public Move()
{
_face = 0;
_dir = 0;
}
public static BaseBike FromApianJson(string jsonData, BeamCoreState gData, List <string> peerIdList, long timeStamp)
{
object[] data = JsonConvert.DeserializeObject <object[]>(jsonData);
Vector2 lastGridPos = new Vector2((long)data[5] * .001f, (long)data[6] * .001f);
long lastGridTime = (long)data[7];
Heading head = (Heading)(long)data[8];
float speed = (float)(double)data[9];
int score = (int)(long)data[10];
TurnDir pendingTurn = (TurnDir)(long)data[11];
float secsSinceGrid = (timeStamp - lastGridTime) * .001f;
gData.Logger.Info($"BaseBike FromApianJson() - Id: {(string)data[0]} curTime: {timeStamp} timeAtPos: {lastGridTime} lastGridPos: {lastGridPos.ToString()}");
BaseBike bb = new BaseBike(
gData,
(string)data[0], // bikeId
peerIdList[(int)(long)data[1]], // peerId
(string)data[2], // _name
Team.teamData[(int)(long)data[3]], // Team
(string)data[4], // ctrl,
lastGridTime, // timeAtPosition
lastGridPos, // current pos
head); // head)
bb.speed = speed;
bb.score = score;
bb.basePendingTurn = pendingTurn;
return(bb);
}
public virtual bool RequestTurn(TurnDir dir, bool allowDeferred = false)
{
// If we are too close to the upcoming point to be able to turn then assign it to the next point,
// otherwise send out a request.
// Current limit is 1 bike length
bool posted = false;
if (bb.CloseToGridPoint(bb.DynamicState(appCore.CurrentRunningGameTime).position)) // too close to a grid point to turn
{
if (allowDeferred)
{
Logger.Verbose($"{this.GetType().Name} Bike {bb.name} requesting deferred turn.");
stashedTurn = dir;
}
}
else
{
// cancel anything stashed (can this happen?)
stashedTurn = TurnDir.kUnset;
if ((dir == bb.basePendingTurn) || (dir == TurnDir.kStraight && bb.basePendingTurn == TurnDir.kUnset))
{
Logger.Verbose($"RequestTurn() ignoring do-nothing {dir}");
}
else
{
appCore.PostBikeTurn(bb, dir); // this needs to move
posted = true;
}
}
return(posted);
}
private void _updatePosition(Vector2 pos, Heading head, long apianTime)
{
optTime = apianTime;
optPendingTurn = TurnDir.kUnset;
optHeading = head;
optPosition = pos;
logger.Verbose($"_updatePosition() Bike: {bikeId}, Pos: {pos.ToString()} Head: {baseHeading.ToString()}");
}
public BikeDynState(Vector2 _position, Heading _heading, float _speed, int _score, TurnDir _pendingTurn)
{
position = _position;
heading = _heading;
speed = _speed;
score = _score;
pendingTurn = _pendingTurn;
}
// Commands from outside
// public void Loop(float secs, long frameTimeMs)
// {
// //logger.Debug($"Loop(). Bike: {bikeId} Speed: {speed})");
// _updatePosition(secs, frameTimeMs);
// }
// public Vector2 Position(long curMs)
// {
// if (optTime == 0)
// {
// // use base
// float deltaSecs = (curMs - baseTime) * .001f;
// return basePosition + GameConstants.UnitOffset2ForHeading(baseHeading) * (deltaSecs * speed);
// }
// float deltaSecs2 = (curMs - optTime) * .001f;
// return optPosition + GameConstants.UnitOffset2ForHeading(optHeading) * (deltaSecs2 * speed);
// }
public BikeDynState DynamicState(long curTimeMs)
{
long gridTime = optTime == 0 ? baseTime : optTime;
Vector2 gridPos = optTime == 0 ? basePosition : optPosition;
Heading curHead = optTime == 0 ? baseHeading : optHeading;
float deltaSecs = (curTimeMs - gridTime) * .001f;
Vector2 bikePos = gridPos + GameConstants.UnitOffset2ForHeading(curHead) * (deltaSecs * speed);
TurnDir curPendingTurn = optTime == 0 ? basePendingTurn : optPendingTurn;
