private void Fire(Tank self, World world, Move move)
{
double angleToTank = double.MaxValue;
Tank selectedTank = null;
foreach (Tank tank in world.Tanks)
{
if (tank.IsTeammate) continue;
if (tank.CrewHealth < 1 || tank.HullDurability < 1) continue;
double angle = self.GetTurretAngleTo(tank);
if (Math.Abs(angle) < Math.Abs(angleToTank))
{
angleToTank = angle;
selectedTank = tank;
}
}
if (selectedTank == null) return;
Ray ray = new Ray(self.Id, self.X, self.Y, self.Angle + self.TurretRelativeAngle);
Location expectedLocation = selectedTank.GetExpectedPositionForFire<Location>(self, world);
double expectedAngle = self.GetTurretAngleTo(expectedLocation.X, expectedLocation.Y);
double distance = self.GetDistanceTo(selectedTank);
// if we can shoot enemy
if (ray.IsCollide(selectedTank) && !selectedTank.IsCovered(ray, world))
{
if (distance < self.Width)
{
move.FireType = FireType.PremiumPreferred;
}
else if (distance < 3.0d * self.Width && Math.Abs(expectedAngle) < 2.0d * Const.MIN_ANGLE)
{
move.FireType = FireType.PremiumPreferred;
}
else if (Math.Abs(expectedAngle) < Const.MIN_ANGLE)
{
move.FireType = FireType.Regular;
}
}
if (expectedAngle > 0)
{
move.TurretTurn = self.TurretTurnSpeed;
}
else
{
move.TurretTurn = -self.TurretTurnSpeed;
}
}
private void MoveToBonus(Tank self, World world, Move move)
{
double distanceToBonus = double.MaxValue;
Bonus selectedBonus = null;
foreach (Bonus bonus in world.Bonuses)
{
double distance = self.GetDistanceTo(bonus);
if (distance < distanceToBonus)
{
distanceToBonus = distance;
selectedBonus = bonus;
}
}
if (selectedBonus == null) return;
double angle = self.GetAngleTo(selectedBonus);
double absAngle = Math.Abs(angle);
if (absAngle < Const.MIN_ANGLE) // move forward
{
move.LeftTrackPower = 1.0d;
move.RightTrackPower = 1.0d;
}
else if (absAngle > Math.PI - Const.MIN_ANGLE) // move back
{
move.LeftTrackPower = -1.0d;
move.RightTrackPower = -1.0d;
}
else if (absAngle > Const.HALF_PI - Const.MIN_ANGLE
&& absAngle < Const.HALF_PI + Const.MIN_ANGLE) // turn
{
move.LeftTrackPower = 1.0d;
move.RightTrackPower = -1.0d;
}
else if (absAngle < Const.HALF_PI)
{
move.LeftTrackPower = 1.0d;
move.RightTrackPower = 1.0d - absAngle * 2d;
if (angle < 0.0d)
{
var tmp = move.LeftTrackPower;
move.LeftTrackPower = move.RightTrackPower;
move.RightTrackPower = tmp;
}
}
else // if (absAngle > HALF_PI)
{
move.LeftTrackPower = -1.0d;
move.RightTrackPower = -1.0d - absAngle * 2d;
if (angle < 0.0d)
{
var tmp = move.LeftTrackPower;
move.LeftTrackPower = move.RightTrackPower;
move.RightTrackPower = tmp;
}
}
}
private double TurretCoeff(Tank self, Unit goal)
{
double minDist = 10000;
for (int i = 0; i < world.Tanks.Length; i++)
if (!world.Tanks[i].IsTeammate && IsAlive(world.Tanks[i]))
if (minDist > self.GetDistanceTo(world.Tanks[i]))
minDist = self.GetDistanceTo(world.Tanks[i]);
if (minDist > self.Width * 6)
{
double angle = Math.Abs(NormAngle(goal.Angle - NormAngle(self.GetTurretAngleTo(goal) + self.Angle + self.TurretRelativeAngle)));
if (angle > Angle[90])
angle = Angle[180] - angle;
return 1 / angle;
}
if (world.Tick > 30)
return 1 / self.GetDistanceTo(goal);
return 1 / Math.Abs(self.GetTurretAngleTo(goal));
}
private double TankCoeff(Tank self, Unit goal)
{
return 1 / /*(Math.Abs(NewAngle(self.GetAngleTo(goal))) * */Math.Pow(self.GetDistanceTo(goal), 0.05);
