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Hi,
this is a robot that i wrote for fun some time ago.
I'm no ruby expert, and i'd quite sure most of you would have
done it in a better way, but I'm very curious to see how it will
perform vs some other serious robot.
The name is also stupid, but i choosed it to tease a friend of mine
who called his robots "Guybrush" :)
--
Ciao
Maurizio
"Well we all shine on
Like the moon and the stars and the sun" (John Lennon)
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require 'robot'
History truct.new(:x, :y, :t, :prec)
class GayRush
Margin 00
MinRefl 0
FlurryAngle include Robot
def clamp(val, min, max)
return val < min ? min : (val > max ? max : val)
end
def turn_to(dir)
unless dir
return 0
end
delta2 dir + 360 - @heading) % 360
delta1 @heading + 360 - dir) % 360
if(delta1 < delta2)
if delta1 < 0
return -delta1
else
return -10
end
else
if delta2 < 0
return delta2
else
return 10
end
end
end
def turn_gun_to(dir)
unless dir
return 0
end
delta2 dir + 360 - @gun_heading) % 360
delta1 @gun_heading + 360 - dir) % 360
if(delta1 < delta2)
if delta1 < 0
return -delta1
else
return -20
end
else
if delta2 < 0
return delta2
else
return 20
end
end
end
def tick(events)
if time
# - obsolete heuristic
#@oldavx attlefield_height/2
#@avx attlefield_height/2
#@oldavy attlefield_width/2
#@avy attlefield_width/2
@radarstep0
@flurry @last_not_f
@dist
puts "GayRush> Do you think you are stronger than me?"
@h rray.new(3) { History.new(800.to_f,800.to_f,0.to_f,0.to_f) }
end
guntrn
# check if the enemy was detected
if events['robot_scanned'].empty?
#update the radar position
if @radarstep.abs<60
if not @was_seen
#look alternatively left and right with 2x bigger windows
@radarstep*
else
# if we did not find the robot (but the prev tick it had
# been found) simply move forward the radar
@radarstep*2
end
end
@radarstep lamp( @radarstep, -60, 60)
if not @was_seen
@escape_to il
end
@was_seen il
@last_not_f ime
else #seen
# get the distance of the robot
@dist vents['robot_scanned'].flatten.min
# this is the average angle we are looking at
angle radar_heading - @radarstep * 0.5
#invert the direction of the radar if we have seen something
@radarstep* .5
# mark that we have seen something
@was_seen rue
# choose the direction to move to try to escape enemy hits
dir dist>700 ? 75 : (@dist < 400 ? 135 : (@dist < 550 ? 105 : 90) )
@escape_to ngle + (((time / 100) % 2 0) ? dir : -dir)
# where we guess that the enemy is
guess_x + @dist * Math.cos( angle * (Math::PI / 180.0))
guess_y + @dist * -Math.sin( angle * (Math::PI / 180.0))
#update the history, of the radar step is small enough
prec radarstep.abs
if prec <
if (@h[2].t>time-8) and (prec<@h[2].prec) and
@h[2].prec > 1
# replace the last entry with a more accurate one
@h[2] istory.new( guess_x.to_f, guess_y.to_f,
@time.to_f, prec.to_f )
else
# set the new last entry
@h.shift
@h << History.new( guess_x.to_f, guess_y.to_f,
@time.to_f, prec.to_f )
end
end
# - update the heuristic (obsolete)
#fact1 .7
#fact2 .3
#@avx avx * (1-fact1) + guess_x * fact1
#@avy avy * (1-fact1) + guess_y * fact1
#@oldavx oldavx * (1-fact2) + guess_x * fact2
#@oldavy oldavy * (1-fact2) + guess_y * fact2
#if gun_heat 0
# fire 0.5
#end
end
##########################################################################
# Take the aim
##########################################################################
# - obsolete heuristic aiming
#advfact dist * 0.008
#shx @avx - @oldavx)*advfact + @avx
#shy @avy - @oldavy)*advfact + @avy
# take the aim linearly
# guess the time at which the cannonball will reach the enemy
sht time + @dist / 30
ratio sht-@h[2].t) / (@h[2].t-@h[1].t).to_f
# this is the delta position vector
vx h[2].x - @h[1].x;
vy h[2].y - @h[1].y;
# this is the linear guess
shx h[2].x + vx*ratio
shy h[2].y + vy*ratio
# add a correction to be better vrt non linear robots (optional)
# this is the delta position vector
dx h[1].x - @h[0].x;
dy h[1].y - @h[0].y;
ratio2 sht-@h[2].t) / (@h[1].t-@h[0].t).to_f
# apply Gram-Schmidt to orthogonalize relatively to v[xy]
fact dx*vx+dy*vy) / (vx*vx+vy*vy).to_f
latx x - fact*vx;
laty y - fact*vy;
# subtract a section of the orthogonal vector proportional to the time
shx hx - latx*ratio2
shy hy - laty*ratio2
#calculate the angle at which the cannon should be aiming
angle2 ath::atan2( -shy+y, shx-x ) * (180.0 / Math::PI);
guntrn urn_gun_to(angle2)
##########################################################################
# Reflect against the borders
##########################################################################
if @target_angle.nil?
if @x<Margin and (@heading>and @heading<'0)
@target_angle and(180 - MinRefl*2) + 270 + MinRefl
elsif @y<Margin and (@heading<0)
@target_angle and(180 - MinRefl*2) + 180 + MinRefl
elsif @x>(battlefield_width-Margin) and (@heading<or @heading>'0)
@target_angle and(180 - MinRefl*2) + 90 + MinRefl
elsif @y>(battlefield_height-Margin) and (@heading>0)
@target_angle and(180 - MinRefl*2) + MinRefl
end
end
turnangle
if @target_angle
turnangle urn_to(@target_angle)
if turnangle 0
@target_angle il
end
else
turnangle urn_to(@escape_to)
end
oldflurrylurry #adjust
@flurry
nd(2*FlurryAngle+1)-FlurryAngle
@flurry if @radarstep.abs >20
turn turnangle
turn_gun guntrn+@flurry-oldflurry-turnangle
#radar movement should be flurry independent
turn_radar @radarstep-guntrn-@flurry+oldflurry
#XXX: adjust aim when strafing
accelerate(8)
#fire small bullets
fire 0.1
if not events['got_hit'].empty?
puts "GayRush> Ouch!"
end
end #tick
end #class
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