def __init__(self, bzrc):
self.bzrc = bzrc
self.constants = self.bzrc.get_constants()
self.commands = []
self.my_tanks = []
self.other_tanks = []
self.flags = []
self.shots = []
self.enemies = []
self.angle_diffs_by_tank = {}
self.track_enemy_strategy = MasterFieldGen(bzrc, [(TrackEnemyFieldGen(bzrc))])
self.last_time_diff = 0
self.k_p = 0.1
self.k_d = 0.5
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 = []
self.my_tanks = []
self.other_tanks = []
self.flags = []
self.shots = []
self.enemies = []
self.angle_diffs_by_tank = {}
self.track_enemy_strategy = MasterFieldGen(bzrc, [(TrackEnemyFieldGen(bzrc))])
self.last_time_diff = 0
self.k_p = 0.1
self.k_d = 0.5
def tick(self, time_diff):
"""Some time has passed; decide what to do next."""
# clear the commands
self.commands = []
# calculate the time differential
d_t = time_diff - self.last_time_diff
# save the current time_diff for next time (no pun intended)
self.last_time_diff = time_diff
for tank in self.bzrc.get_mytanks():
if tank.status.startswith('alive'): # and tank.index == 0:
self.direct_tank(tank, d_t)
self.bzrc.do_commands(self.commands)
def direct_tank(self, tank, time_diff):
# get vector(s) for the potential fields around the tank (this is the vector I want the tank to have)
field_vector, shoot = self.get_field_vector(tank)
# print "vector to target: %s" % field_vector
# print "vector to target angle: %s" % math.degrees(field_vector.angle)
# get the tank's current velocity vector
# tank_vector = Vec2d(tank.vx, tank.vy)
# if tank_vector[0] == 0 and tank_vector[1] == 0:
# tank_vector[0] = 1
# tank_vector.angle = math.degrees(tank.angle)
# print "my angle: %s" % math.degrees(tank.angle)
# get the angle between the desired and current vectors
angle_diff = self.normalize_angle(field_vector.angle - tank.angle)
# angle_diff = field_vector.angle - tank.angle
# print "angle diff: %s" % math.degrees(angle_diff)
# if tank.callsign in self.angle_diffs_by_tank:
# last_angle_diff = self.angle_diffs_by_tank[tank.callsign]
# else:
# last_angle_diff = angle_diff
# self.angle_diffs_by_tank[tank.callsign] = angle_diff
# d_e = (angle_diff - last_angle_diff) / (time_diff if time_diff != 0 else 0.01)
# angvel = (self.k_p * angle_diff) + (self.k_d * d_e)
# for Kalman lab, the agent can only rotate, so keep velocity at 0
self.commands.append(Command(tank.index, 0, angle_diff, abs(angle_diff) < math.radians(3.0)))
def get_field_vector(self, tank):
return self.track_enemy_strategy.vector_at(tank.x, tank.y)
@staticmethod
def normalize_angle(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
