public void UpdateAnimation(ShipMovementState state)
{
MovementState = state;
UpdateAnimation();
}
public List <PathItem> FindPath(TurnState turnState, int ftarget, NavigationMethod navigationMethod)
{
var ship = turnState.FindMyShip(shipId);
//if (FastShipPosition.Collides(ship.fposition, ftarget))
// return new List<PathItem>();
var queue = new Queue <ShipPathChainItem>();
queue.Enqueue(ShipPathChainItem.Start(ship.fposition, ftarget));
var used = new Dictionary <ShipMovementState, ShipPathChainItem>();
while (queue.Any())
{
var current = queue.Dequeue();
if (current.depth != Settings.NAVIGATION_PATH_DEPTH)
{
var turnForecast = gameState.forecaster.GetTurnForecast(current.depth);
foreach (var moveCommand in ShipMoveCommands.all)
{
var newShipMovement = FastShipPosition.Move(current.fposition, moveCommand);
var newMovedPos = FastShipPosition.GetMovedPosition(newShipMovement);
var newPos = FastShipPosition.GetFinalPosition(newShipMovement);
var newMovementState = new ShipMovementState(newPos, current.depth + 1);
if (!used.ContainsKey(newMovementState))
{
var onMyShip = false;
foreach (var otherShip in turnState.myShips)
{
if (otherShip == ship)
{
continue;
}
var otherPosition = turnForecast.myShipsSourcePositions[otherShip.index];
uint myMovement;
uint otherMovement;
var collisionType = CollisionChecker.Move(current.fposition, moveCommand, otherPosition, turnForecast.myShipsMoveCommands[otherShip.index], out myMovement, out otherMovement);
if ((collisionType & (CollisionType.MyMove | CollisionType.MyRotation)) != CollisionType.None)
{
newShipMovement = myMovement;
newMovedPos = FastShipPosition.GetMovedPosition(newShipMovement);
newPos = FastShipPosition.GetFinalPosition(newShipMovement);
newMovementState = new ShipMovementState(newPos, current.depth + 1);
onMyShip = used.ContainsKey(newMovementState);
break;
}
}
if (onMyShip)
{
continue;
}
var onEnemyShip = false;
if (current.depth == 0)
{
foreach (var enemyShip in turnState.enemyShips)
{
var enemyPosition = enemyShip.fposition;
foreach (var enemyMoveCommand in ShipMoveCommands.all)
{
uint myMovement;
uint enemyMovement;
var collisionType = CollisionChecker.Move(current.fposition, moveCommand, enemyPosition, enemyMoveCommand, out myMovement, out enemyMovement);
if ((collisionType & (CollisionType.MyMove | CollisionType.MyRotation)) != CollisionType.None)
{
newShipMovement = myMovement;
newMovedPos = FastShipPosition.GetMovedPosition(newShipMovement);
newPos = FastShipPosition.GetFinalPosition(newShipMovement);
newMovementState = new ShipMovementState(newPos, current.depth + 1);
onEnemyShip = used.ContainsKey(newMovementState);
break;
}
}
}
}
else
{
var prevEnemyFinalPositions = gameState.forecaster.GetTurnForecast(Math.Min(current.depth - 1, Settings.NAVIGATOR_ENEMY_POSITION_DEPTH)).enemyShipsFinalPositions;
foreach (var enemyPosition in prevEnemyFinalPositions)
{
uint myMovement;
uint enemyMovement;
var collisionType = CollisionChecker.Move(current.fposition, moveCommand, enemyPosition, ShipMoveCommand.Wait, out myMovement, out enemyMovement);
if ((collisionType & (CollisionType.MyMove | CollisionType.MyRotation)) != CollisionType.None)
{
newShipMovement = myMovement;
