package rampancy.tycho;
import robocode.*;
import robocode.util.*;
import java.awt.*;
import java.awt.geom.*;
import java.util.*;
public class EnemyRobot {
private ArrayList<Wave> waves;
private ArrayList<BulletWave> incomingBullets;
private ArrayList<Integer> surfDirections;
private ArrayList<Double> surfBearings;
private String name;
private Point2D.Double location;
private Point2D.Double lastLocation;
private double distance;
private double energy;
private boolean hasFired;
private double velocity;
private double lastVelocity;
private double heading;
private double lastHeading;
private double bearing;
private double lastBearing;
private double absoluteBearing;
private double lastAbsoluteBearing;
private long lastMoveTime;
private double bulletPower;
private double bulletVelocity;
private double[][] statistics;
private double[][][][][][] guessFactors;
private int[][][][][] readings;
private Tycho reference;
public EnemyRobot(ScannedRobotEvent e, Tycho reference) {
this.reference = reference;
statistics = new double[Helper.DISTANCE][Helper.BINS];
guessFactors = new double[Helper.DISTANCE][Helper.VELOCITIES][Helper.MOVE_TIMES][Helper.HEADINGS][Helper.BEARINGS][Helper.GUESS_FACTORS];
readings = new int[Helper.DISTANCE][Helper.VELOCITIES][Helper.MOVE_TIMES][Helper.HEADINGS][Helper.BEARINGS];
name = e.getName();
heading = e.getHeadingRadians();
lastHeading = heading;
bearing = e.getBearingRadians();
lastBearing = bearing;
absoluteBearing = bearing + reference.getHeadingRadians();
lastAbsoluteBearing = absoluteBearing;
distance = e.getDistance();
location = Helper.project(reference.getLocation(), absoluteBearing, distance);
lastLocation = location;
energy = e.getEnergy();
hasFired = false;
velocity = e.getVelocity();
lastVelocity = velocity;
lastMoveTime = 0;
waves = new ArrayList<Wave>();
incomingBullets = new ArrayList<BulletWave>();
surfDirections = new ArrayList<Integer>();
surfBearings = new ArrayList<Double>();
}
/**
* Updates the local energy variable with the energy reading
* and computes the power of the "bullet." If the energy drop
* is within the tolerance levels for a shot, the bullet power
* is returned. Otherwise, -1 is returned.
*/
public double getBulletPower(double energyReading) {
double power = energy - energyReading;
energy = energyReading;
if(power < 3.01 && power > 0.09) {
return power;
}
return -1.0;
}
/**
* Returns true if the robot has fired (actually two ticks ago)
*
* NOT VALID AFTER A CALL TO bulletPower OR bulletVelocity
*/
public boolean hasFired() {
return hasFired;
}
/**
* Determines if the shot should be tracked
*/
public boolean shouldTrackShot() {
return surfDirections.size() > 2;
}
/**
* Returns the closest wave in the array
*/
public Wave getClosestWave() {
double closest = 5000000;
Wave closestWave = null;
for(Wave wave : waves) {
double distance = wave.distanceFrom(reference.getLocation());
if(distance < closest) {
closestWave = wave;
closest = distance;
}
}
return closestWave;
}
public double getStatistic(int distance, int index) {
return statistics[distance][index];
}
/**
* Analyzes a bullet fired from this robot that struck Tycho
*/
public void processBulletHit(HitByBulletEvent e) {
if(!waves.isEmpty()) {
Point2D.Double hitLocation = new Point2D.Double(e.getBullet().getX(), e.getBullet().getY());
Wave hitWave = null;
for(Wave wave : waves)
if(wave.didHit(reference.getLocation(), e.getBullet().getPower())) {
hitWave = wave;
break;
}
if(hitWave != null) {
noteHit(hitWave, hitLocation);
waves.remove(hitWave);
}
}
}
/**
* Draws aspects of the robot
*/
public void draw(Graphics2D g) {
g.setColor(Color.red);
for(Wave wave : waves) {
int x = (int) (wave.getOrigin().x - wave.getDistanceTraveled());
int y = (int) (wave.getOrigin().y- wave.getDistanceTraveled());