return(new BikeDynState(bikePos, curHead, speed, score, curPendingTurn));
}
public void Turn(TurnDir turnDir)
{
switch (turnDir)
{
case TurnDir.LEFT:
Dir = (Dir == MoveDir.UP) ? Dir + 3 : Dir - 1;
break;
case TurnDir.RIGHT:
Dir = (Dir == MoveDir.LEFT) ? Dir - 3 : Dir + 1;
break;
}
//System.Threading.Thread.Sleep(500);
}
public abstract void SetupImpl(); // do any implmentation-specific setup
public virtual void Loop(long curTime, int frameMs)
{
bbDynState = bb.DynamicState(curTime);
if (stashedTurn != TurnDir.kUnset)
{
if (!bb.CloseToGridPoint(bbDynState.position))
{
// Turn is requested, and we are not close to a point
Logger.Verbose($"{this.GetType().Name} Bike {bb.name} Executing turn.");
appCore.PostBikeTurn(bb, stashedTurn);
stashedTurn = TurnDir.kUnset;
}
}
}
public void ApplyTurn(TurnDir dir, Heading entryHeading, Vector2 nextPt, long cmdTime, BeamMessage.BikeState reportedState)
{
// TODO: &&&& reported state really should not be there.
Vector2 testPt = UpcomingGridPoint(basePosition); // use the last logged position
if (!testPt.Equals(nextPt))
{
logger.Warn($"ApplyTurn(): {(nextPt.ToString())} is the wrong upcoming point for bike: {bikeId}");
logger.Warn($"We think it should be {(testPt.ToString())}");
logger.Warn($"Reported State:\n{JsonConvert.SerializeObject(reportedState)}");
logger.Warn($"Actual State:\n{JsonConvert.SerializeObject(new BeamMessage.BikeState(this)) }");
}
basePendingTurn = dir;
}
public void PostBikeTurn(IBike bike, TurnDir dir)
{
// This only comes from local AI and player - and "too close" is probably already caught by the bike controller
BikeDynState bs = bike.DynamicState(CurrentRunningGameTime); // TODO: Really?
Vector2 nextPt = (bike as BaseBike).UpcomingGridPoint(bs.position);
float dx = Vector2.Distance(bs.position, nextPt);
if (dx < BaseBike.length * .5f)
{
logger.Warn($"PostBikeTurn(): Bike too close to turn: {dx} < {BaseBike.length * .5f}");
}
else
{
apian.SendBikeTurnReq(FrameApianTime, bike, dir, nextPt);
}
}
public void Turn(TurnDir dir)
{
switch (dir)
{
case TurnDir.None:
break;
case TurnDir.CcwLeft:
_rigidbody2D.MoveRotation(_rigidbody2D.rotation + _turnFactor * Time.deltaTime);
break;
case TurnDir.CwRight:
_rigidbody2D.MoveRotation(_rigidbody2D.rotation - _turnFactor * Time.deltaTime);
break;
default:
throw new ArgumentOutOfRangeException("dir", dir, null);
}
}
public List <MoveNode> next; // length 3
public MoveNode(BeamCoreState gData, Vector2 p, Heading head, TurnDir d, int depth, List <Vector2> otherClaimedPos)
{
pos = p;
dir = d; // for later lookup
place = gData.GetPlace(p);
score = ScoreForPoint(gData.Ground, pos, place);
if (score == 0 && otherClaimedPos.Any(op => op.Equals(pos))) // TODO: make prettier
{
score = 1; // TODO: use named scoring constants
}
next = depth < 1 ? null : BikeUtils.PossiblePointsForPointAndHeading(pos, head)
.Select((pt, childTurnDir) => new MoveNode(gData,
pos + GameConstants.UnitOffset2ForHeading(GameConstants.NewHeadForTurn(head, (TurnDir)childTurnDir)) * Ground.gridSize,
head,
(TurnDir)childTurnDir,
depth - 1,
otherClaimedPos))
.ToList();
}
// Update is called once per frame
void Update()
{
if (r.NextDouble() <= .8) // 80% of time - move, 20% - do nothing
{
if (r.NextDouble() <= .80) // 80% - move forward, 15% - move bw, 5% dont move
{
Mover.Move(MoveDir.Forward);
}
else if (r.NextDouble() <= .75)
{
Mover.Move(MoveDir.Backward);
}
}
if (r.NextDouble() < .3) // 30% of time turn somewhere, 70% dont turn
{
if (r.NextDouble() < .1) // in rare case (10%) change direction, 90% - keep previous
