public Moves Do(ACar car, Points pts) { // Проверка что данный путь был выбран if (_selectThisTick + 1 != MyStrategy.world.Tick) { _lastSuccessStack = null; } Self = car.Clone(); if (_lastCall == LastSuccess) { LastSuccess = _lastCall; } for (var t = 0; t < MyStrategy.world.Tick - _lastCall && _lastSuccessStack != null && _lastSuccessStack.Count > 0; t++) { _lastSuccessStack[0].Times--; _lastSuccessStack.Normalize(); } if (_lastSuccessStack != null && (_lastSuccessStack.Count == 0 || _useDist2 && _lastSuccessStack.ComputeTime() < 30)) { _lastSuccessStack = null; } _lastCall = MyStrategy.world.Tick; /* * Количество бонусов на расстоянии 0.5t * Если изменилось - пересчитывать сильно */ var bonusesCount05 = MyStrategy.Bonuses .Count(bonus => Self.GetDistanceTo(bonus) < Const.TileSize / 2); /* * Количество бонусов на расстоянии 2t * Если изменилось - чуть нужно пересчитать */ var bonusesCount2 = MyStrategy.Bonuses .Count( bonus => Self.GetDistanceTo(bonus) < Const.TileSize * 2 && MyStrategy.CellDistance(Self, bonus) <= 2); // Если был success на прошлом тике, то продолжаем. Или каждые _interval тиков. if (Const.Game.InitialFreezeDurationTicks < MyStrategy.world.Tick && bonusesCount05 == _bonusesCount05 && LastSuccess < MyStrategy.world.Tick - 1 && (MyStrategy.world.Tick - (LastSuccess + 1)) % _interval != 0) { _validateLastSuccessStack(); return(_lastSuccessStack); } /* * Смотрим на шины, которые на расстоянии не более 6 тайлов */ var prevProj = _projCandidates; _projCandidates = MyStrategy.Tires .Where( proj => Self.GetDistanceTo(proj[0]) <= Const.TileSize * 6 && MyStrategy.CellDistance(Self, proj[0]) <= 6) .ToArray(); var extended = MyStrategy.ExtendWaySegments(pts, 50); _bruteWayPoints = extended.GetRange(0, Math.Min(_waypointsCount, extended.Count)).ToArray(); if (LastStageMove.IsUseNitro && _turnsCount(_bruteWayPoints) > 1) { return(null); } #if DEBUG var bruteWayPoints = new Points(); bruteWayPoints.AddRange(_bruteWayPoints); Visualizer.SegmentsDrawQueue.Add(new object[] { Brushes.Brown, bruteWayPoints, 0.0 }); #endif _needDist = Const.TileSize * 0.5 - 3; _needDist2 = Const.TileSize - 3; _turnTo = _bruteWayPoints[_bruteWayPoints.Length - 1]; _turnTo2 = _bruteWayPoints[Math.Min(_bruteWayPoints.Length - 1, (int)(_bruteWayPoints.Length * 0.83))]; #if DEBUG Visualizer.CircleFillQueue.Add(new Tuple <Brush, ACircularUnit>(Brushes.OrangeRed, new ACircularUnit { X = _turnTo.X, Y = _turnTo.Y, Radius = 20 })); Visualizer.CircleFillQueue.Add(new Tuple <Brush, ACircularUnit>(Brushes.Orange, new ACircularUnit { X = _turnTo2.X, Y = _turnTo2.Y, Radius = 20 })); #endif _patterns = Patterns.Select(pt => new PathPattern { From = pt.From, To = pt.To, Step = pt.Step, Move = pt.Move.Clone() }).ToArray(); foreach (var p in _patterns) { if (p.Move.WheelTurn is TurnPattern) { var turnPattern = p.Move.WheelTurn as TurnPattern; if (turnPattern.Pattern == TurnPatternType.ToNext) { p.Move.WheelTurn = Self.GetAngleTo(_turnTo) < 0 ? -1 : 1; } else if (turnPattern.Pattern == TurnPatternType.FromNext) { p.Move.WheelTurn = Self.GetAngleTo(_turnTo) < 0 ? 