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mhmmdshirazimhmmdshirazi
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something with a lot of bugs plz dont use it
1 parent c300cb6 commit a2b96e1

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2 files changed

+44
-43
lines changed

2 files changed

+44
-43
lines changed

‎src/my_strategy.rs

Lines changed: 42 additions & 41 deletions
Original file line numberDiff line numberDiff line change
@@ -467,55 +467,60 @@ impl MyStrategy {
467467
}
468468
return (position,velocity);
469469
}
470-
470+
fn gtp_action(&self,me : &Robot, target_main: &Vec2, action: &mut Action) {
471+
let target = MyStrategy::gtp_target_validation(*target_main, &self.rules, &me);
472+
let dist = me.position().dist(target);
473+
let diff = target - me.position();
474+
let angle = (diff.y).atan2(diff.x);
475+
let mut vel = (2.0*(self.rules.ROBOT_ACCELERATION )*dist).sqrt();
476+
if dist <= 0.02 {
477+
vel = 0.0;
478+
}
479+
if vel >= self.rules.ROBOT_MAX_GROUND_SPEED {
480+
vel = self.rules.ROBOT_MAX_GROUND_SPEED;
481+
}
482+
Self::set_robot_vel(angle, vel, 0.0,action);
483+
}
471484
fn god_simulation (&mut self , _ball : Ball,_touch_point : Vec3,_target : Vec3, _time_availabe : f64, _k_mode : KickMode) -> (bool,Vec3,f64,f64,f64,f64){
472-
let mut me = self.me.clone();//real_me_0.clone();
485+
let mut me = self.me.clone();// self.real_me_0.clone();
486+
let mut ballCopy = _ball.clone();
473487
// let mut last_me = self.robot_hist_0[0].clone();
474-
// if self.me.id == 2 || self.me.id == 4 {
475-
// last_me = self.robot_hist_1[0].clone();
476-
// me = self.real_me_1.clone();
477-
// }
488+
if self.me.id == 2 || self.me.id == 4 {
489+
// last_me = self.robot_hist_1[0].clone();
490+
me = self.real_me_1.clone();
491+
}
478492
let step_time = GLOBAL_STEP_TIME;
479-
let mut position = me.position3();
480-
let mut vel = me.velocity3();
481-
let ball_pos = _ball.position3();
482-
let touch_point = _touch_point.toVec2();
483493
let mut result = (false,Vec3::new(0.0,0.0,0.0),0.0,0.0,0.0,0.0);
484494
let mut found_best_sol = false;
485495
let mut _vir_robot_target = Vec2::new(0.0,0.0);
486496
let mut jump_tick_time = 0.0;
487497
let mut best_jump_speed = 0.0;
488498
let mut best_speed = 0.0;
489-
_vir_robot_target = touch_point;
490499
let mut waste_time = 1000.0;
491500
let mut can_jump = 1000.0;
492501
let mut selected_path = [Vec3::new(0.0,0.0,0.0) ;600];
493502
let mut vecDastan = Vec2::new(0.0,0.0);
494503
let me_copy = self.me.clone();
495-
let robottravel_time = self.travel_time_alt(position.toVec2(), vel.toVec2(),&(_touch_point.toVec2()));
504+
let robottravel_time = self.travel_time_alt(me.position(),me.velocity(),&(_touch_point.toVec2()));
496505
if _time_availabe - robottravel_time < step_time {
497506
waste_time = 0.0;
498507
}
499-
508+
let mut virtualAct = Action::default();
500509
let mut can_touch_ball = false;
501510
for i in 0..(((_time_availabe)*(self.rules.TICKS_PER_SECOND as f64)) as usize + 20) {
502-
selected_path[i] = position;
503-
self.my_drawer.draw(position,0.5,(1.0,0.0,0.0));
504511

