def pick_fireangle(self, x, y, speedx, speedy, angle):
origin = Point2(x, y)
delta = Point2(speedx, speedy)
leftangle = Matrix3.new_rotate(pi / 2)
rightangle = Matrix3.new_rotate(-pi / 2)
targetleft = origin + leftangle * delta * 100
targetright = origin + rightangle * delta * 100
left = LineSegment2(origin, targetleft)
right = LineSegment2(origin, targetright)
dleft = dright = 10000000
for w in self.walls:
ileft = w.intersect(left)
if ileft:
dleft = min(dleft, ileft.distance(origin))
iright = w.intersect(right)
if iright:
dright = min(dright, iright.distance(origin))
if max(dleft, dright) < 35:
return
COMPENSATE = pi / 8
if dleft > dright:
targetleft = Matrix3.new_rotate(COMPENSATE) * targetleft
result = relative_angle(x, y, targetleft.x, targetleft.y, angle)
else:
targetright = Matrix3.new_rotate(-COMPENSATE) * targetright
result = relative_angle(x, y, targetright.x, targetright.y, angle)
return result
def messageReceived(self, msg):
msg = bunchify(msg)
if 'status' in msg:
targets = [obj for obj in msg.proximity
if obj.object_type == 'player']
if targets:
my_pos= Point2(*msg.gps.position)
# rotate aiming to the target
t = targets[0]
t_pos = Point2(t.position[0] + t.velocity[0] * POS_PER_VEL,
t.position[1] + t.velocity[1] * POS_PER_VEL)
turn = relative_angle(my_pos.x, my_pos.y,
t_pos.x, t_pos.y,
msg.gps.angle)
else:
# rotate a tick to the right
turn = 0.1
# do the rotation and shoot
self.command('turn', value=turn)
self.command('fire')
def follow(self, my_position, enemy_position, my_angle):
angle_relat = relative_angle(my_position[0],
my_position[1],
enemy_position[0],
enemy_position[1],
my_angle)
self.command("turn", value=angle_relat)
def walk_the_park(self, gps):
x, y = gps['position']
angle = gps['angle']
if self.steps % 20 == 0:
self.dx, self.dy = self.get_new_destination(gps)
turn = relative_angle(x, y, self.dx, self.dy, angle)
return turn, 1
def messageReceived(self, message):
if message['type'] == 'sensor' and message.get('gps', False):
gps = message['gps']
x, y = message['gps']['position']
angle = message['gps']['angle']
fire = 0
# Butterfly
if far_from_center(gps):
if looking_center(gps):
throttle = 1
else:
throttle = 0
turn = relative_angle(x, y, 50, 50, angle)
else:
turn = 1
fire = 1
if random() < 0.3:
throttle = 1
else:
throttle = 0
# Speed control
if too_fast(gps) and not looking_center(gps):
throttle = 0
if too_slow(gps):
throttle = 1
# Lock-on
closer_player = get_closer_player(message)
if closer_player:
px, py = closer_player['position']
turn = relative_angle(x, y, px, py, angle)
if should_fire(closer_player, turn):
fire = 1
else:
fire = 0
if point_defense(message):
fire = 1
self.command("throttle", value=throttle)
self.command("turn", value=turn)
if fire:
self.command("fire")
def get_new_destination(self, gps):
x, y = gps['position']
angle = gps['angle']
shuffle(self.directions)
for d in self.directions:
pdx, pdy = x + d[0], y + d[1]
if not self.collides(x, y, pdx, pdy) \
and math.fabs(relative_angle(x, y, pdx, pdy, angle)) < 4:
return pdx, pdy
return self.directions[0]
def point_defense(message):
myxy = message['gps']['position']
angle = message['gps']['angle']
for obj in message.get('proximity', []):
if obj['object_type'] in ['bullet']:
pxy = obj['position']
d = distance(myxy, pxy)
a = relative_angle(myxy[0], myxy[1], pxy[0], pxy[1], angle)
if d < 2 and a < 2:
return True
return False
def smart_turn(self):
if self.message['type'] == 'sensor':
currentx = self.message['gps']['position'][0]
currenty = self.message['gps']['position'][1]
currentangle = self.message['gps']['angle']
for x in self.message['proximity']:
if x['object_type'] == 'player':
targetx = x['position'][0]
targety = x['position'][1]
break
return relative_angle(currentx, currenty, targetx, targety, currentangle)
def point_and_shoot(self, target):
# where to aim
vel_modifier = 1
if target.object_type == 'player':
vel_modifier = 0.1
elif target.object_type == 'bullet':
vel_modifier = 0.2
aim_at = predict_pos(target.position, target.velocity, vel_modifier)
turn = relative_angle(self.pos.x, self.pos.y,
aim_at.x, aim_at.y,
self.angle)
# aim and shoot
self.command('turn', value=turn)
self.command('fire')
def butterfly(self, gps):
if far_from_center(gps):
if looking_center(gps):
throttle = 1
else:
throttle = 0
turn = relative_angle(x, y, 50, 50, angle)
else:
turn = 1
fire = 1
if random() < 0.3:
throttle = 1
else:
throttle = 0
return turn, throttle
def messageReceived(self, message):
if message.get('type') == 'sensor':
self.command("throttle", value=1)
tracking = False
x, y = message['gps']['position']
angle = message['gps']['angle']
for obj in message.get('proximity', []):
if obj['object_type'] in ['powerup', 'player']:
tracking = True
trackx, tracky = obj['position']
turn = relative_angle(x, y, trackx, tracky, angle)
self.command('turn', value=turn)
if obj['object_type'] == 'player':
self.command("fire")
break
if not tracking and random() < 0.2:
self.command("fire")
self.command("turn", value=1)
def messageReceived(self, message):
if message.get("type") == "sensor":
self.command("throttle", value=1)
tracking = False
x, y = message["gps"]["position"]
angle = message["gps"]["angle"]
for obj in message.get("proximity", []):
if obj["object_type"] in ["powerup", "player"]:
tracking = True
trackx, tracky = obj["position"]
turn = relative_angle(x, y, trackx, tracky, angle)
self.command("turn", value=turn)
if obj["object_type"] == "player":
self.command("fire")
break
if not tracking and random() < 0.2:
self.command("fire")
self.command("turn", value=1)
def messageReceived(self, message):
if message['type'] == 'map_description':
self.map = message
if message['type'] == 'sensor' and message.get('gps', False):
self.steps += 1
gps = message['gps']
x, y = message['gps']['position']
angle = message['gps']['angle']
fire = 0
# Butterfly
# turn, throttle = self.butterfly(gps)
#turn, throttle = self.navigate(gps)
turn, throttle = self.walk_the_park(gps)
# Speed control
if too_fast(gps) and not looking_center(gps):
throttle = 0
if too_slow(gps):
throttle = 1
# Lock-on
closer_player = self.get_closer_player(message)
if closer_player:
px, py = closer_player['position']
turn = relative_angle(x, y, px, py, angle)
if should_fire(closer_player, turn):
fire = 1
else:
fire = 0
if point_defense(message):
fire = 1
self.command("throttle", value=throttle)
self.command("turn", value=turn)
if fire:
self.command("fire")
def look_to(self, target):
turn = relative_angle(self.pos.x, self.pos.y,
target.x, target.y, self.angle)
self.command('turn', value=turn)
def looking_center(gps):
x, y = gps['position']
angle = gps['angle']
return math.fabs(relative_angle(x, y, 50, 50, angle)) < 5
def parse_sensor(self, message):
if 'gps' not in message:
return
x, y = message['gps']['position']
angle = message['gps']['angle']
speedx, speedy = message['gps']['velocity']
# Increase visited tile count
self.visit(x, y)
objs = message.get('proximity', [])
bullets = self.filter_visible(objs, x, y, 'bullet')
bullets = [b for b in bullets if self.is_incoming(x, y, b)]
players = self.filter_visible(objs, x, y, 'player')
powerups = self.filter_visible(objs, x, y, 'powerup')
if players:
#~ print "Firing at player"
obj = players[0]
trackx, tracky = obj['position']
trackspeedx, trackspeedy = obj['velocity']
d = dist(x, y, trackx, tracky)
turn = relative_angle(x, y, trackx, tracky, angle)
self.command('turn', value=turn)
self.guesstimate = Guesstimate(trackx, tracky, trackspeedx, trackspeedy)
self.command("fire")
elif bullets:
#~ print "Firing at bullet"
obj = bullets[0]
trackx, tracky = obj['position']
trackspeedx, trackspeedy = obj['velocity']
d = sqrt((x - trackx)**2 + (y - tracky)**2)
turn = relative_angle(x, y, trackx, tracky, angle)
self.command('turn', value=turn)
self.command("fire")
elif powerups:
#~ print "Grabbing powerup"
obj = powerups[0]
trackx, tracky = obj['position']
trackspeedx, trackspeedy = obj['velocity']
d = sqrt((x - trackx)**2 + (y - tracky)**2)
# (x + speedx, y + speedy) here, to compensate the "orbit" effect
turn = relative_angle(
x + speedx * d / 70, y + speedy * d / 70,
trackx, tracky, angle)
self.command('turn', value=turn)
self.command("throttle", value=1)
#~ else:
#~ print obj
elif self.guesstimate and self.guesstimate.certainty > 0:
#~ print "Firing at a guesstimate", self.guesstimate.certainty
turn = relative_angle(x, y, self.guesstimate.x, self.guesstimate.y, angle)
self.command('turn', value=turn)
self.command("fire")
self.guesstimate.step()
else:
#~ print "No guesstimate"
# Pick a good next exploration tile
if self.going is None or not self.has_line_of_fire(x, y, self.going.x, self.going.y):
options = [t for t in self.tiles
if self.has_line_of_fire(x, y, t.x, t.y)]
if not options:
return
options.sort(key=lambda x: x.visits)
options = [o for o in options if o.visits == options[0].visits]
#~ print "Options:", options
self.going = max(options, key=lambda t:t.distance_to(x, y))
speed = speedx**2 + speedy**2
speedangle = atan2(speedy, speedx)
targetangle = atan2(self.going.y - y, self.going.x - x)
#~ print speed, angle, speedangle
divergence = (targetangle - speedangle) % TWO_PI
divergence = min(divergence, TWO_PI - divergence)
if speed > 500 and divergence < 0.1:
#~ print "Firing at random"
fireangle = self.pick_fireangle(x, y, speedx, speedy, angle)
if fireangle is not None:
self.command("turn", value=fireangle)
if abs(fireangle) < 1:
self.command('fire') # Take that!
else:
#~ if speed <= 1590:
#~ print "Not bang because speed = %.3f" % speed
#~ elif divergence >= 0.1:
#~ print "Not bang because divergence = %.3f" % divergence
#~ else:
#~ print "EH!? OGG WANT BANG!!1! Y U NO BANG!??!?1!?"
#~ print "Going to", self.going
turn = relative_angle(x, y, self.going.x + speedx, self.going.y + speedy, angle)
self.command("throttle", value=1)
self.command("turn", value=turn)