1 : -1; } } } _movesStack = new Moves(); _bestMovesStack = new Moves(); _bestTime = MyStrategy.Infinity; _bestImportance = 0; /* * Смотрим на бонусы, которые на расстоянии не более 4t * TODO: уменьшить приоритет бонусов, которые может быть возьмет другой (в.т.ч тиммейт) */ _bonusCandidates = MyStrategy.Bonuses .Where( bonus => MyStrategy.world.Tick > 270 && // Не смотреть на бонусы при старте!!! Self.GetDistanceTo(bonus) <= Const.TileSize * 4 && MyStrategy.CellDistance(Self, bonus) <= 4 ) .ToArray(); /* * Смотрим на лужи, которые на расстоянии не более 5 тайлов */ var prevSlicks = _slickCandidates; _slickCandidates = MyStrategy.OilSlicks .Where( slick => Self.GetDistanceTo(slick) <= Const.TileSize * 5 && MyStrategy.CellDistance(Self, slick) <= 5 ) .ToArray(); /* * Пытаться объехать тех, которые * - Крашнулись * - Убиты * - Двигатель меньше чем на 0.5 мощности * - Двигаются по встречной * * - Если у меня нитро, или будет нитро * * - Своих */ var prevCars = _carCandidates; _carCandidates = MyStrategy.Others .Where(opp => opp[0].GetDistanceTo(Self) < Const.TileSize * 9) .Where( opp => opp[0].Original.IsTeammate || MyStrategy.IsCrashed(opp[0].Original) || !DurabilityObserver.IsActive(opp[0].Original) || opp[0].EnginePower < 0.5 || Self.RemainingNitroTicks > 0 || Math.Abs(Geom.GetAngleBetween(Self.Speed, opp[0].Speed)) > Math.PI / 2 ) .Where(opp => MyStrategy.CellDistance(Self, opp[0]) <= 9) // 9 - потому что он может ехать по встречке .ToArray(); if (_cache != null) { for (var k = 0; k < _patterns.Length; k++) { var range = (prevSlicks == null || prevCars == null || prevProj == null || _bonusesCount2 != bonusesCount2 || prevSlicks.Length != _slickCandidates.Length || prevCars.Length != _carCandidates.Length || prevProj.Length != _projCandidates.Length) ? (k == 0 ? 6 : 4) : (k == 0 ? 6 : 2); if (_bonusesCount05 != bonusesCount05 || Special && k == 0) { range = 10; } _patterns[k].From = Math.Max(0, _cache[k].Times - range); _patterns[k].To = Math.Min(_patterns[k].To * 9 / 7, _cache[k].Times + range); _patterns[k].Step = 2; } } _bonusesCount05 = bonusesCount05; _bonusesCount2 = bonusesCount2; var wayPointRequired = false; for (var i = _bruteWayPoints.Length - 1; i >= 0; i--) { if (_bruteWayPoints[i].GetDistanceTo2(_turnTo) < _needDist * _needDist) { for (var j = 0; j < i; j++) { wayPointRequired |= MyStrategy.GetNextWayPoint(Self.Original).Equals(MyStrategy.GetCell(_bruteWayPoints[j])); } break; } } _doRecursive(Self, 0, new PassedInfo { WayPoint = !wayPointRequired }); _cache = null; if (_bestTime == MyStrategy.Infinity) { return(_lastSuccessStack); } if (_bestMovesStack.ComputeTime() != _bestTime) { throw new Exception("ComputeTime != BestTime"); } LastSuccess = MyStrategy.world.Tick; _cache = _bestMovesStack.Clone(); if (_maxTicksInfo == null) { _maxTicksInfo = new int[_bestMovesStack.Count]; } for (var i = 0; i < _maxTicksInfo.Length; i++) { _maxTicksInfo[i] = Math.Max(_maxTicksInfo[i], _bestMovesStack[i].Times); } _bestMovesStack.Normalize(); _lastSuccessStack = _bestMovesStack.Clone(); return(_bestMovesStack); }