512+
selected_path[i] = me.position3();
513+
self.my_drawer.draw(me.position3(),0.5,(1.0,0.0,0.0));
505514
let _time = (i as f64) / ((self.rules.TICKS_PER_SECOND as f64) );
506-
let mut _time_to_reach = self.travel_time_alt(position.toVec2(), vel.toVec2(), &(touch_point));
515+
let mut _time_to_reach = self.travel_time_alt(me.position(), me.velocity(), &(_touch_point.toVec2()));
507516
let extera_time = _time_availabe - _time_to_reach - _time;
508517
if extera_time > step_time {
509518
let maxSpeedDist = self.rules.ROBOT_MAX_GROUND_SPEED*self.rules.ROBOT_MAX_GROUND_SPEED / self.rules.ROBOT_ACCELERATION ;
510-
let mut altPoint = touch_point - (Vec2::new(0.0,1.0));
511-
512-
519+
let mut altPoint = _touch_point.toVec2();// - (Vec2::new(0.0,1.0));
513520
if _k_mode == KickMode::ClearDanger{
514-
altPoint = position.toVec2();
521+
altPoint = me.position();
515522
}
516-
let stepRes = self.god_step_gp(position, vel, altPoint, 0.0);
517-
position = stepRes.0;
518-
vel = stepRes.1;
523+
self.gtp_action(&me, &altPoint, &mut virtualAct);
519524
} else {
520525

521526
for jSpeedFor in (0..(self.rules.ROBOT_MAX_JUMP_SPEED as i64) + 1).rev() {
@@ -535,7 +540,7 @@ impl MyStrategy {
535540
let temp_distBeforJumpDown = ((j_speed/x_speed) + ((j_speed*j_speed)/(x_speed*x_speed) - 2.0*((self.rules.GRAVITY*(_touch_point.h - - self.me.radius ))/(x_speed*x_speed))).sqrt()) / (self.rules.GRAVITY/(x_speed*x_speed));
536541
let jumptimeDown = temp_distBeforJumpDown/x_speed;
537542
///// jump with maximum jump with maximum speed
538-
let effectiveSpeed = vel.toVec2().inner_product(&(touch_point - position.toVec2()).normalize());
543+
let effectiveSpeed = me.velocity().inner_product(&(_touch_point.toVec2() - me.position()).normalize());
539544
let distNeededForThisSpeed = (x_speed*x_speed - effectiveSpeed*effectiveSpeed)/(2.0*self.rules.ROBOT_ACCELERATION);
540545

541546
let temp_distBeforJumpUP = ((j_speed/x_speed) - ((j_speed*j_speed)/(x_speed*x_speed) - 2.0*((self.rules.GRAVITY*(_touch_point.h - self.me.radius))/(x_speed*x_speed))).sqrt()) / (self.rules.GRAVITY/(x_speed*x_speed));
@@ -544,17 +549,17 @@ impl MyStrategy {
544549
let mut temp_distBeforJump = 10000.0;
545550
let mut jump_time = 10000000.0;
546551

547-
if temp_distBeforJumpUP + distNeededForThisSpeed <= position.toVec2().dist(touch_point) {
552+
if temp_distBeforJumpUP + distNeededForThisSpeed <= me.position().dist(_touch_point.toVec2()) {
548553
temp_distBeforJump = temp_distBeforJumpUP;
549554
jump_time= jumptimeUP;
550555
}
551-
else if temp_distBeforJumpDown + distNeededForThisSpeed <= position.toVec2().dist(touch_point){
556+
else if temp_distBeforJumpDown + distNeededForThisSpeed <= me.position().dist(_touch_point.toVec2()){
552557
temp_distBeforJump = temp_distBeforJumpDown;
553558
jump_time= jumptimeDown;
554559
}
555560

556-
if temp_distBeforJump + distNeededForThisSpeed <= position.toVec2().dist(touch_point) {
557-
_vir_robot_target = touch_point;
561+
if temp_distBeforJump + distNeededForThisSpeed <= me.position().dist(_touch_point.toVec2()) {
562+
_vir_robot_target = _touch_point.toVec2();
558563
jump_tick_time = _time_availabe - jump_time;
559564
best_jump_speed = j_speed;
560565
found_best_sol = true;
@@ -566,36 +571,32 @@ impl MyStrategy {
566571
}
567572
let mut _j_for_kick = 0.0;
568573

