private void Behave()
{
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
BlendedRing = finalRing;
SteerAngle(angle);
}
public (ContextRing, float, bool) Blend(IEnumerable<ContextRing> contexts, bool doBoost)
{
var finalSteps = Robot.Steps * BlurResolutionMultiplier;
var combined = new ContextRing(finalSteps);
if (BlurResolutionMultiplier > 1)
contexts = contexts.Select(c => c.ResolutionMultiply(BlurResolutionMultiplier)).ToList();
if (contexts.Any())
{
// blur
foreach (var context in contexts)
BlurRing(context);
for (var i = 0; i < finalSteps; i++)
combined.Weights[i] = contexts.Sum(c => c.Weights[i] * c.RingWeight);
for (var i = 0; i < finalSteps; i++)
combined.WeightsBoost[i] = contexts.Sum(c => c.WeightsBoost[i] * c.RingWeight);
var maxIndex = 0;
for (var i = 0; i < finalSteps; i++)
{
if (combined.Weights[i] > combined.Weights[maxIndex])
maxIndex = i;
}
var maxBoostIndex = 0;
for (var i = 0; i < finalSteps; i++)
{
if (combined.WeightsBoost[i] > combined.WeightsBoost[maxBoostIndex])
maxBoostIndex = i;
}
bool willBoost = false;
var bestIndex = maxIndex;
if (combined.Weights[maxIndex] < combined.WeightsBoost[maxBoostIndex] - 0.5 && doBoost)
{
willBoost = true;
bestIndex = maxBoostIndex;
}
return (combined, combined.Angle(bestIndex), willBoost);
}
else
{
return (null, 0, false); // going east a lot ?
}
}
private void BlurRing(ContextRing ring)
{
// blur the values in the ring
for (var blurStep = 0; blurStep < BlurSteps; blurStep++)
for (var i = 0; i < ring.Weights.Length; i++)
{
var previousIndex = i - 1;
if (previousIndex < 0)
previousIndex = ring.Weights.Length - 1;
var prev = ring.Weights[previousIndex];
var next = ring.Weights[(i + 1) % ring.Weights.Length];
var thisScore = ring.Weights[i];
ring.Weights[i] +=
(prev - thisScore) * BlurAmount
+ (next - thisScore) * BlurAmount;
}
}
protected virtual void OnFinalRing(ContextRing ring)
{
}
protected override Task AliveAsync()
{
foreach (var sensor in Sensors)
{
sensor.Sense();
}
if (SensorCTF.CTFModeEnabled)
{
if (SensorCTF.IsCarryingFlag)
{
// I'm carrying the flag
if (SensorCTF.OurTeam.FlagIsHome)
{
// our flag is home, head to base to score
Navigation.TargetPoint = SensorCTF.OurTeam.BasePosition;
}
else
{
// our flag is not home, attack the guy who stole it
// this seems required for 1v1, we might get trickier and
// change behavior here if we have a teammate
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
}
else
{
// I'm not carrying a flag
if (!SensorCTF.TheirTeam.FlagIsHome)
{
// our teammate is carrying a flag
if (!SensorCTF.OurTeam.FlagIsHome)
{
// our flag is not home, attack it
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
else
{
// our flag is home, defend teammate
Navigation.TargetPoint = SensorCTF.TheirTeam.FlagPosition;
}
}
else
{
// their flag is home
Navigation.TargetPoint = SensorCTF.TheirTeam.BasePosition;
}
}
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
var bangle = 0.0f;
if (SensorFleets.MyFleet != null)
{
bangle = MathF.Atan2(this.SensorFleets.MyFleet.Momentum.Y, this.SensorFleets.MyFleet.Momentum.X);
}
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
var combined = new ContextRing(this.Steps);
// blur
// lock (typeof(ContextRingBlendingWeighted))
// {
// Console.SetCursorPosition(0, 0);
// Console.WriteLine("RingDump");
// foreach (var context in contexts)
// {
// var name = context.Name;
// while (name.Length < 20)
// name += ' ';
// Console.WriteLine($"{name}\t{string.Join(',', context.Weights.Select(w => (w * context.RingWeight).ToString("+0.0;-0.0")))}");
// }
// }
if (contexts.Any())
{
for (var i = 0; i < this.Steps; i++)
{
combined.Weights[i] = contexts.Sum(c => c.Weights[i] * c.RingWeight);
}
var maxIndex = 0;
var minIndex = 0;
for (var i = 0; i < this.Steps; i++)
{
if (combined.Weights[i] > combined.Weights[maxIndex])
{
maxIndex = i;
}
if (combined.Weights[i] < combined.Weights[minIndex])
{
minIndex = i;
}
}
if (CanBoost && (SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold && (combined.Weights[maxIndex] < BoostDangerThreshold || (SensorFleets.MyFleet?.Ships.Count ?? 0) > 108))
{
Boost();
}
this.MidBad = combined.Weights[maxIndex] / 2.0f + combined.Weights[minIndex] / 2.0f;
if (CanShoot)
{
var target = FleetTargeting.ChooseTarget()
?? AbandonedTargeting.ChooseTarget()
?? FishTargeting.ChooseTarget();
if (target != null)
{
var fff = target;
Vector2 sp = fff.Position - this.Position;
var angleg = (int)(MathF.Atan2(sp.Y, sp.X) / MathF.Atan2(0.0f, -1.0f) / 2.0f * Steps);
if (true)//combined.Weights[((angleg)%Steps+Steps)%Steps]>combined.Weights[minIndex])
{
ShootAt(sp + this.Position);
}
}
else
{
if (SensorFleets.MyFleet != null)
{
ShootAt(SensorFleets.MyFleet.Momentum);
}
}
}
}
SteerAngle(angle);
return(Task.FromResult(0));
}