}
private int TryFindBonus(Tank self, BonusType btype, bool any = false)
{
int bonusId = world.Bonuses.Length;
double maxK = 0;
for (int i = 0; i < world.Bonuses.Length; i++)
{
if ((any || world.Bonuses[i].Type == btype) && IsNeed(self, world.Bonuses[i]))
{
double x = world.Bonuses[i].X;
double y = world.Bonuses[i].Y;
if ((!InRect(x1, x2, y1, y2, x, y) && !Intersected(self.X, self.Y, x, y, rectX, rectY)) || CountAlive() < 4)
{
int interCount = 0;
Intersected(self, world.Bonuses[i], ref interCount);
double k = TankCoeff(self, world.Bonuses[i]);
double d = self.GetDistanceTo(world.Bonuses[i]);
if (interCount == 0 && k > maxK && (d < self.Width * 6 || CountAlive() < 3))
{
maxK = k;
bonusId = i;
}
}
}
}
return bonusId;
}
private void Go(Tank self, double x, double y)
{
double angle = self.GetAngleTo(x, y);
// Если слишком близко к цели (то есть с точностью до размера танка уже на ней)
if (self.GetDistanceTo(x, y) < self.Width * 0.7)
return;
bool reverse = false;
if (Math.Abs(angle) > Angle[90])
{
reverse = true;
angle = NewAngle(angle);
}
if (world.Tick < 200)
{
if (angle > Angle[30])
{ // если угол сильно положительный,
SetMove(1, -1);
}
else if (angle < -Angle[30])
{ // если угол сильно отрицательный,
SetMove(-1, 1);
}
else
{
SetMove(1, 1);
}
}
else
{
if (angle > 0)
SetMove(1, Math.Cos(angle));
else
SetMove(Math.Cos(angle), 1);
if (self.GetDistanceTo(x, y) < self.Width * 5)
{
if (move.LeftTrackPower < 0.8)
move.LeftTrackPower = -1;
if (move.RightTrackPower < 0.8)
move.RightTrackPower = -1;
}
}
if (reverse)
{
SetMove(-move.RightTrackPower, -move.LeftTrackPower);
}
}
public void Move(Tank self, World world, Move move)
{
if (start == -1)
{
start = self.TeammateIndex == 0 ? 10 : 20;
int cnt = 0;
foreach (Tank t in world.Tanks)
if (t.IsTeammate)
cnt++;
gameType = cnt - 1;
}
// определяю центральный прямоугольник
x1 = world.Width * 0.25;
x2 = world.Width - x1;
y1 = world.Height * 0.25;
y2 = world.Height - y1;
rectX = new double[] { x1, x2, x2, x1 };
rectY = new double[] { y1, y1, y2, y2 };
this.world = world;
this.move = move;
int bonusId = SelectBonus(self);
int selectedTank = world.Tanks.Length;
if (bonusId != world.Bonuses.Length)
{
Go(self, world.Bonuses[bonusId].X, world.Bonuses[bonusId].Y);
}
else
{
double[] bestPos = FindBestPosition(self);
Go(self, bestPos[0], bestPos[1]);
}
// теперь находим максимально удобную цель для стрельбы
selectedTank = world.Tanks.Length;
double maxK = 0;
bool goalFinded = false;
for (int i = 0; i < world.Tanks.Length; i++)
{
if (!world.Tanks[i].IsTeammate && IsAlive(world.Tanks[i]) && !Intersected(self, world.Tanks[i]))
{
double k = TurretCoeff(self, world.Tanks[i]);
if (k > maxK)
{
maxK = k;
selectedTank = i;
goalFinded = true;
}
}
}
if (!goalFinded)
{
// если не нашли цель для стрельбы - ищем не обращая внимания на препятствия
for (int i = 0; i < world.Tanks.Length; i++)
{
if (!world.Tanks[i].IsTeammate && IsAlive(world.Tanks[i]))
{
double k = TurretCoeff(self, world.Tanks[i]);
if (k > maxK)
{
maxK = k;
selectedTank = i;
}
}
}
}
if (selectedTank == world.Tanks.Length)
return;
bool gogogo = false;
if (world.Tick > 200)
{
// Проверяю что в меня могут попасть
int check = CheckToBeWounded(self, 2);
if (check != 0)
{
int c0 = CheckToBeWounded(self, 0);