newMovedPos = FastShipPosition.GetMovedPosition(newShipMovement);
newPos = FastShipPosition.GetFinalPosition(newShipMovement);
newMovementState = new ShipMovementState(newPos, current.depth + 1);
onEnemyShip = used.ContainsKey(newMovementState);
break;
}
}
//onEnemyShip = gameState.forecaster.GetTurnForecast(Math.Min(current.depth, Settings.NAVIGATOR_ENEMY_POSITION_DEPTH)).enemyShipsFinalPositions
// .Any(m => FastShipPosition.CollidesShip(newPos, m) || FastShipPosition.CollidesShip(newMovedPos, m));
}
if (onEnemyShip)
{
//used.Add(newMovementState, null);
continue;
}
var damage = turnForecast.mineDamageCoordMap[FastShipPosition.Coord(newPos)]
+ turnForecast.mineDamageCoordMap[FastShipPosition.Bow(newPos)]
+ turnForecast.mineDamageCoordMap[FastShipPosition.Stern(newPos)]
+ turnForecast.nearMineDamageCoordMap[FastShipPosition.Bow(newPos)]
+ turnForecast.nearMineDamageCoordMap[FastShipPosition.Stern(newPos)];
if (newMovedPos != newPos)
{
damage += turnForecast.mineDamageCoordMap[FastShipPosition.Bow(newMovedPos)]
+ turnForecast.mineDamageCoordMap[FastShipPosition.Stern(newMovedPos)]
+ turnForecast.nearMineDamageCoordMap[FastShipPosition.Bow(newMovedPos)]
+ turnForecast.nearMineDamageCoordMap[FastShipPosition.Stern(newMovedPos)];
}
var cannonedBowOrStern = turnForecast.cannonballCoordsMap[FastShipPosition.Bow(newPos)] || turnForecast.cannonballCoordsMap[FastShipPosition.Stern(newPos)];
if (cannonedBowOrStern)
{
damage += Constants.LOW_DAMAGE;
}
var cannonedCenter = turnForecast.cannonballCoordsMap[FastShipPosition.Coord(newPos)];
if (cannonedCenter)
{
damage += Constants.HIGH_DAMAGE;
}
if (Settings.NEAR_ENEMYSHIP_VIRTUAL_DAMAGE > 0)
{
var nearEnemyShip = turnState.enemyShips.Any(m => FastShipPosition.DistanceTo(newPos, m.fcoord) < Settings.NEAR_ENEMY_SHIP_MIN_DIST);
if (nearEnemyShip)
{
damage += Settings.NEAR_ENEMYSHIP_VIRTUAL_DAMAGE;
}
}
var next = current.Next(newPos, moveCommand, ftarget, damage);
queue.Enqueue(next);
used.Add(newMovementState, next);
}
}
}
}
ShipPathChainItem bestChainItem = null;
foreach (var chainItem in used.Values.Where(v => v != null))
{
if (chainItem.prev != null)
{
if (bestChainItem == null)
{
bestChainItem = chainItem;
}
else
{
switch (navigationMethod)
{
case NavigationMethod.Approach:
bestChainItem = SelectBestPath_Approach(chainItem, bestChainItem, ship);
break;
case NavigationMethod.Collect:
bestChainItem = SelectBestPath_Collect(chainItem, bestChainItem, ship);
break;
default:
bestChainItem = SelectBestPath(chainItem, bestChainItem, ship);
break;
}
}
}
}
if (bestChainItem == null)
{
return(new List <PathItem>());
}
var chainDump = new List <ShipPathChainItem>();
var chain = new List <PathItem>();
while (bestChainItem.prev != null)
{
chain.Add(new PathItem {
command = bestChainItem.command, targetPosition = bestChainItem.fposition, sourcePosition = bestChainItem.prev.fposition
});
chainDump.Add(bestChainItem);
bestChainItem = bestChainItem.prev;
}
chainDump.Reverse();
if (Settings.DUMP_BEST_PATH)
{
Console.Error.WriteLine($"Best path for ship {shipId}");
foreach (var item in chainDump)
{
Console.Error.WriteLine($"{item.command} - {FastShipPosition.ToShipPosition(item.fposition)} - dmg:{item.damage}");
}
}
chain.Reverse();
return(chain);
}