int diameter = (int) (wave.getDistanceTraveled() * 2);
g.drawOval(x, y, diameter, diameter);
}
g.setColor(Color.green);
for(Wave wave : incomingBullets) {
int x = (int) (wave.getOrigin().x - wave.getDistanceTraveled());
int y = (int) (wave.getOrigin().y- wave.getDistanceTraveled());
int diameter = (int) (wave.getDistanceTraveled() * 2);
g.drawOval(x, y, diameter, diameter);
}
}
/**
* Updates the statistics tracking array
*/
private void noteHit(Wave wave, Point2D.Double target) {
int distance = Helper.getDistanceSegment(target.distance(wave.getOrigin()));
int index = Helper.getFactorIndex(wave, target);
for(int i = 0; i < Helper.BINS; i++)
statistics[distance][i] += 1.0 / (Math.pow(index - i, 2) + 1);
}
/**
* Updates the waves we're currently tracking
*/
private void updateWaves() {
for(int i = waves.size() - 1; i >= 0; i--) {
Wave wave = waves.get(i);
wave.update(reference.getTime());
if(wave.didBreak(reference.getLocation()))
waves.remove(i);
}
}
/**
* Determines if new waves should be added to the arrayList
*/
private void addNewWavesIfNeeded() {
if(hasFired && shouldTrackShot()) {
waves.add(new Wave(this,
(Point2D.Double) lastLocation.clone(),
reference.getTime(),
getBulletPower(),
surfBearings.get(2),
surfDirections.get(2)));
}
}
// --------------- BulletWave code ---------------- //
public void addIncomingBullet(BulletWave bullet) {
incomingBullets.add(bullet);
}
/**
* Updates the incoming bullets array
*/
public void updateIncomingBullets() {
for (int i = 0; i < incomingBullets.size(); i++) {
BulletWave currentWave = incomingBullets.get(i);
if (currentWave.checkHit(location, reference.getTime()))
incomingBullets.remove(currentWave);
}
}
// ------------- Getters and Setters -------------- //
/**
* Updates the robots current stats
*/
public void update(ScannedRobotEvent e) {
setEnergy(e.getEnergy());
setVelocity(e.getVelocity());
setDistance(e.getDistance());
setHeading(e.getHeadingRadians());
setBearing(e.getBearingRadians());
setAbsoluteBearing(e.getBearingRadians() + reference.getHeadingRadians());
setLocation(Helper.project(reference.getLocation(), absoluteBearing, distance));
double lateralVelocity = reference.getVelocity() * Math.sin(e.getBearingRadians());
surfDirections.add(0, lateralVelocity > 0 ? 1 : -10);
surfBearings.add(0, absoluteBearing + Math.PI);
addNewWavesIfNeeded();
updateWaves();
updateIncomingBullets();
}
/**
* Returns the statistics array
*/
// public double[] getStatistics() {
// return statistics;
// }
/**
* Returns the power of the last recorded shot
*/
public double getBulletPower() {
if(hasFired)
hasFired = !hasFired;
return bulletPower;
}
/**
* Returns the velocity of the last recorded shot
*/
public double getBulletVelocity() {
if(hasFired)
hasFired = !hasFired;
return bulletVelocity;
}
/**
* Sets the current distance to enemy
*/
public void setDistance(double value) {
distance = value;
}
/**
* Returns the last measured distance to the enemy
*/
public double getDistance() {
return distance;
}
/**
* Sets the enemy heading to the given value
*/
public void setHeading(double value) {
lastHeading = heading;
heading = value;
}
/**
* Alters the enemy heading by delta
* @param delta
*/
public void changeHeading(double delta) {
lastHeading = heading;
heading += delta;
}
/**
* Returns the heading of this robot
*/
public double getHeading() {
return heading;
}
/**
* Returns the last heading
*/
public double getLastHeading() {
return lastHeading;
}
/**
* Sets the enemy bearing to the given value
*/
public void setBearing(double value) {
lastBearing = bearing;
bearing = value;
}
/**
* Alters the enemy bearing by delta
* @param delta
*/
public void changeBearing(double delta) {
lastBearing = bearing;
bearing += delta;
}
/**
* Returns the bearing of this robot
*/
public double getBearing() {
return bearing;
