def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.numoftanks = len(mytanks)
self.timeuntilshot = [0]*self.numoftanks
self.ismoving = [True]*self.numoftanks
# For PD Control
self.old_angle = [0]*self.numoftanks
self.old_speed = [0]*self.numoftanks
# For visibility graph
self.final_goals = [0]*self.numoftanks
self.graph = VisibilityGraph(self.bzrc)
self.fields = []
self.goal_paths = []
for i in xrange(self.numoftanks):
self.fields.append(PotentialFields(self.bzrc))
self.goal_paths.append(Path())
obstacles = self.bzrc.get_obstacles()
for flag in flags:
if flag.color == self.constants['team']:
self.base = {'x':flag.x, 'y':flag.y}
class Agent(object):
"""Class handles all command and control logic for a teams tanks."""
def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.numoftanks = len(mytanks)
self.timeuntilshot = [0]*self.numoftanks
self.ismoving = [True]*self.numoftanks
# For PD Control
self.old_angle = [0]*self.numoftanks
self.old_speed = [0]*self.numoftanks
# For visibility graph
self.final_goals = [0]*self.numoftanks
self.graph = VisibilityGraph(self.bzrc)
self.fields = []
self.goal_paths = []
for i in xrange(self.numoftanks):
self.fields.append(PotentialFields(self.bzrc))
self.goal_paths.append(Path())
obstacles = self.bzrc.get_obstacles()
for flag in flags:
if flag.color == self.constants['team']:
self.base = {'x':flag.x, 'y':flag.y}
def tick(self, time_diff):
"""Some time has passed; decide what to do next."""
mytanks, othertanks, flags, shots = self.bzrc.get_lots_o_stuff()
self.mytanks = mytanks
self.othertanks = othertanks
self.flags = flags
self.shots = shots
self.enemies = [tank for tank in othertanks if tank.color !=
self.constants['team']]
self.commands = []
for tank in mytanks:
self.create_command(tank, time_diff)
#self.attack_enemies(tank)
results = self.bzrc.do_commands(self.commands)
def attack_enemies(self, tank):
"""Find the closest enemy and chase it, shooting as you go."""
best_enemy = None
best_dist = 2 * float(self.constants['worldsize'])
for enemy in self.enemies:
if enemy.status != 'alive':
continue
dist = math.sqrt((enemy.x - tank.x)**2 + (enemy.y - tank.y)**2)
if dist < best_dist:
best_dist = dist
best_enemy = enemy
if best_enemy is None:
command = Command(tank.index, 0, 0, False)
self.commands.append(command)
else:
self.move_to_position(tank, best_enemy.x, best_enemy.y)
def move_to_position(self, tank, target_x, target_y):
"""Set command to move to given coordinates."""
target_angle = math.atan2(target_y - tank.y,
target_x - tank.x)
relative_angle = self.normalize_angle(target_angle - tank.angle)
command = Command(tank.index, 1, 2 * relative_angle, True)
self.commands.append(command)
def create_command(self, tank, time_diff):
"""Set command to move to given coordinates."""
