.Length()));
float next_angle_right = (float)Math.Acos(Vector2.Dot(orientation_rot_right, next_goal_orientation) / (orientation_rot_left.Length() * next_goal_orientation.Length()));
angle_left = next_angle_left;
angle_right = next_angle_right;
}
}
else
{
next_target_bad_angle = false;
}
// insanely awesome bot code goes here
float max_acc = 1.0f; // maximum acceleration
float brake_threshold = 30.0f; // 30 is a reasonable value for the distance to goal
action.brake = 0.0f; // -> normally dont brake
// break if near goal and next goal is not directly assessed
if (this.goalIndex != this.goals.Count - 1)
{
if (goal_orientation.Length() < brake_threshold && next_target_bad_angle) // brake if near to goal
{
action.accelerate = 0.0f;
action.brake = 1.0f;
}
else
{
action.accelerate = max_acc; // in [0, 1]
}
}
else
{
action.accelerate = max_acc; // in [0, 1]
}
// best steering
float angle_brake_th = 4 * MathHelper.Pi / 8;
float acc_cap = 0.0f;
float steering_brake = 1.0f;
if (angle_left < angle_right) // steer left
{
action.steer = -1.0f;
if (orient_angle > angle_brake_th)
{
action.accelerate = 0.0f;
action.brake = steering_brake;
}
}
else if (angle_left > angle_right) // steer right
{
action.steer = 1.0f;
if (orient_angle > angle_brake_th)
{
action.accelerate = 0.0f;
action.brake = steering_brake;
}
}
else // driving away or towards goal
{
if (Vector2.Dot(this.orientationV, this.currentGoalV - this.positionV) > 0) // driving towards the goal
{
//Console.WriteLine("driving towards the goal");
action.steer = 0.0f;
}
else // driving away from the goal
{
action.steer = 1.0f; // choose either direction
}
}
// correct if too slow
float min_speed_fast = 22.5f; //
float min_speed_slow = 10.0f; // if orient_angle is larger than pi/2
if (orient_angle > MathHelper.Pi / 2 && this.velocityV.Length() < min_speed_slow)
{
action.accelerate = 1.0f;
action.brake = 0.0f;
}
else if (orient_angle <= MathHelper.Pi / 2 && this.velocityV.Length() < min_speed_fast)
{
action.accelerate = 1.0f;
action.brake = 0.0f;
}
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
// brake if prediction aims wrong
prediction = positionV + velocityV * 0.7f;
predictionForCheckpoint = positionV + velocityV * 0.75f;
for (int i = 0; i < predictions.Length; i++)
{
Vector2 vN = Vector2.Normalize(new Vector2(-velocityV.Y, velocityV.X));
float currentSteeringInComparisonToVelocity = Vector2.Dot(vN, orientationV);
float ijau = ((float)i / predictions.Length);
predictions[i] = positionV + velocityV * ijau;// + directionRightV * currentSteeringInComparisonToVelocity * ((float)Math.Pow(ijau, 1.2f)) * 10f;
}
EnvCarRace.Action action = new EnvCarRace.Action();
// insanely awesome bot code goes here
// set action.<> values to steer your bot
//action.accelerate = rand.NextFloat();
//action.steer = 1f;
//action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
if (goalIndex > 0)
{
reachedFirst = true;
}
if (goalIndex + 1 > trackIndex)
{
reachedTrack = false;
}
if (goalIndex == goals.Count - 1)
{
reachedTrack = true;
}
Vector2 goal;
if (!reachedTrack)
{
float scurvejau = sCurve[goalIndex] ? 0.75f : 0.5f;
tInArray = trackIndex * trackPointsPerGoal + (int)(trackPointsPerGoal * scurvejau);
Vector2 trackTangent = Vector2.Normalize(track[tInArray + 1] - track[tInArray]);
Vector2 distToPlayer = predictionForCheckpoint - track[tInArray];
if ((Vector2.Dot(distToPlayer, trackTangent) > 0) ||
((currentGoalV - positionV).Length() < (currentGoalV - track[tInArray]).Length()))