{
dir = dir == TurnDir.CcwLeft ? TurnDir.CwRight : TurnDir.CcwLeft;
}
Mover.Turn(dir);
}
}
public void RequestTurn(TurnDir dir)
{
control.RequestTurn(dir, true); // allow deferred
}
public Move(FaceId f, TurnDir d)
{
_face = f;
_dir = d;
}
public static Heading NewHeadForTurn(Heading h, TurnDir t) => newHeadForTurn[(int)h % 4][(int)t % 3];
public void B(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
edges[(int)EdgeId.UB].flip();
edges[(int)EdgeId.BR].flip();
edges[(int)EdgeId.DB].flip();
edges[(int)EdgeId.BL].flip();
a = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = edges[(int)EdgeId.BR];
edges[(int)EdgeId.BR] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = a;
corners[(int)CornerId.URB].cw();
corners[(int)CornerId.DLB].cw();
corners[(int)CornerId.ULB].ccw();
corners[(int)CornerId.DRB].ccw();
b = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = b;
}
if (x == TurnDir.CCW)
{
edges[(int)EdgeId.UB].flip();
edges[(int)EdgeId.BR].flip();
edges[(int)EdgeId.DB].flip();
edges[(int)EdgeId.BL].flip();
a = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = edges[(int)EdgeId.BR];
edges[(int)EdgeId.BR] = a;
corners[(int)CornerId.URB].cw();
corners[(int)CornerId.DLB].cw();
corners[(int)CornerId.ULB].ccw();
corners[(int)CornerId.DRB].ccw();
b = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = a;
a = edges[(int)EdgeId.BR];
edges[(int)EdgeId.BR] = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = a;
b = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = b;
b = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = b;
}
}
public void D(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
a = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = edges[(int)EdgeId.DR];
edges[(int)EdgeId.DR] = a;
b = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = b;
}
if (x == TurnDir.CCW)
{
a = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = edges[(int)EdgeId.DR];
edges[(int)EdgeId.DR] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = a;
b = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = edges[(int)EdgeId.DB];
edges[(int)EdgeId.DB] = a;
a = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = edges[(int)EdgeId.DR];
edges[(int)EdgeId.DR] = a;
b = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = b;
b = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = b;
}
}
public void F(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
edges[(int)EdgeId.UF].flip();
edges[(int)EdgeId.FR].flip();
edges[(int)EdgeId.DF].flip();
edges[(int)EdgeId.FL].flip();
a = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = edges[(int)EdgeId.FR];
edges[(int)EdgeId.FR] = a;
corners[(int)CornerId.DRF].cw();
corners[(int)CornerId.ULF].cw();
corners[(int)CornerId.URF].ccw();
corners[(int)CornerId.DLF].ccw();
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = b;
}
if (x == TurnDir.CCW)
{
edges[(int)EdgeId.UF].flip();
edges[(int)EdgeId.FR].flip();
edges[(int)EdgeId.DF].flip();
edges[(int)EdgeId.FL].flip();
a = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = edges[(int)EdgeId.FR];
edges[(int)EdgeId.FR] = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = a;
corners[(int)CornerId.DRF].cw();
corners[(int)CornerId.ULF].cw();
corners[(int)CornerId.URF].ccw();
corners[(int)CornerId.DLF].ccw();
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = edges[(int)EdgeId.DF];
edges[(int)EdgeId.DF] = a;
a = edges[(int)EdgeId.FR];
