def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
self.infinity = 10000000
self.attractive_s = 10
self.attractive_alpha = 0.7
self.repulsive_s = 40
self.repulsive_beta = 1
self.repulsive_max = self.infinity
self.max_speed = 1
self.speed = 1
self.base_radius = 3
self.obstacles = self.bzrc.get_obstacles()
self.fire = True
self.tangential_clockwise = True #bool(random.getrandbits(1))
self.kp = 0.25
self.kd = 0.05
self.attractive_dx = self.attractive_dy = 0
self.prev_e_x = 0
self.prev_e_y = 0
self.prev_t = 0
flags = self.bzrc.get_flags()
for flag in flags:
if flag.color == self.constants['team']:
self.myflag = Answer()
self.myflag.color = flag.color
self.myflag.poss_color = flag.poss_color
self.myflag.x = flag.x
self.myflag.y = flag.y
break
def show_arrows(plot, potential_func, obstacles, xlim=(-400, 400), ylim=(-400, 400), res=20):
"""
Arguments:
fns: a list of potential field functions
xlim, ylim: the limits of the plot
res: resolution for (spacing between) arrows
"""
plot.set_xlim(xlim)
plot.set_ylim(ylim)
for x in range(xlim[0], xlim[1] + res, res):
for y in range(ylim[0], ylim[1] + res, res):
tank = Answer()
tank.x = x
tank.y = y
tank.index = 1
tank.goal = "-"
dx, dy = potential_func(tank, obstacles)
if dx + dy == 0: continue
plot.arrow(x, y, dx, dy, head_width=res/7.0, color='red', linewidth=.3)
def plot_field(function):
'''Return a Gnuplot command to plot a field.'''
s = "plot '-' with vectors head\n"
separation = WORLDSIZE / SAMPLES
end = WORLDSIZE / 2 - separation / 2
start = -end
points = ((x, y) for x in linspace(start, end, SAMPLES)
for y in linspace(start, end, SAMPLES))
for x, y in points:
tank = Answer()
tank.index = 0
tank.x = x
tank.y = y
tank.angle = 0
tank.flag = '-'
vec = function(tank)
plotvalues = gpi_point(x, y, vec[0], vec[1])
if plotvalues is not None:
x1, y1, x2, y2 = plotvalues
s += '%s %s %s %s\n' % (x1, y1, x2, y2)
s += 'e\n'
return s
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
bases = self.bzrc.get_bases()
for base in bases:
if base.color == self.constants['team']:
self.base = Answer()
self.base.x = (base.corner1_x + base.corner3_x) / 2
self.base.y = (base.corner1_y + base.corner3_y) / 2
self.grid = np.zeros(shape=(int(self.constants['worldsize']),
int(self.constants['worldsize'])))
for row in range(len(self.grid)):
for col in range(len(self.grid)):
self.grid[row][col] = .5
self.previousOutput = np.zeros(
shape=(int(self.constants['worldsize']),
int(self.constants['worldsize'])))
self.tank = {}
# print "tank location: x: "+str(self.tank.x)+" y: "+str(self.tank.y)
grid_filter_gl.init_window(800, 800)
self.grid_size = 100
self.points = []
self.prior = .5
self.threshold = .5
self.chosenX = 0
self.chosenY = 0
self.needGoal = True
self.trueP = float(self.constants['truepositive'])
self.trueN = float(self.constants['truenegative'])
worldsize = int(self.constants['worldsize'])
for i in range(self.grid_size / 2 - worldsize / 2, worldsize / 2,
self.grid_size):
for j in range(self.grid_size / 2 - worldsize / 2, worldsize / 2,
self.grid_size):
self.points.append((i, j))
self.timer = 0
self.past_position = {}
self.goals = {}
self.stuck = {}
self.stuck_count = 0
self.last_x = 0
self.last_y = 0
self.mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
for tank in self.mytanks:
self.past_position[tank.index] = tank.x, tank.y
self.bzrc.speed(tank.index, 1)
self.goals[tank.index] = None
self.stuck[tank.index] = 0
self.update(0)
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
bases = self.bzrc.get_bases()
for base in bases:
if base.color == self.constants['team']:
self.base = Answer()
self.base.x = (base.corner1_x + base.corner3_x) / 2
self.base.y = (base.corner1_y + base.corner3_y) / 2
self.update()
self.past_position = {}
self.goals = {}
self.stuck = {}
for tank in self.mytanks:
self.past_position[tank.index] = tank.x, tank.y
self.goals[tank.index] = None
self.stuck[tank.index] = 0
self.set_flag_goals()
def __init__(self, bzrc, algorithm):
self.bzrc = bzrc
self.algorithm = algorithm
self.constants = self.bzrc.get_constants()
self.commands = []
bases = self.bzrc.get_bases()
for base in bases:
if base.color == self.constants['team']:
self.base = Answer()
self.base.x = (base.corner1_x + base.corner3_x) / 2
self.base.y = (base.corner1_y + base.corner3_y) / 2
self.update()
self.past_position = {}
self.goals = {}
self.stuck = {}
for tank in self.mytanks:
self.past_position[tank.index] = tank.x, tank.y
self.goals[tank.index] = None
self.stuck[tank.index] = 0
self.set_flag_goals()
self.vertex_positions = []