{
//if (trackIndex / trackPointsPerGoal < goalIndex + 1)
//if (trackIndex < goalIndex + 2)
//{
trackIndex++;
//trackTangent = Vector2.Normalize(track[tInArray + 1] - track[tInArray]);
//distToPlayer = positionV - track[tInArray];
reachedTrack = true;
//}
//else
// break;
}
//nextIndex = trackIndex;// (int)(trackIndex + velocityV.Length() / ((currentGoalV - (goalIndex > 0 ? goals[goalIndex - 1] : startPos)).Length() / 40f));
//if ((nextIndex / trackPointsPerGoal) > goalIndex)
//{
// nextIndex = (goalIndex + 1) * trackPointsPerGoal;
// tryCoolCurveOverGoal = true;
//}
//else
// tryCoolCurveOverGoal = false;
Console.WriteLine(velocityV.Length());
if (tInArray > track.Count - 1)
{
tInArray = track.Count - 1;
}
goal = track[tInArray];// this.currentGoalV;
}
else
{
goal = currentGoalV;
}
Vector2 dist = goal - positionV;
//float distAngle = (float)Math.Atan2(dist.Y, dist.X);
//float angle = distAngle - orientation;
//if (Math.Abs(angle) > MathHelper.Pi)
// angle -= MathHelper.TwoPi;
Vector2 distNormalized = Vector2.Normalize(dist);
float toRight = (Vector2.Dot(directionRightV, distNormalized));
//Vector2 x1 = track[nextIndex] - track[nextIndex - 1];
//Vector2 x2 = orientationV;//positionV - track[nextIndex - 1];
//Vector2 n1 = new Vector2(-x1.Y, x1.X);
//float toRight2 = Vector2.Dot(n1, x2);
//if (toRight + toRight2 * 100 < 0)
if (toRight >= 0)
{
action.steer = 1f;
}
else
{
action.steer = -1f;
}
bool overGoal = false;
Vector2 goalToPos = positionV - currentGoalV;
Vector2 goalToPrediction = prediction - currentGoalV;
if (Vector2.Dot(goalToPos, goalToPrediction) < 0)
{
overGoal = true;
}
bool predictCol = false;
foreach (var p in predictions)
{
if (Vector2.Distance(currentGoalV, p) < (env.goalRadius + width))
{
predictCol = true;
break;
}
}
if (overGoal && !predictCol)
{
action.brake = 1f;
}
float forward = (Vector2.Dot(orientationV, distNormalized));
float d = dist.Length();
if (goalIndex < goals.Count - 1)
{
//float curve = -Vector2.Dot(distNormalized, Vector2.Normalize(goals[goalIndex + 1] - goal));
//if (curve > 0)
//{
// float end = 10 + curve * 15;
// if (d < end)
// {
// d = 0;
// //d -= end * 2f / 3f;
// }
//}
}
float targetVelocity = (float)(Math.Sign(forward) * Math.Abs(Math.Pow(forward, 10f))) * d * 7f;
if (action.brake == 1f)
{
targetVelocity = 0f;
}
if (targetVelocity < 10f)
{
targetVelocity = 10f;
}
if (velocityV.Length() < targetVelocity)
{
action.accelerate = 1f;
}
else
{
action.brake = 1f;
}
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// goal after current goal:
Vector2 nextGoalV = (this.goalIndex + 1 < this.goals.Count) ? this.goals[this.goalIndex + 1] : this.currentGoalV;
// set action.<> values to steer your bot
action.accelerate = 1f; // immer vollgas, keine rücksicht auf verluste
// action.steer = 1f;
// action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
// maybe add a steer penalty somewhere
/*
* Vector2 scalarV = Vector2.Multiply(this.directionRightV, Vector2.Subtract(this.currentGoalV, this.positionV));
* float scalar = scalarV.X + scalarV.Y;
* if (scalar > 0)
* {
* action.steer = 1f;
* }
* else if (scalar < 0)
* {
* action.steer = -1f;
* }*/
// secret approach: randomly try to get a nice curve, else straight at point
if (this.rand.Next() % 10 < 4 && this.goalIndex != 0)
{
float steerPenalty = 0.5f;
double currentAngle = getAngle(this.positionV, this.currentGoalV, nextGoalV);
// angle in deg = currentAngle * 180 / MathHelper.Pi
if (currentAngle < targetAngle - borderAngle)
