def move(self, me: Car, world: World, game: Game, move: Move):
if world.tick < game.initial_freeze_duration_ticks:
if world.tick == 0:
self.worldWidth = world.width
self.build_path(world)
return
if world.tick == 1:
aFrom = (int(me.x//game.track_tile_size), int(me.y//game.track_tile_size))
aTo = (me.next_waypoint_x, me.next_waypoint_y)
print(aFrom, aTo)
dijkstra(self.path, self.path.get_vertex(aFrom), self.path.get_vertex(aTo))
target = self.path.get_vertex(aTo)
path = [target.get_id()]
shortest(target, path)
print('The shortest path : %s' %(path[::-1]))
nextWaypointX = (me.next_waypoint_x + 0.5) * game.track_tile_size
nextWaypointY = (me.next_waypoint_y + 0.5) * game.track_tile_size
angleToWaypoint = me.get_angle_to(nextWaypointX, nextWaypointY)
speedModule = hypot(me.speed_x, me.speed_y)
move.wheel_turn = angleToWaypoint / pi
move.engine_power = 0.8
if (speedModule * speedModule * abs(angleToWaypoint) > 2.5 * 2.5 * pi):
move.setBrake = True
move.engine_power = -0.5
def move(self, me: Car, world: World, game: Game, move: Move):
self.grid = world.tiles_x_y
self.grid_width = len(world.tiles_x_y)
self.grid_height = len(world.tiles_x_y[0])
curr_tile_x = int(
me.x // game.track_tile_size + (-1 if me.x % game.track_tile_size == 0 else 0))
curr_tile_y = int(
me.y // game.track_tile_size + (-1 if me.y % game.track_tile_size == 0 else 0))
curr_tile_type = world.tiles_x_y[curr_tile_x][curr_tile_y]
curr_speed_module = hypot(me.speed_x, me.speed_y)
print('----------', world.tick)
# if world.tick == 0:
# for j in range(self.grid_height):
# print(', '.join([str(self.grid[i][j]).rjust(2, '0') for i in range(self.grid_width)]))
# print(self.pts)
# print(me.next_waypoint_x, me.next_waypoint_y)
# print(self.ticks_without_move, self.rear_move_ticks_remain)
# путь до следующего way point
# if self.route:
# steps = self.route[len(self.tmp_route):]
# else:
# if len(self.tmp_route) > 1 and self.tmp_route[0] == (curr_tile_x, curr_tile_y):
# self.route = list(self.tmp_route)
# self.tmp_route.clear()
steps = self.steps_to_point(curr_tile_x, curr_tile_y, me.next_waypoint_x, me.next_waypoint_y)
# if not self.tmp_route or self.tmp_route[-1] != (curr_tile_x, curr_tile_y):
# self.tmp_route.append((curr_tile_x, curr_tile_y))
# print(steps, len(steps))
straight_moves = 1
if steps:
next_tile_x, next_tile_y = steps[0]
direction = (next_tile_x - curr_tile_x, next_tile_y - curr_tile_y)
for i in range(1, len(steps)):
if direction == (steps[i][0] - steps[i-1][0], steps[i][1] - steps[i-1][1]):
straight_moves += 1
next_tile_x, next_tile_y = steps[i]
else:
break
else:
next_tile_x, next_tile_y = me.next_waypoint_x, me.next_waypoint_y
next_tile_type = world.tiles_x_y[next_tile_x][next_tile_y]
# print(straight_moves)
if self.state == DEFAULT_ST or self.state == ACCELERATION_ST:
# до начала движения
if world.tick < game.initial_freeze_duration_ticks:
return self.move_forward_and_return(move)
# счётчик простоя перед задним ходом
if abs(curr_speed_module) < SMALL_SPEED:
self.ticks_without_move += 1
else:
self.ticks_without_move = 0
if self.ticks_without_move > TICKS_WITHOUT_MOVE.get(self.state):
self.ticks_without_move = 0
self.state = REVERSE_ST