self.vertex_positions.append((self.base.x, self.base.y))
self.obstacles = self.bzrc.get_obstacles()
for obstacle in self.obstacles:
for i in range(len(obstacle)):
x = obstacle[i][0] - obstacle[(i + 2) % 4][0]
y = obstacle[i][1] - obstacle[(i + 2) % 4][1]
dist = math.sqrt(x**2 + y**2)
self.vertex_positions.append((obstacle[i][0] + x / dist * 0,
obstacle[i][1] + y / dist * 0))
self.vertex_positions.append(self.goals[0])
#print "self.vertex_positions = " + str(self.vertex_positions)
self.adjacency_matrix = numpy.zeros(
[len(self.vertex_positions),
len(self.vertex_positions)])
for i in range(len(self.obstacles)):
for j in range(4):
index = i * 4 + j + 1
if j < 3:
self.adjacency_matrix[index][
index + 1] = self.adjacency_matrix[
index + 1][index] = math.sqrt(
(self.vertex_positions[index][0] -
self.vertex_positions[index + 1][0])**2 +
(self.vertex_positions[index][1] -
self.vertex_positions[index + 1][1])**2)
else:
first_corner = i * 4 + 1
self.adjacency_matrix[index][
first_corner] = self.adjacency_matrix[first_corner][
index] = math.sqrt(
(self.vertex_positions[index][0] -
self.vertex_positions[first_corner][0])**2 +
(self.vertex_positions[index][1] -
self.vertex_positions[first_corner][1])**2)
for i in range(len(self.vertex_positions)):
for j in range(i + 1, len(self.vertex_positions)):
if i == 0 or j == len(self.vertex_positions) - 1 or (
i - 1) / 4 != (j - 1) / 4:
#print "i = " + str(i)
#print "j = " + str(j)
xa = self.vertex_positions[i][0]
ya = self.vertex_positions[i][1]
xb = self.vertex_positions[j][0]
yb = self.vertex_positions[j][1]
#print "a = (" + str(xa) + ", " + str(ya) + ")"
#print "b = (" + str(xb) + ", " + str(yb) + ")"
intersect = False
for m in range(len(self.obstacles)):
if intersect:
break
for n in range(4):
index = m * 4 + n + 1
if index == i or index == j:
continue
xc = self.vertex_positions[index][0]
yc = self.vertex_positions[index][1]
#print "c = (" + str(xc) + ", " + str(yc) + ")"
if n < 3:
if index + 1 == i or index + 1 == j:
continue
xd = self.vertex_positions[index + 1][0]
yd = self.vertex_positions[index + 1][1]
else:
first_corner = m * 4 + 1
if first_corner == i or first_corner == j:
continue
xd = self.vertex_positions[first_corner][0]
yd = self.vertex_positions[first_corner][1]
#print "d = (" + str(xd) + ", " + str(yd) + ")"
if self.segments_intersect(xa, ya, xb, yb, xc, yc,
xd, yd):
#print "intersection"
#print "a = (" + str(xa) + ", " + str(ya) + ")"
#print "b = (" + str(xb) + ", " + str(yb) + ")"
#print "c = (" + str(xc) + ", " + str(yc) + ")"
#print "d = (" + str(xd) + ", " + str(yd) + ")"
intersect = True
break
if intersect:
self.adjacency_matrix[i][j] = self.adjacency_matrix[j][
i] = 0
else:
self.adjacency_matrix[i][j] = self.adjacency_matrix[j][
i] = math.sqrt((self.vertex_positions[i][0] -
self.vertex_positions[j][0])**2 +
(self.vertex_positions[i][1] -
self.vertex_positions[j][1])**2)
half_worldsize = int(self.constants['worldsize']) / 2
tanklength = int(self.constants['tanklength'])
for i in range(1, len(self.vertex_positions) - 1):
if half_worldsize - self.vertex_positions[i][
0] < tanklength or half_worldsize + self.vertex_positions[i][
0] < tanklength or half_worldsize - self.vertex_positions[
i][1] < tanklength or half_worldsize + self.vertex_positions[
i][1] < tanklength:
for j in range(len(self.vertex_positions)):
self.adjacency_matrix[i][j] = self.adjacency_matrix[j][
i] = 0
numpy.set_printoptions(threshold=numpy.nan)
#print "self.adjacency_matrix = " + str(self.adjacency_matrix)
self.updateGraph()
if self.algorithm == 'dfs':
self.path = search.dfs(self.graph, 0,
len(self.vertex_positions) - 1,
self.obstacles, self.vertex_positions)
elif self.algorithm == 'bfs':
self.path = search.bfs(self.graph, 0,
len(self.vertex_positions) - 1,
self.obstacles, self.vertex_positions)
else:
self.path = search.aStar(self.graph, self.adjacency_matrix,
self.vertex_positions, 0,
len(self.vertex_positions) - 1,
self.obstacles)
self.plot_visibility_graph()
for i in range(len(self.obstacles)):
obstacle = self.obstacles[i]
for j in range(len(obstacle)):
x1 = obstacle[j][0] - obstacle[(j + 1) % 4][0]
y1 = obstacle[j][1] - obstacle[(j + 1) % 4][1]
dist1 = math.sqrt(x1**2 + y1**2)
x1 /= dist1
y1 /= dist1
x2 = obstacle[j][0] - obstacle[(j + 3) % 4][0]
y2 = obstacle[j][1] - obstacle[(j + 3) % 4][1]
dist2 = math.sqrt(x2**2 + y2**2)
x2 /= dist2
y2 /= dist2
self.vertex_positions[i * 4 + j +
1] = ((obstacle[j][0] + (x1 + x2) * 10,
obstacle[j][1] + (y1 + y2) * 10))
self.current_goal_index = 1
self.goals[0] = self.vertex_positions[self.path[
self.current_goal_index]]