speed = 1
angvel = 0
shoot = True
kp = 1
kd = -.07
goal_threshold = 15.0
if time_diff <= 0:
return
# assign goal to tank
if tank.flag == '-':
closest_goal = self.get_closest_goal(tank)
if closest_goal is None:
self.attack_enemies(tank)
return
goal_x, goal_y = closest_goal
else:
goal_x, goal_y = self.base['x'], self.base['y']
# see if we need a new visibility graph and path
new_goal = (goal_x, goal_y)
if self.final_goals[tank.index] != new_goal:
self.final_goals[tank.index] = new_goal
start = (tank.x, tank.y)
end = self.final_goals[tank.index]
self.graph.createTankGraph(start, end)
#print 1
search_alg = search.AStar(self.graph)
#print 2
new_path = search_alg.run(start, end)
#print 3
self.graph.displayGraph()
self.goal_paths[tank.index].set_path(new_path)
#print 4
# get potential field at this location for the calculated goal
goal = self.goal_paths[tank.index].get_next(tank.x, tank.y, goal_threshold)
field = self.fields[tank.index]
field.set_goal(goal[0], goal[1])
x, y = field.calculate_potential(tank.x, tank.y)
# PD Controller - angle
target_angle = math.atan2(y, x)
angle_remaining = self.angle_remaining(tank.angle, target_angle)
angvel = self.pd_angvel(tank, target_angle, time_diff)
if angvel > 1:
angvel = 1
elif angvel < -1:
angvel = -1
# PD Controller - speed
if abs(angle_remaining) <= math.pi / 6:
speed = self.pd_speed(tank, x, y, time_diff)
else:
speed = 1 - abs(angle_remaining / math.pi)
if speed > 1:
speed = 1.0
elif speed < -1:
speed = -1.0
command = Command(tank.index, speed, angvel, shoot)
self.commands.append(command)
self.old_angle[tank.index] = tank.angle
def pd_angvel(self, tank, target_angle, time_diff):
"""PD Controller for the angular velocity of the tank."""
kp = 1.0
kd = -0.2
angle_remaining = self.angle_remaining(tank.angle, target_angle)
differential = self.angle_remaining(self.old_angle[tank.index], tank.angle) / time_diff
angvel = ( kp * angle_remaining ) + ( kd * differential )
return angvel
def pd_speed(self, tank, target_x, target_y, time_diff):
"""PD Controller for the speed of the tank."""
kp = 1.0
kd = -0.2
x_remaining = target_x - tank.x
y_remaining = target_y - tank.y
distance_remaining = math.sqrt( ( x_remaining ) ** 2 + ( y_remaining ) ** 2 )
current_speed = math.sqrt( tank.vx ** 2 + tank.vy ** 2 )
differential = current_speed - self.old_speed[tank.index] / time_diff
speed = ( kp * distance_remaining ) + ( kd * differential )
return speed
def angle_remaining(self, tank_angle, target_angle):
"""Find the angle remaining (in radians) between the tank and the target."""
tank_angle = self.normalize_angle(tank_angle)
target_angle = self.normalize_angle(target_angle)
# If the angles are on the same hemisphere, target - tank.
if tank_angle * target_angle > 0:
return target_angle - tank_angle
# Otherwise they are on opposite hemispheres.
positive_angle = max(tank_angle, target_angle)
negative_angle = min(tank_angle, target_angle)
tank_positive = True
if tank_angle < 0:
tank_positive = False
# Compare the angles to turn right and left.
right_angle = -1 * ( positive_angle - negative_angle )
left_angle = 2 * math.pi - positive_angle + negative_angle
if not tank_positive:
temp_angle = -1 * right_angle
right_angle = -1 * left_angle
left_angle = temp_angle
# Pick the smallest angle.
if abs(right_angle) <= abs(left_angle):
return right_angle
return left_angle
def normalize_angle(self, angle):
"""Make any angle be between +/- pi."""
angle -= 2 * math.pi * int (angle / (2 * math.pi))
if angle <= -math.pi:
angle += 2 * math.pi
elif angle > math.pi:
angle -= 2 * math.pi
return angle
def cmp_flags(self, a, b):
a_dist = math.sqrt(a.x ** 2 + a.y ** 2)
b_dist = math.sqrt(b.x ** 2 + b.y ** 2)
if a_dist < b_dist:
return -1
elif a_dist == b_dist:
return 0
return 1
def get_closest_goal(self, tank):
flag_list = copy.deepcopy(self.flags)
for flag in flag_list:
flag.x -= tank.x
flag.y -= tank.y
flag_list.sort(self.cmp_flags)
for flag in flag_list:
flag.x += tank.x
flag.y += tank.y
if flag.color != self.constants['team'] and flag.poss_color != self.constants['team']:
return (flag.x, flag.y)
elif flag.color == self.constants['team'] and (flag.x != self.base['x'] or flag.y != self.base['y']):
return (flag.x, flag.y)
