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;
}