// Стоять на месте
if (c0 == 0)
{
SetMove(0, 0);
gogogo = true;
}
else
{
double speed = GetSpeed(self);
int c1 = CheckToBeWounded(self, 1);
// Вперёд
double AngleBetweenSelfAndSpeed = self.Angle - Math.Atan2(self.SpeedY, self.SpeedX); // угол между скоростью и мной
AngleBetweenSelfAndSpeed = NormAngle(AngleBetweenSelfAndSpeed);
if (AngleBetweenSelfAndSpeed < 0)
AngleBetweenSelfAndSpeed = -AngleBetweenSelfAndSpeed;
if (c1 == 0 && (speed < 0.15 || AngleBetweenSelfAndSpeed < Angle[90]))
{
SetMove(1, 1);
gogogo = true;
}
else
{
int c2 = CheckToBeWounded(self, -1);
// Назад
if (c2 == 0)
{
SetMove(-1, -1);
gogogo = true;
}
else
{
if (DistanseToBorder(self) < self.Width)
{
if (!OutOfRange(FictiveTank(self.X + 20 * Math.Cos(self.Angle), self.Y + 20 * Math.Sin(self.Angle), 3452343), 0.85))
SetMove(1, 1);
else
SetMove(-1, -1);
gogogo = true;
}
// Если приходится ставиться под рикошет
else if (c1 == 2 || c2 == 2)
{
SetMove(1, -1);
gogogo = true;
}
}
}
}
}
}
/*
// Поиск тех кто направил на меня пушку
int fireTo = -1;
double mindist = 10000;
for (int i = 0; i < world.Tanks.Length; i++)
{
if (!world.Tanks[i].IsTeammate && IsAlive(world.Tanks[i]))
{
double angle = world.Tanks[i].GetTurretAngleTo(self);
if (Math.Abs(angle) < Angle[5])
{
double d = self.GetDistanceTo(world.Tanks[i]);
if (d < mindist)
{
mindist = d;
fireTo = i;
}
}
}
}
if (fireTo != -1 && self.GetDistanceTo(world.Tanks[fireTo]) < self.Width * 5)
{
selectedTank = fireTo;
goalFinded = true;
}*/
if (!gogogo && CountAlive() == 2 && bonusId != world.Bonuses.Length)
{
// Поиск тех кто направил пушку и стоит перпендикулярно мне
for (int i = 0; i < world.Tanks.Length; i++)
{
if (!world.Tanks[i].IsTeammate && IsAlive(world.Tanks[i]))
{
double AngleBetweenSelfAndHisTurret = Math.Abs(NormAngle(self.Angle - GetTurretAngle(world.Tanks[i])));
if (AngleBetweenSelfAndHisTurret > Angle[90])
AngleBetweenSelfAndHisTurret = Angle[180] - AngleBetweenSelfAndHisTurret;
// если он под углом меньше 30
if (AngleBetweenSelfAndHisTurret < Angle[30] && world.Tanks[i].GetTurretAngleTo(self) < Angle[20])
{
// Поворачиваемся перпендикулярно и отъезжаем
double an1 = self.Angle + Angle[90];
double an2 = self.Angle - Angle[90];
double X1 = self.X + 300 * Math.Cos(an1);
double Y1 = self.Y + 300 * Math.Sin(an1);
double X2 = self.X + 300 * Math.Cos(an2);
double Y2 = self.Y + 300 * Math.Sin(an2);
if (!OutOfRange(X1, Y1))
{
Go(self, X1, Y1);
/*xGoAway = X1;
yGoAway = Y1;
goAway = 50;*/
}
else if (!OutOfRange(X2, Y2))
{
Go(self, x2, y2);
/*xGoAway = X2;
yGoAway = Y2;
goAway = 50;*/
}
}
}
}
}
if (End())
{
foreach (Tank t in world.Tanks)
{
if (!t.IsTeammate && IsAlive(t))
{
Go(self, t.X, t.Y);
break;
}
}
}
double Dist = self.GetDistanceTo(world.Tanks[selectedTank]);
move.TurretTurn = self.GetTurretAngleTo(world.Tanks[selectedTank]);
if (goalFinded && Hit(self, world.Tanks[selectedTank]))
{
double angle = Math.Abs(NormAngle(world.Tanks[selectedTank].Angle - NormAngle(self.GetTurretAngleTo(world.Tanks[selectedTank]) + self.Angle + self.TurretRelativeAngle)));
if (angle > Angle[90])
angle = Angle[180] - angle;
if (!(angle > Angle[60] && Dist > world.Height * 0.7) || noFire > 300)
{
noFire = 0;
if (Dist < world.Width / 2 || (Dist < world.Height && angle < Angle[20]) || world.Tick > 4500)
move.FireType = FireType.PremiumPreferred;