self.rear_move_ticks_remain = MAX_REAR_MOVE_TICKS
if self.state == ACCELERATION_ST:
if abs(curr_speed_module) >= SMALL_SPEED:
self.state = DEFAULT_ST
# print(curr_tile_x, curr_tile_y)
# print(next_tile_x, next_tile_y, next_tile_type)
# print(me.next_waypoint_x, me.next_waypoint_y, next_tile_type)
# print(self.grid_width, self.grid_height)
# print(steps)
# print(me.speed_x, me.speed_y)
# print(me.x, me.y)
# print(cars_is_close)
# print(curr_speed_module)
# print(curr_speed_module > BIG_SPEED and straight_moves == 1)
# # FIXME есть ли машины рядом
# cars_is_close = False
# for car in world.cars:
# if car.id != me.id and me.get_distance_to_unit(car) <= me.width * 1.2:
# cars_is_close = True
#
# if cars_is_close and any((
# all((
# next_tile_type == TileType.VERTICAL,
# abs(me.speed_x) < SMALL_SPEED,
# # abs(me.speed_y) > MEDIUM_SPEED,
# )),
# all((
# next_tile_type == TileType.HORIZONTAL,
# abs(me.speed_y) < SMALL_SPEED,
# # abs(me.speed_x) > MEDIUM_SPEED,
# ))
# )):
# return self.move_forward_and_return(move)
# # FIXME ends
next_x = (next_tile_x + NEXT_TILE_OFFSET) * game.track_tile_size
next_y = (next_tile_y + NEXT_TILE_OFFSET) * game.track_tile_size
corner_tile_offset = 0.32 * game.track_tile_size
if next_tile_type == TileType.LEFT_TOP_CORNER:
next_x += corner_tile_offset
next_y += corner_tile_offset
elif next_tile_type == TileType.RIGHT_TOP_CORNER:
next_x -= corner_tile_offset
next_y += corner_tile_offset
elif next_tile_type == TileType.LEFT_BOTTOM_CORNER:
next_x += corner_tile_offset
next_y -= corner_tile_offset
elif next_tile_type == TileType.RIGHT_BOTTOM_CORNER:
next_x -= corner_tile_offset
next_y -= corner_tile_offset
elif next_tile_type == TileType.BOTTOM_HEADED_T and straight_moves == 1:
next_y += corner_tile_offset
elif next_tile_type == TileType.LEFT_HEADED_T and straight_moves == 1:
next_x -= corner_tile_offset
elif next_tile_type == TileType.RIGHT_HEADED_T and straight_moves == 1:
next_x += corner_tile_offset
elif next_tile_type == TileType.TOP_HEADED_T and straight_moves == 1:
next_y -= corner_tile_offset
angle_to_next_tile = me.get_angle_to(next_x, next_y)
move.wheel_turn = angle_to_next_tile * 32.0 / pi
if curr_speed_module ** 2 * abs(angle_to_next_tile) > 3 ** 2 * pi or \
curr_speed_module > BIG_SPEED and straight_moves == 1:
move.engine_power = 0.7
move.brake = True
else:
move.engine_power = 1.0
# используем инвентарь
if self.check_other_cars(world, me, PROJECTILE_THROW_DISTANCE, 0):
move.throw_projectile = True
if self.check_other_cars(world, me, OIL_SPILL_DISTANCE, pi) and curr_tile_type in TURN_TILES:
move.spill_oil = True
if straight_moves > 3 and angle_to_next_tile < ANGLE_DELTA:
move.use_nitro = True
# задний ход
elif self.state == REVERSE_ST:
if self.rear_move_ticks_remain > 0:
self.rear_move_ticks_remain -= 1
next_x = (next_tile_x + NEXT_TILE_OFFSET) * game.track_tile_size
next_y = (next_tile_y + NEXT_TILE_OFFSET) * game.track_tile_size
move.wheel_turn = -100 if me.get_angle_to(next_x, next_y) * 32.0 / pi > 0 else 100
move.engine_power = -1.0
return
else:
if curr_speed_module > SMALL_SPEED:
move.brake = True
move.engine_power = 1
return
else:
self.state = ACCELERATION_ST
