public void ProcessHit(ASurfaceExpression surface, double horizontalHitCoeff, double verticalHitCoeff)
{
var surfaceNormal = surface.Normal;
var projection = ProjectToSurface(surface);
projection.Position.Vertical = 2 * Constants.BallRadius * surfaceNormal - projection.Position.Vertical;
projection.Speed.Vertical *= -verticalHitCoeff;
var ballPoint = -Constants.BallRadius * surfaceNormal;
var fullPerpendicularSpeed = projection.Speed.Horizontal + Point3DExpression.VectorMult(ballPoint, AngularSpeed);
var force = -horizontalHitCoeff * fullPerpendicularSpeed;
projection.Speed.Horizontal += force;
AngularSpeed += Point3DExpression.VectorMult(force, ballPoint.Normal) / Constants.BallRadius;
RestoreFromSurfaceProjection(surface, projection);
}
public bool Initialize(State state, Player player)
{
initialState = state;
state = state.Clone(false);
this.player = player.Clone();
isServing = state.GameState == GameState.Serving;
maxHeightLimitation = isServing ? Constants.MaxBallServeMaxHeight : Constants.MaxBallMaxHeight;
playerSide = player.Side;
if (state.GameState == GameState.Failed || player.Index != state.HitSide)
{
return(false);
}
var states = new List <State>();
if (isServing)
{
while (state.Ball.Speed.Y >= 0 || state.Ball.Position.Y >= Constants.MaxBallServeY)
{
state.DoStep();
}
var attemptState = state.Clone(false);
while (attemptState.Ball.Position.Y >= Constants.MinBallServeY)
{
states.Add(attemptState.Clone(false));
attemptState.DoStep();
}
states.Add(attemptState.Clone(false));
hitTimeVar.MinValue = state.Time;
hitTimeVar.MaxValue = attemptState.Time;
}
else
{
if (!state.DoStepsUntilGameState(GameState.FlyingToBat))
{
return(false);
}
var attemptState = state.Clone(false);
// Calculate time till max height
while (attemptState.GameState != GameState.Failed)
{
states.Add(attemptState.Clone(false));
if (attemptState.DoStep().HasOneOfEvents(Event.MaxHeight))
{
break;
}
}
double ballMaxHeightTime = attemptState.Time - state.Time;
// Calculate time till ball fall
while (attemptState.GameState != GameState.Failed)
{
states.Add(attemptState.Clone(false));
if (attemptState.DoStep().HasOneOfEvents(Event.LowHit))
{
break;
}
}
double ballFallTime = attemptState.Time - state.Time;
states.Add(attemptState.Clone(false));
hitTimeVar.MinValue = state.Time + player.Strategy.GetMinBackHitTime(ballMaxHeightTime, ballFallTime);
hitTimeVar.MaxValue = state.Time + player.Strategy.GetMaxBackHitTime(ballMaxHeightTime, ballFallTime);
}
var statesCount = states.Count;
if (statesCount < 2)
{
return(false);
}
var ballPositions = new Point3D[statesCount];
var ballSpeeds = new Point3D[statesCount];
var ballForces = new Point3D[statesCount];
var ballAngularSpeeds = new Point3D[statesCount];
var ballAngularForces = new Point3D[statesCount];
for (var index = 0; index < statesCount; index++)
{
var ball = states[index].Ball;
ballPositions[index] = ball.Position;
ballSpeeds[index] = ball.Speed;
ballForces[index] = ball.Force;
ballAngularSpeeds[index] = ball.AngularSpeed;
ballAngularForces[index] = ball.AngularForce;
}
optimizationVariables = new Variable[] { hitTimeVar, hitSpeedVar, attackPitchVar, attackYawVar, velocityAttackPitchVar, velocityAttackYawVar };
optimizationVariablesCount = optimizationVariables.Length;
var ballForceExpression = FunctionByPoints.Create3DFunctionByPoints("BallForce", hitTimeVar, ballForces, state.Time, Constants.SimulationFrameTime);
var ballSpeedExpression = FunctionByPoints.Create3DFunctionByPoints("BallSpeed", hitTimeVar, ballSpeeds, state.Time, Constants.SimulationFrameTime, ballForceExpression);
var ballPositionExpression = FunctionByPoints.Create3DFunctionByPoints("BallPosition", hitTimeVar, ballPositions, state.Time, Constants.SimulationFrameTime, ballSpeedExpression);
var ballAngularForceExpression = FunctionByPoints.Create3DFunctionByPoints("BallAngularForce", hitTimeVar, ballAngularForces, state.Time, Constants.SimulationFrameTime);
