def canAshootB(self, tank1Id, tank2Id):
tank1 = self.tanks[tank1Id]
tank2 = self.tanks[tank2Id]
## Check if in range
distance = mathHelper.distanceBetween(tank1['position'], tank2['position'])
if (distance > PROJECTILE_RANGE + tank2['hitRadius']):
return False
## Check that we are pointing at it
angle = mathHelper.angleFromAToB(tank1['position'], tank2['position'])
offset = math.asin(tank2['hitRadius']/distance)
if (not mathHelper.angleInRange(tank1['turret'], angle + offset, angle - offset)):
return False
## get the end point for tank1's range
endPoint = mathHelper.getLineEndpoint(tank1['position'], distance, tank1['turret'])
# Don't want to check if other tanks are blocking because they could move
## ## Check that no other tanks are in the way
## for tank in self.tanks:
## ## Don't consider the original 2 tanks
## if (tank['id'] == tank1Id or tank['id'] == tank2Id):
## continue
## if (mathHelper.circleOnLine(tank1['position'], endPoint, tank['position'], tank['hitRadius'])):
## return False
## Ensure path is clear of solids
if self.isShotClear(tank1['position'], endPoint):
return True
return False
def canAshootB(self, tank1Id, tank2Id):
tank1 = self.tanks[tank1Id]
tank2 = self.tanks[tank2Id]
## Check if in range
distance = mathHelper.distanceBetween(tank1["position"], tank2["position"])
if distance > PROJECTILE_RANGE + tank2["hitRadius"]:
return False
## Check that we are pointing at it
angle = mathHelper.angleFromAToB(tank1["position"], tank2["position"])
offset = math.asin(tank2["hitRadius"] / distance)
if not mathHelper.angleInRange(tank1["turret"], angle + offset, angle - offset):
return False
## get the end point for tank1's range
endPoint = mathHelper.getLineEndpoint(tank1["position"], distance, tank1["turret"])
# Don't want to check if other tanks are blocking because they could move
## ## Check that no other tanks are in the way
## for tank in self.tanks:
## ## Don't consider the original 2 tanks
## if (tank['id'] == tank1Id or tank['id'] == tank2Id):
## continue
## if (mathHelper.circleOnLine(tank1['position'], endPoint, tank['position'], tank['hitRadius'])):
## return False
## Ensure path is clear of solids
if self.isShotClear(tank1["position"], endPoint):
return True
return False
def correlationAtoB(self, tankA, tankB):
result = {
'tankA': tankA,
'tankB': tankB
}
result['distance'] = mathHelper.distanceBetween(tankA['position'], tankB['position'])
result['angle'] = mathHelper.angleFromAToB(tankA['position'], tankB['position'])
return result
def getThreatsToA(self, tankA, enemyTanks):
threats = []
for enTank in enemyTanks:
## Check if in dangerous range
dangerousRange = PROJECTILE_RANGE + self.avgPeriod * enTank['speed'] * 1.1
distance = mathHelper.distanceBetween(tankA['position'], enTank['position'])
if (distance < dangerousRange):
## Check if obstacles in the way
if not self.isShotClear(tankA['position'], enTank['position']):
threats.append({'tank': enTank, 'distance': distance})
return sorted(threats, key=lambda threat:threat['distance'])
def getThreatsToA(self, tankA, enemyTanks):
threats = []
for enTank in enemyTanks:
## Check if in dangerous range
dangerousRange = PROJECTILE_RANGE + self.avgPeriod * enTank["speed"] * 1.1
distance = mathHelper.distanceBetween(tankA["position"], enTank["position"])
if distance < dangerousRange:
## Check if obstacles in the way
if not self.isShotClear(tankA["position"], enTank["position"]):
threats.append({"tank": enTank, "distance": distance})
return sorted(threats, key=lambda threat: threat["distance"])
def evade(self):
for myTank in self.myTanks:
threatGrid = np.zeros(7)
for i in range(7):
if i == 0:
newPosition = myTank['position']
else:
angle = 2*np.pi*i/6
newPosition = mathHelper.getLineEndpoint(myTank['position'], 2*myTank['hitRadius'], angle)
# TODO: Dodge enemy turrets
enemyThreats = self.intp.getThreatsToA(myTank, self.enemyTanks)
for enemyTank in enemyThreats:
if self.intp.canAshootB(enemyTank['tank']['id'], myTank['id']):
strikeDist = mathHelper.distanceBetween(myTank['position'], enemyTank['tank']['position'])
strikeDist -= self.intp.avgPeriod * enemyTank['tank']['speed']
threatGrid[i] = max(1/strikeDist, threatGrid[i])