edges[(int)EdgeId.FR] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = a;
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = b;
b = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = b;
}
}
public void U(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
a = edges[(int)EdgeId.UR];
edges[(int)EdgeId.UR] = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = a;
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = b;
}
if (x == TurnDir.CCW)
{
a = edges[(int)EdgeId.UR];
edges[(int)EdgeId.UR] = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = a;
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.UR];
edges[(int)EdgeId.UR] = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = a;
a = edges[(int)EdgeId.UF];
edges[(int)EdgeId.UF] = edges[(int)EdgeId.UB];
edges[(int)EdgeId.UB] = a;
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = b;
b = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = b;
}
}
public void R(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
a = edges[(int) EdgeId.UR];
edges[(int) EdgeId.UR] = edges[(int) EdgeId.FR];
edges[(int) EdgeId.FR] = edges[(int) EdgeId.DR];
edges[(int) EdgeId.DR] = edges[(int) EdgeId.BR];
edges[(int) EdgeId.BR] = a;
corners[(int) CornerId.URF].cw();
corners[(int) CornerId.DRB].cw();
corners[(int) CornerId.URB].ccw();
corners[(int) CornerId.DRF].ccw();
b = corners[(int) CornerId.URF];
corners[(int) CornerId.URF] = corners[(int) CornerId.DRF];
corners[(int) CornerId.DRF] = corners[(int) CornerId.DRB];
corners[(int) CornerId.DRB] = corners[(int) CornerId.URB];
corners[(int) CornerId.URB] = b;
}
if (x == TurnDir.CCW)
{
a = edges[(int)EdgeId.UR];
edges[(int)EdgeId.UR] = edges[(int)EdgeId.BR];
edges[(int)EdgeId.BR] = edges[(int)EdgeId.DR];
edges[(int)EdgeId.DR] = edges[(int)EdgeId.FR];
edges[(int)EdgeId.FR] = a;
corners[(int)CornerId.URF].cw();
corners[(int)CornerId.DRB].cw();
corners[(int)CornerId.DRF].ccw();
corners[(int)CornerId.URB].ccw();
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.UR];
edges[(int)EdgeId.UR] = edges[(int)EdgeId.DR];
edges[(int)EdgeId.DR] = a;
a = edges[(int)EdgeId.FR];
edges[(int)EdgeId.FR] = edges[(int)EdgeId.BR];
edges[(int)EdgeId.BR] = a;
b = corners[(int)CornerId.URF];
corners[(int)CornerId.URF] = corners[(int)CornerId.DRB];
corners[(int)CornerId.DRB] = b;
b = corners[(int)CornerId.DRF];
corners[(int)CornerId.DRF] = corners[(int)CornerId.URB];
corners[(int)CornerId.URB] = b;
}
}
public void L(TurnDir x)
{
Edge a;
Corner b;
if (x == TurnDir.CW)
{
a = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = a;
corners[(int)CornerId.DLF].cw();
corners[(int)CornerId.ULB].cw();
corners[(int)CornerId.ULF].ccw();
corners[(int)CornerId.DLB].ccw();
b = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = b;
}
if (x == TurnDir.CCW)
{
a = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = a;
corners[(int)CornerId.DLF].cw();
corners[(int)CornerId.ULB].cw();
corners[(int)CornerId.ULF].ccw();
corners[(int)CornerId.DLB].ccw();
b = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = b;
}
if (x == TurnDir.DOUBLE)
{
a = edges[(int)EdgeId.UL];
edges[(int)EdgeId.UL] = edges[(int)EdgeId.DL];
edges[(int)EdgeId.DL] = a;
a = edges[(int)EdgeId.BL];
edges[(int)EdgeId.BL] = edges[(int)EdgeId.FL];
edges[(int)EdgeId.FL] = a;
b = corners[(int)CornerId.ULF];
corners[(int)CornerId.ULF] = corners[(int)CornerId.DLB];
corners[(int)CornerId.DLB] = b;
b = corners[(int)CornerId.ULB];
corners[(int)CornerId.ULB] = corners[(int)CornerId.DLF];
corners[(int)CornerId.DLF] = b;
}
}