}
/**
* Returns the last bearing
*/
public double getLastBearing() {
return lastBearing;
}
/**
* Sets the enemy velocity to the given value
*/
public void setVelocity(double value) {
lastVelocity = velocity;
velocity = value;
}
/**
* Alters the velocity by delta
* @param delta
*/
public void changeVelocity(double delta) {
lastVelocity = velocity;
velocity += delta;
}
/**
* Returns the current velocity
*/
public double getVelocity() {
return velocity;
}
/**
* Returns the last velocity
*/
public double getLastVelocity() {
return lastVelocity;
}
/**
* Sets the enemy bearing to the given value
*/
public void setAbsoluteBearing(double value) {
lastAbsoluteBearing = absoluteBearing;
absoluteBearing = value;
}
/**
* Alters the enemy bearing by delta
* @param delta
*/
public void changeAbsoluteBearing(double delta) {
lastAbsoluteBearing = absoluteBearing;
absoluteBearing += delta;
}
/**
* Returns the bearing of this robot
*/
public double getAbsoluteBearing() {
return absoluteBearing;
}
/**
* Returns the last bearing of this robot
*/
public double getLastAbsoluteBearing() {
return lastAbsoluteBearing;
}
/**
* sets the energy to the specified value and determines if a shot
* has been fired
*/
public void setEnergy(double value) {
double power = energy - value;
energy = value;
if(power < 3.01 && power > 0.09) {
hasFired = true;
bulletPower = power;
bulletVelocity = Helper.bulletVelocity(bulletPower);
}
}
/**
* Adjusts the energy by delta
*/
public void changeEnergy(double delta) {
energy += delta;
}
/**
* returns the current energy
*/
public double getEnergy() {
return energy;
}
/**
* Sets the location of the enemy robot
*/
public void setLocation(Point2D.Double point) {
lastLocation = location;
location = (Point2D.Double) point.clone();
if(lastLocation.distance(location) > 1)
lastMoveTime = reference.getTime();
}
/**
* Returns a copy of the current location
*/
public Point2D.Double getLocation() {
return (Point2D.Double) location.clone();
}
/**
* Returns a copy of the last location
*/
public Point2D.Double getLastLocation() {
return (Point2D.Double) location.clone();
}
/**
* Returns the appropriate segment in the guessFactors array
*/
public double[] getGuessFactorArray() {
return guessFactors[Helper.getDistanceSegment(distance)]
[Helper.getVelocitySegment(velocity)]
[Helper.getTimeSegment(reference.getTime() - lastMoveTime)]
[Helper.getHeadingSegment(heading)]
[Helper.getBearingSegment(absoluteBearing)];
}
/**
* Returns the appropriate reading value
*/
public int[] getCurrentReadingArray() {
return readings[Helper.getDistanceSegment(distance)]
[Helper.getVelocitySegment(velocity)]
[Helper.getTimeSegment(reference.getTime() - lastMoveTime)]
[Helper.getHeadingSegment(heading)];
}
public int getCurrentReadingIndex() {
return Helper.getBearingSegment(absoluteBearing);
}
/**
* Returns the time since the last location change
*/
public long getTimeSinceLastMove() {
return reference.getTime() - lastMoveTime;
}
/**
* Resets the robot to starting conditions minus the stats and guessFactor arrays
*/
public void reset(Tycho reference) {
this.reference = reference;
heading =0;
lastHeading = heading;
bearing = 0;
lastBearing = bearing;
absoluteBearing = 0;
lastAbsoluteBearing = absoluteBearing;
distance = 0;
location = Helper.project(reference.getLocation(), absoluteBearing, distance);
lastLocation = location;
energy = 0;
hasFired = false;
velocity = 0;
lastVelocity = velocity;
lastMoveTime = 0;
waves.clear();
incomingBullets.clear();
surfDirections.clear();
surfBearings.clear();
}
/**
* Prints out information about the robot
*/
public String toString() {
return ("------------------------------" +
"\nName: " + name +
"\nLocation: " + location.toString() +
"\nEnergy: " + energy +
"\nLast known velocity: " + lastVelocity);
}
}