for projectile in self.intp.projectiles:
A = projectile['position']
B = mathHelper.getLineEndpoint(A, projectile['range'], projectile['direction'])
strikeDist = mathHelper.circleOnLine(A, B, newPosition, myTank['hitRadius'])
if strikeDist != False:
threatGrid[i] = max(1/strikeDist, threatGrid[i])
if self.intp.obstacleInWay(newPosition, myTank['collisionRadius']):
threatGrid[i] = max(10, threatGrid[i])
i = np.argmin(threatGrid)
#if self.tankPlans[myTank['id']]['lastThreat'] <= threatGrid[i]:
# i = self.tankPlans[myTank['id']]['lasti']
#direction = 0
#myNewAngle = 0
#if i == self.tankPlans[myTank['id']]['lasti'] and i!= 0:
# direction = self.tankPlans[myTank['id']]['lastDirection']
# self.comm.move(myTank['id'], direction, 2*myTank['hitRadius'])
# predictedDist = self.intp.avgPeriod * myTank['speed']
# myTank['predictedPosition'] = mathHelper.getLineEndpoint(myTank['position'], predictedDist, self.tankPlans[myTank['id']]['lastAngle'])
if i != 0:
reqAngle = 2*np.pi*i/6
myAngle = myTank['tracks']
diff = myAngle - reqAngle
rotationReq = np.arctan(np.sin(diff)/ np.cos(diff))
self.comm.rotateTank(myTank['id'], rotationReq)
myNewAngle = myAngle+rotationReq
if myNewAngle < 0:
myNewAngle += 2*np.pi
if myNewAngle > 2*np.pi:
myNewAngle -= 2*np.pi
if myNewAngle != reqAngle:
direction = "REV"
else:
direction = "FWD"
self.comm.move(myTank['id'], direction, 2*myTank['hitRadius'])
predictedDist = self.intp.avgPeriod * myTank['speed']
myTank['predictedPosition'] = mathHelper.getLineEndpoint(myTank['position'], predictedDist, myNewAngle)
else:
myTank['predictedPosition'] = myTank['position']
def evade(self):
for myTank in self.myTanks:
threatGrid = np.zeros(7)
for i in range(7):
if i == 0:
newPosition = myTank["position"]
else:
angle = 2 * np.pi * i / 6
newPosition = mathHelper.getLineEndpoint(myTank["position"], 2 * myTank["hitRadius"], angle)
# TODO: Dodge enemy turrets
enemyThreats = self.intp.getThreatsToA(myTank, self.enemyTanks)
for enemyTank in enemyThreats:
if self.intp.canAshootB(enemyTank["tank"]["id"], myTank["id"]):
strikeDist = mathHelper.distanceBetween(myTank["position"], enemyTank["tank"]["position"])
strikeDist -= self.intp.avgPeriod * enemyTank["tank"]["speed"]
threatGrid[i] = max(1 / strikeDist, threatGrid[i])
for projectile in self.intp.projectiles:
A = projectile["position"]
B = mathHelper.getLineEndpoint(A, projectile["range"], projectile["direction"])
strikeDist = mathHelper.circleOnLine(A, B, newPosition, myTank["hitRadius"])
if strikeDist != False:
threatGrid[i] = max(1 / strikeDist, threatGrid[i])
if self.intp.obstacleInWay(newPosition, myTank["collisionRadius"]):
threatGrid[i] = max(10, threatGrid[i])
i = np.argmin(threatGrid)
# if self.tankPlans[myTank['id']]['lastThreat'] <= threatGrid[i]:
# i = self.tankPlans[myTank['id']]['lasti']
# direction = 0
# myNewAngle = 0
# if i == self.tankPlans[myTank['id']]['lasti'] and i!= 0:
# direction = self.tankPlans[myTank['id']]['lastDirection']
# self.comm.move(myTank['id'], direction, 2*myTank['hitRadius'])
# predictedDist = self.intp.avgPeriod * myTank['speed']
# myTank['predictedPosition'] = mathHelper.getLineEndpoint(myTank['position'], predictedDist, self.tankPlans[myTank['id']]['lastAngle'])
if i != 0:
reqAngle = 2 * np.pi * i / 6
myAngle = myTank["tracks"]
diff = myAngle - reqAngle
rotationReq = np.arctan(np.sin(diff) / np.cos(diff))
self.comm.rotateTank(myTank["id"], rotationReq)
myNewAngle = myAngle + rotationReq
if myNewAngle < 0:
myNewAngle += 2 * np.pi
if myNewAngle > 2 * np.pi:
myNewAngle -= 2 * np.pi
if myNewAngle != reqAngle:
direction = "REV"
else:
direction = "FWD"
self.comm.move(myTank["id"], direction, 2 * myTank["hitRadius"])
predictedDist = self.intp.avgPeriod * myTank["speed"]
myTank["predictedPosition"] = mathHelper.getLineEndpoint(myTank["position"], predictedDist, myNewAngle)
else:
myTank["predictedPosition"] = myTank["position"]
def correlationAtoB(self, tankA, tankB):
result = {"tankA": tankA, "tankB": tankB}
result["distance"] = mathHelper.distanceBetween(tankA["position"], tankB["position"])
result["angle"] = mathHelper.angleFromAToB(tankA["position"], tankB["position"])
return result