else
move.FireType = FireType.Regular;
}
else
{
noFire++;
}
}
if (world.Tick < 200)
{
if (!selectedPoint)
{
double minDist = 10000;
minX = 10000;
minY = 10000;
for (double x = world.Width * 0.03; x < world.Width; x += world.Width * 0.94)
{
for (double y = world.Height * 0.03; y < world.Height; y += world.Height * 0.94)
{
double d = self.GetDistanceTo(x, y);
if (d < minDist)
{
minDist = d;
minX = x;
minY = y;
}
}
}
selectedPoint = true;
}
Go(self, minX, minY);
}
if (world.Tick < start)
{
move.FireType = FireType.None;
}
}
private double[] FindBestPosition(Tank self)
{
// ищу точку куда ехать
double maxX = 0, maxY = 0, mx = 0;
int countAlive = CountAlive();
int add = countAlive > 3 ? 10 : 1;
double Dist = 10000;
if (InCorner(self) && countAlive >= 4 && gameType == 0)
{
return new double[] { self.X, self.Y };
}
if (countAlive > 3 && gameType == 0)
{
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 2; j++)
{
double x = world.Width * i;
double y = world.Height * j;
if (InRect(x1, x2, y1, y2, self.X, self.Y) || !Intersected(self.X, self.Y, x, y, rectX, rectY))
{
if (IsFreePosition(x, y, self) && self.GetDistanceTo(x, y) < Dist)
{
Dist = self.GetDistanceTo(x, y);
maxX = x;
maxY = y;
}
}
}
}
if (Dist != 10000)
return new double[] { maxX, maxY };
}
for (int i = 0; i <= 10; i += 1)
{
for (int j = 0; j <= 10; j += add)
{
double x = world.Width / 10 * i;
double y = world.Height / 10 * j;
bool ok = true;
foreach (Tank t in world.Tanks)
{
if (IsAlive(t) && t.Id != self.Id && t.GetDistanceTo(x, y) < self.Width * 2.5)
{
ok = false;
break;
}
}
if (!ok)
continue;
if (!InRect(x1, x2, y1, y2, x, y) && (InRect(x1, x2, y1, y2, self.X, self.Y) || !Intersected(self.X, self.Y, x, y, rectX, rectY) || countAlive < 4))
{
if (/*self.GetDistanceTo(x, y) < world.Height * 0.7*/true)
{
double minV = 10000;
foreach (Tank tank in world.Tanks)
{
if (!tank.IsTeammate && IsAlive(tank))
{
double d = tank.GetDistanceTo(x, y);
minV = Math.Min(minV, d);
}
}
if (minV > mx)
{
mx = minV;
maxX = x;
maxY = y;
}
if (minV == mx && self.GetDistanceTo(maxX, maxY) > self.GetDistanceTo(x, y))
{
mx = minV;
maxX = x;
maxY = y;
}
}
}
}
}
return new double[] { maxX, maxY };
}
private bool FFF(Tank self, Unit goal, Tank en)
{
for (int i = 0; i < world.Tanks.Length; i++)
{
if (self.Id != world.Tanks[i].Id && world.Tanks[i].Id != en.Id && Intersected(world.Tanks[i], self, goal, 1.2) && self.GetDistanceTo(world.Tanks[i]) < self.GetDistanceTo(en))
{
return true;
}
}
// for (int i = 0; i < world.Obstacles.Length; i++) if (goal.Id != world.Obstacles[i].Id && Intersected(world.Obstacles[i], self, goal)) return true;
for (int i = 0; i < world.Bonuses.Length; i++)
if (goal.Id != world.Bonuses[i].Id && Intersected(world.Bonuses[i], self, goal, 1.3) && self.GetDistanceTo(world.Bonuses[i]) < self.GetDistanceTo(en))
return true;
return false;
}
private int CheckToBeWounded(Tank self, int speedK)
{
double maxDist = 0;
int pos = world.Shells.Length;
for (int i = 0; i < world.Shells.Length; i++)
{
int check = CheckToBeWoundedBy(world.Shells[i], self, speedK);
if (check != 0)
{
double dist = self.GetDistanceTo(world.Shells[i]);
if (maxDist < dist)
{
maxDist = dist;
pos = i;
}
}
}
if (pos == world.Shells.Length)
return 0;
return CheckToBeWoundedBy(world.Shells[pos], self, speedK);
}