public void Move(double enginePower, double wheelTurn, bool isBreak, bool useNitro, bool simpleMode) { if (RemainingInactiveTicks > 0 || MyStrategy.IsCrashed(Original)) { isBreak = false; useNitro = false; enginePower = 0; wheelTurn = WheelTurn; } useNitro = useNitro && Original.NitroChargeCount > 0; if (useNitro && RemainingNitroTicks == 0 && RemainingNitroCooldownTicks == 0) { RemainingNitroTicks = Const.Game.NitroDurationTicks; RemainingNitroCooldownTicks = Const.Game.UseNitroCooldownTicks; } var updateIterations = simpleMode ? 2 : 10; var frictionMultiplier = Math.Pow(1.0 - Const.Game.CarMovementAirFrictionFactor, 1.0 / updateIterations); var rotationFrictionMultiplier = Math.Pow(1.0 - Const.Game.CarRotationFrictionFactor, 1.0 / updateIterations); if (enginePower > 1 + MyStrategy.Eps || enginePower < -1 - MyStrategy.Eps) { throw new Exception("invalid enginePower " + enginePower); } if (wheelTurn > 1 + MyStrategy.Eps || wheelTurn < -1 - MyStrategy.Eps) { throw new Exception("invalid wheelTurn " + wheelTurn); } if (RemainingNitroTicks > 0) { EnginePower = 2.0; } else { EnginePower = enginePower > EnginePower ? Math.Min(EnginePower + Const.Game.CarEnginePowerChangePerTick, enginePower) : Math.Max(EnginePower - Const.Game.CarEnginePowerChangePerTick, enginePower); } WheelTurn = wheelTurn > WheelTurn ? Math.Min(WheelTurn + Const.Game.CarWheelTurnChangePerTick, wheelTurn) : Math.Max(WheelTurn - Const.Game.CarWheelTurnChangePerTick, wheelTurn); if (MyStrategy.world.Tick >= Const.Game.InitialFreezeDurationTicks) { // http://russianaicup.ru/forum/index.php?topic=394.msg3888#msg3888 var dir = Point.ByAngle(Angle); var baseAngSpd = AngularSpeed; // HACK AngularSpeed -= baseAngSpd; baseAngSpd = Const.Game.CarAngularSpeedFactor * WheelTurn * (Speed * dir); AngularSpeed += baseAngSpd; var carAcceleration = EnginePower >= 0 ? _carAccelerationUp : _carAccelerationDown; var accelerationDelta = dir * (carAcceleration * EnginePower / updateIterations); var lengthwiseMovementFrictionFactor = isBreak ? Const.Game.CarCrosswiseMovementFrictionFactor : Const.Game.CarLengthwiseMovementFrictionFactor; lengthwiseMovementFrictionFactor /= updateIterations; var crosswiseMovementFrictionFactor = Const.Game.CarCrosswiseMovementFrictionFactor / updateIterations; for (var i = 0; i < updateIterations; i++) { X += Speed.X / updateIterations; Y += Speed.Y / updateIterations; if (!isBreak) { Speed.X += accelerationDelta.X; Speed.Y += accelerationDelta.Y; } Speed.X *= frictionMultiplier; Speed.Y *= frictionMultiplier; var t1 = _limit(Speed.X * dir.X + Speed.Y * dir.Y, lengthwiseMovementFrictionFactor); var t2 = _limit(Speed.X * dir.Y - Speed.Y * dir.X, crosswiseMovementFrictionFactor); Speed.X = dir.X * t1 + dir.Y * t2; Speed.Y = dir.Y * t1 - dir.X * t2; Angle += AngularSpeed / updateIterations; dir = Point.ByAngle(Angle); AngularSpeed = baseAngSpd + (AngularSpeed - baseAngSpd) * rotationFrictionMultiplier; } Geom.AngleNormalize(ref Angle); if (RemainingNitroCooldownTicks > 0) { RemainingNitroCooldownTicks--; } if (RemainingNitroTicks > 0) { RemainingNitroTicks--; } if (RemainingInactiveTicks > 0) { RemainingInactiveTicks--; } } // clear rectangles cache _rect = null; _rectEx = null; }