{
// steer away from current goal
action.steer = -steerPenalty;
}
else if (currentAngle < targetAngle)
{
// steer towards current goal
action.steer = steerPenalty;
}
else if (currentAngle < targetAngle + borderAngle)
{
// steer away from current goal (other direciton)
action.steer = steerPenalty;
}
else
{
// steer towards current goal (other direciton)
action.steer = -steerPenalty;
}
}
else
{
Vector2 scalarV = Vector2.Multiply(this.directionRightV, Vector2.Subtract(this.currentGoalV, this.positionV));
float scalar = scalarV.X + scalarV.Y;
if (scalar > 0)
{
action.steer = 1f;
}
else if (scalar < 0)
{
action.steer = -1f;
}
}
// type this. to see what you have access to
//this.<>
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// insanely awesome bot code goes here
// set action.<> values to steer your bot
//action.accelerate = rand.NextFloat();
//action.steer = 1f;
//action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
Vector2 goal = this.currentGoalV;
Vector2 dist = goal - positionV;
//float distAngle = (float)Math.Atan2(dist.Y, dist.X);
//float angle = distAngle - orientation;
//if (Math.Abs(angle) > MathHelper.Pi)
// angle -= MathHelper.TwoPi;
Vector2 distNormalized = Vector2.Normalize(dist);
float toRight = (Vector2.Dot(directionRightV, distNormalized));
if (toRight >= 0)
{
action.steer = 1f;
}
else
{
action.steer = -1f;
}
float forward = (Vector2.Dot(orientationV, distNormalized));
float d = dist.Length();
if (goalIndex < goals.Count - 1)
{
float curve = -Vector2.Dot(distNormalized, Vector2.Normalize(goals[goalIndex + 1] - currentGoalV));
float end = 15 + curve * 30;
if (d < end)
{
d -= end * 2f / 3f;
}
}
float targetVelocity = (float)(Math.Sign(forward) * Math.Abs(Math.Pow(forward, 10f))) * d * 5f;
if (targetVelocity < 10f)
{
targetVelocity = 10f;
}
if (velocityV.Length() < targetVelocity)
{
action.accelerate = 1f;
}
else
{
action.brake = 1f;
}
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// create rotation matrix (0, 2pi) gegen uhrzeigersinn
Vector2 rotateV(Vector2 vec, double alpha)
{
Vector2 vec_rot = new Vector2();
vec_rot.X = (float)Math.Cos(alpha) * vec.X + (float)Math.Sin(alpha) * vec.Y;
vec_rot.Y = -(float)Math.Sin(alpha) * vec.X + (float)Math.Cos(alpha) * vec.Y;
return(vec_rot);
}
Vector2 goal_orientation = this.currentGoalV - this.positionV;
Vector2 orientation_rot_left = rotateV(this.orientationV, 0.5f * Math.PI);
Vector2 orientation_rot_right = rotateV(this.orientationV, 1.5f * Math.PI);
// insanely awesome bot code goes here
float max_speed = 1.0f; // speed=acceleration
float brake_threshold = 10.0f;
action.brake = 0.0f; // in [0, 1] -> normally dont brake
// accelerate only if far away from the goal
if (this.goalIndex != this.goals.Count)
{
if (goal_orientation.Length() < brake_threshold) // brake if near to goal
{
action.accelerate = 0.0f;
action.brake = 1.0f;
}
else
{
action.accelerate = max_speed; // in [0, 1]
}
}
else
{
action.accelerate = max_speed; // in [0, 1]
}
/*
* Console.WriteLine(this.orientationV);
* Console.WriteLine(orientation_rot_left);
* Console.WriteLine(orientation_rot_right);
* Console.WriteLine();*/
float angle_left = (float)Math.Acos(Vector2.Dot(orientation_rot_left, goal_orientation) / (orientation_rot_left.Length() * goal_orientation.Length())); // norm ignored
float angle_right = (float)Math.Acos(Vector2.Dot(orientation_rot_right, goal_orientation) / (orientation_rot_left.Length() * goal_orientation.Length())); // norm ignored