var ballAngularSpeedExpression = FunctionByPoints.Create3DFunctionByPoints("BallAngularSpeed", hitTimeVar, ballAngularSpeeds, state.Time, Constants.SimulationFrameTime, ballAngularForceExpression);
initialBallExpression = new BallExpression(ballPositionExpression, ballSpeedExpression, ballAngularSpeedExpression);
var ballReverseSpeed = -initialBallExpression.Speed;
var reverseBallSpeedPitch = ballReverseSpeed.Pitch;
var reverseBallSpeedYaw = ballReverseSpeed.Yaw;
if (isServing)
{
// Yaw for vertical vector is undefined, so use default bat direction instead
reverseBallSpeedYaw = player.DefaultNormal.Yaw;
}
Expression minVelocityAttackPitch, maxVelocityAttackPitch;
double minHitSpeed, maxHitSpeed, minAttackPitch, maxAttackPitch, maxAttackYaw, maxVelocityAttackYaw;
if (isServing)
{
var ballX = Math.Abs(state.Ball.Position.X);
minHitSpeed = Constants.MaxPlayerSpeed * player.Strategy.GetMinServeHitSpeed(ballX);
maxHitSpeed = Constants.MaxPlayerSpeed * player.Strategy.GetMaxServeHitSpeed(ballX);
minAttackPitch = player.Strategy.GetMinServeAttackAngle();
maxAttackPitch = player.Strategy.GetMaxServeAttackAngle();
minVelocityAttackPitch = player.Strategy.GetMinServeVelocityAttackAngle();
maxVelocityAttackPitch = player.Strategy.GetMaxServeVelocityAttackAngle();
maxAttackYaw = Misc.FromDegrees(40);
maxVelocityAttackYaw = Misc.FromDegrees(70);
}
else
{
minHitSpeed = Constants.MaxPlayerSpeed * player.Strategy.GetMinHitSpeed();
maxHitSpeed = Constants.MaxPlayerSpeed * player.Strategy.GetMaxHitSpeed();
minAttackPitch = player.Strategy.GetMinAttackAngle();
maxAttackPitch = player.Strategy.GetMaxAttackAngle();
minVelocityAttackPitch = player.Strategy.GetMinVelocityAttackAngle();
maxVelocityAttackPitch = player.Strategy.GetMaxVelocityAttackAngle();
maxAttackYaw = Misc.FromDegrees(50);
maxVelocityAttackYaw = Misc.FromDegrees(60);
}
//maxAttackYaw = maxVelocityAttackYaw = 0.0001;
var hitSpeed = minHitSpeed + hitSpeedVar * (maxHitSpeed - minHitSpeed);
var attackPitch = minAttackPitch + attackPitchVar * (maxAttackPitch - minAttackPitch);
if (!isServing)
{
minVelocityAttackPitch = Expression.Max(minVelocityAttackPitch, attackPitch - Constants.MaxAttackAngleDifference);
maxVelocityAttackPitch = Expression.Min(maxVelocityAttackPitch, attackPitch + Constants.MaxAttackAngleDifference);
}
var velocityAttackPitch = minVelocityAttackPitch + velocityAttackPitchVar * (maxVelocityAttackPitch - minVelocityAttackPitch);
var attackYaw = attackYawVar * maxAttackYaw;
var velocityAttackYaw = velocityAttackYawVar * maxVelocityAttackYaw;
playerExpression = new PlayerExpression()
{
Index = player.Index,
AnglePitch = reverseBallSpeedPitch + attackPitch,
AngleYaw = reverseBallSpeedYaw + attackYaw,
Speed = hitSpeed * Point3DExpression.FromAngles(reverseBallSpeedPitch + velocityAttackPitch, reverseBallSpeedYaw + attackYaw + velocityAttackYaw)
};
playerExpression.Position = initialBallExpression.Position - Constants.BallRadius * playerExpression.Normal;
playerExpression.Alias = "Bat";
initialBallExpression.ProcessHit(playerExpression, Constants.BallHitHorizontalCoeff, Constants.BallHitVerticalCoeff);
initialBallExpressionDerivatives = new BallExpression[optimizationVariablesCount];
playerExpressionDerivatives = new PlayerExpression[optimizationVariablesCount];
for (var i = 0; i < optimizationVariablesCount; i++)
{
initialBallExpressionDerivatives[i] = initialBallExpression.Derivate(optimizationVariables[i]);
playerExpressionDerivatives[i] = playerExpression.Derivate(optimizationVariables[i]);
}
return(true);
}
public void RestoreFromSurfaceProjection(ASurfaceExpression surface, ProjectionToSurfaceExpression projection)
{
Position = surface.Position + projection.Position.Full;
Speed = surface.Speed + projection.Speed.Full;
}
public BallExpression(Point3DExpression position, Point3DExpression speed, Point3DExpression angularSpeed)
{
Position = position;
Speed = speed;
AngularSpeed = angularSpeed;
}