def collision_aw_asl(xy, vxy, w, asxy):
th_col = dc.calc_th(xy, asxy)
v, th = dc.calc_v(vxy), dc.calc_th(vxy)
# relative velocity(+)
vt = v * math.sin(th - th_col) # tangent velocity
vn = max(0.0, v * math.cos(th - th_col)) # normal velocity
v_threshold = 1
ni_m = vn
if vn <= v_threshold:
ni_m *= 0.5
maxFriction = FRICTION_STONES * ni_m
oldTangentLambda = vt / 6.0
ti_m = max(-maxFriction, min(oldTangentLambda, maxFriction))
dw = ti_m * 2.0 / dc.STONE_RADIUS
# update
asv = np.hypot(ni_m, ti_m)
asth = np.arctan2(ni_m, ti_m) + th_col
asw = dw
asvxy = (asv * math.sin(asth), asv * math.cos(asth))
awv = np.hypot(vn - ni_m, vt - ti_m)
awth = np.arctan2(vn - ni_m, vt - ti_m) + th_col
aww = w + dw
awvxy = (awv * math.sin(awth), awv * math.cos(awth))
return awvxy, aww, asvxy, asw
def collision_aw_aw(xy0, vxy0, w0, xy1, vxy1, w1):
th_col = dc.calc_th(xy0, xy1)
v0, th0 = dc.calc_v(vxy0), dc.calc_th(vxy0)
v0n = v0 * math.cos(th0 - th_col)
v0t = v0 * math.sin(th0 - th_col)
v1, th1 = dc.calc_v(vxy1), dc.calc_th(vxy1)
v1n = v1 * math.cos(th1 - th_col)
v1t = v1 * math.sin(th1 - th_col)
vn, vt = v0n - v1n, v0t - v1t
v_threshold = 1
ni_m = vn
if abs(vn) <= v_threshold:
ni_m *= 0.5
maxFriction = FRICTION_STONES * ni_m
oldTangentLambda = vt / 6.0
ti_m = max(-maxFriction, min(oldTangentLambda, maxFriction))
dw = ti_m * 2.0 / dc.STONE_RADIUS
# update
awv1 = np.hypot(v1n + ni_m, v1t + ti_m)
awth1 = np.arctan2(v1n + ni_m, v1t + ti_m) + th_col
aww1 = w1 + dw
awvxy1 = (awv1 * math.sin(awth1), awv1 * math.cos(awth1))
awv0 = np.hypot(v0n - ni_m, v0t - ti_m)
awth0 = np.arctan2(v0n - ni_m, v0t - ti_m) + th_col
aww0 = w0 + dw
awvxy0 = (awv0 * math.sin(awth0), awv0 * math.cos(awth0))
return awvxy0, aww0, awvxy1, aww1
def calc_vxy_by_xyw(oxy, xy, w):
v = calc_v_by_r(dc.calc_r(oxy, xy))
#print("theta =", dc.calc_th(oxy, xy))
theta = dc.calc_th(oxy, xy)
#print(theta)
vtheta = calc_vtheta_by_theta(theta, w)
vx = v * math.sin(vtheta)
return (vx, v * math.cos(vtheta))
def calc_vxy_by_xylrw(oxy, xy, _R, w):
l = dc.calc_r(oxy, xy)
R = l + _R # not acculate
v = calc_v_by_r(R)
r = calc_r_by_lv(l, v)
cos_alpha = ((l ** 2) + (R ** 2) - (r ** 2)) / (2 * l * R)
alpha = math.acos(cos_alpha)
if w < 0:
alpha = -alpha
vtheta = calc_vtheta_by_theta(dc.calc_th(oxy, xy) + alpha, w)
return np.matmul(rotationMatrix(-vtheta), (0, v))
def step_xy_vxy_by_xy_vxywt(xy, vxy, w, t):
V = dc.calc_v(vxy)
R = calc_r_by_v(V)
Theta = calc_theta_by_r(R)
v = V - FRICTION_RINK * t
r = calc_r_by_v(v)
#print(V, v, r)
theta = calc_theta_by_r(r)
print(r, Theta - theta)
l2 = (R ** 2) + (r ** 2) - 2 * R * r * math.cos(Theta - theta)
l = math.sqrt(l2)
#print("l =", l)
#cos_beta = ((l ** 2) + (R ** 2) - (r ** 2)) / (2 * l * R)
#beta = math.acos(cos_beta)
sin_beta = r / l * math.sin(Theta - theta)
beta = math.asin(sin_beta)
#print("beta =", beta)
dtheta = Theta - theta
alpha = ALPHA
if w < 0:
dtheta = -dtheta
alpha = -alpha
beta = -beta
#print("ovtheta =", dc.calc_th(vxy), "dtheta =", dtheta)
ntheta = dc.calc_th(vxy) + alpha - beta
nvtheta = dc.calc_th(vxy) + dtheta
#print("ntheta =", ntheta, "nvtheta =", nvtheta)
nxy = (xy[0] + l * math.sin(ntheta), xy[1] + l * math.cos(ntheta))
nvxy = (v * math.sin(nvtheta), v * math.cos(nvtheta))
return nxy, nvxy
def calc_vxy_by_xylvw(oxy, xy, v, w):
l = dc.calc_r(oxy, xy)
R = calc_r_by_v(v)
r = calc_r_by_lv(l, v)
cos_alpha = ((l ** 2) + (R ** 2) - (r ** 2)) / (2 * l * R)
alpha = math.acos(cos_alpha)
#print("alpha = ", alpha)
#print(oxy, xy)
#print(dc.calc_th(oxy, xy))
if w < 0:
alpha = -alpha
vtheta = calc_vtheta_by_theta(dc.calc_th(oxy, xy) + alpha, w)
#print("vtheta = ", vtheta)
return np.matmul(rotationMatrix(-vtheta), (0, v))
for ph in range(N_PHASES):
for i in range(phase_data_num[ph]):
sl = shot_logs[phase_index_vector[ph][i]]
board_vector[ph][i][0] = sl['end']
board_vector[ph][i][1] = sl['rscore']
for n in range(dc.N_STONES):
st = sl['previous_stone'][n]
bs = 2 + n * 4
#board_vector[ph][i][bs + 0] = st[0]
#board_vector[ph][i][bs + 1] = st[1]
board_vector[ph][i][bs + 0] = dc.calc_r(dc.XY_TEE, st)
board_vector[ph][i][bs + 1] = dc.calc_th(dc.XY_TEE, st)
board_vector[ph][i][bs + 2] = dc.calc_r(dc.XY_THROW, st)
board_vector[ph][i][bs + 3] = dc.calc_th(dc.XY_THROW, st)
#sc = dc.count_score_a(sl['previous_stone'])
sc = sl['escore']
sc_index = dc.StoIDX(sc)
score_vector[ph][i] = sc_index
score_vector_sum[sc_index] += 1 # 事前解析
print("number of used shot-logs = %d" % data_num)
test_rate = 0.2
test_num = []
train_num = []