//Console.WriteLine(angle_left);
//Console.WriteLine(angle_right);
if (angle_left < angle_right)
{
action.steer = -1.0f;
}
else if (angle_left > angle_right)
{
action.steer = 1.0f;
}
else
{
if (Vector2.Dot(this.orientationV, this.currentGoalV - this.positionV) > 0) // driving towards the goal
{
//Console.WriteLine("driving towards the goal");
action.steer = 0.0f;
}
else // driving away from the goal
{
action.steer = 1.0f; // choose either direction
}
}
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// insanely awesome bot code goes here
Vector2 goalDirection = currentGoalV - positionV;
goalDirection.Normalize();
float forward = Vector2.Dot(goalDirection, orientationV);
Vector2 goaldirectionTotal = currentGoalV - positionV;
float goalposition = goaldirectionTotal.Length();
if (goalIndex > 0)
{
Vector2 lastgoaldirection = goals[goalIndex - 1];
Vector2 lastgoaldirectionTotal = lastgoaldirection - positionV;
float lastgoal = lastgoaldirectionTotal.Length();
if ((goalposition > 20 && lastgoal > 5 && forward > 0.8f || velocityV.Length() < 10))
{
action.accelerate = 1;
}
else
{
action.brake = 1f;
}
float toRight = Vector2.Dot(goalDirection, directionRightV);
if (toRight < 0)
{
action.steer--;
}
else
{
action.steer++;
}
}
else
{
if ((goalposition > 20 && forward > 0.8f || velocityV.Length() < 10))
{
action.accelerate = 1;
}
else
{
action.brake = 1f;
}
float toRight = Vector2.Dot(goalDirection, directionRightV);
if (toRight < 0)
{
action.steer--;
}
else
{
action.steer++;
}
}
// set action.<> values to steer your bot
// action.accelerate = rand.NextFloat();
// action.steer = 0f; // steer >0 right; steer <0 left
// action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
return(action);
}
// this function is called every frame
protected override EnvCarRace.Action GetAction()
{
EnvCarRace.Action action = new EnvCarRace.Action();
// insanely awesome bot code goes here
// set action.<> values to steer your bot
//action.accelerate = rand.NextFloat();
//action.steer = 1f;
//action.brake = (float)Math.Round(0.2f); // use Math. for math calculations
// type this. to see what you have access to
//this.<>
//this.currentGoalV f.ex.
int nextGoalIndex = this.goalIndex + 1;
Vector2?nextGoal;
if (this.goalIndex < this.goals.Count - 1)
{
nextGoal = this.goals[nextGoalIndex];
}
else
{
nextGoal = null;
}
Vector2 currGoal = this.currentGoalV;
Vector2 currPos = this.positionV;
Vector2 vectorToGoal = currGoal - currPos;
vectorToGoal.Normalize();
Vector2 lineOfView = new Vector2
{
X = this.directionRightV.Y,
Y = -this.directionRightV.X
};
lineOfView.Normalize();
Vector2?currentGoalToNextGoal = nextGoal - currGoal;
Vector2 vectorToGoalOrthogonal = new Vector2
{
X = -vectorToGoal.Y,
Y = vectorToGoal.X
};
float distanceToCurrGoal = Vector2.Distance(currGoal, currPos);
float toGoal = Vector2.Dot(lineOfView, vectorToGoal);
if (toGoal > 0)
{
if (distanceToCurrGoal > 20)
{
action.accelerate = 1f;
action.brake = 0f;
}
else
{
action.accelerate = .7f;
action.brake = 1f;
}
}
else
{
action.accelerate = .1f;
}
float toGoalDir = Vector2.Dot(directionRightV, vectorToGoal);
//Console.WriteLine(toGoalDir);
if (distanceToCurrGoal > 10)
{
action.steer = toGoalDir;
}
else
{
if (nextGoal != null)
{
Vector2 meToNextGoal = currPos - (Vector2)nextGoal;
meToNextGoal.Normalize();
bool nextGoalRight = true;
float toNextGoal = Vector2.Dot((Vector2)meToNextGoal, directionRightV);
action.steer = -toNextGoal;
}
}
return(action);
}