569-
if _time >= jump_tick_time && ((vel.toVec2().len() - best_speed).abs() < step_time*self.rules.ROBOT_ACCELERATION || vel.toVec2().len() < 0.1) {
574+
if _time >= jump_tick_time{//} && ((me.velocity().len() - best_speed).abs() < step_time*self.rules.ROBOT_ACCELERATION || me.velocity().len() < 0.1) {
570575
_j_for_kick = best_jump_speed;
571576
}
572-
if jump_tick_time < step_time && ((me.velocity().len() - best_speed).abs() < step_time*self.rules.ROBOT_ACCELERATION || vel.toVec2().len() < 0.1){
577+
if jump_tick_time < step_time && ((self.me.velocity().len() - best_speed).abs() < step_time*self.rules.ROBOT_ACCELERATION || self.me.velocity().len() < 0.1){
573578
can_jump = 0.0;
574579
}
575580
// println!("best JS {}" , _j_for_kick);
576-
let stepRes = self.god_step(position, vel, _vir_robot_target, _j_for_kick);
577-
position = stepRes.0;
578-
vel = stepRes.1;
581+
let idealPath = (_touch_point.toVec2() - me.position()).th().deg();
582+
virtualAct.jump_speed = _j_for_kick;
583+
Self::set_robot_vel(idealPath,self.rules.ROBOT_MAX_GROUND_SPEED, _j_for_kick,&mut virtualAct);
579584
}
580-
let mut virtualBot = me.clone();
581-
virtualBot.set_position(&position);
582-
virtualBot.set_velocity(&vel);
585+
Simulation::tick(&mut me, &mut ballCopy, &virtualAct, &self.rules);
583586

584-
if position.dist(ball_pos) < self.me.radius + self.game.ball.radius {
587+
if me.position3().dist(_ball.position3()) < self.me.radius + self.game.ball.radius {
585588
can_touch_ball = true;
586589
}
587-
if (position.dist(_touch_point) < self.rules.ROBOT_MAX_GROUND_SPEED*step_time*20000.0 || _k_mode == KickMode::ClearDanger) && can_touch_ball == true {
590+
if (me.position3().dist(_touch_point) < self.rules.ROBOT_MAX_GROUND_SPEED*step_time*20000.0 || _k_mode == KickMode::ClearDanger) && can_touch_ball == true {
588591
// for j in 0..(((_time_availabe)*(self.rules.TICKS_PER_SECOND as f64)) as usize + 10) {
589592
// self.my_drawer.draw(selected_path[j],0.5,(1.0,0.0,0.0));
590593
// }
591-
self.my_drawer.drawText(format!(" can _jump: {}, robot vel {} , bestVel {} , vel sim {}, height {}",can_jump,me.velocity().len(),best_speed,vel.toVec2().len(),_touch_point.h));
592594
self.my_drawer.draw(Vec3::new(vecDastan.x,vecDastan.y,1.0),1.0,(1.0,1.0,1.0));
593595

594596
result.5 = can_jump;
595597
result.4 = waste_time;
596598
result.3 = extera_time;
597599
result.2 = best_jump_speed;
598-
result.1 = Simulation::simpleRobotBallColideStep(&virtualBot,&_ball,best_jump_speed,&self.rules);
599600
result.0 = true;
600601
break;
601602
}
@@ -880,7 +881,7 @@ impl MyStrategy {
880881
////// if robot reach to the best point faster than ball
881882
if waitForBall > GLOBAL_STEP_TIME{
882883
let maxSpeedDist = self.rules.ROBOT_MAX_GROUND_SPEED*self.rules.ROBOT_MAX_GROUND_SPEED / self.rules.ROBOT_ACCELERATION ;
883-
touch_point = touch_point - (Vec2::new(0.0,1.0));
884+
//touch_point = touch_point - (Vec2::new(0.0,1.0));
884885
if (kMode == KickMode::ClearDanger) {
885886
touch_point = self.me.position().clone();
886887
}

‎src/simulation.rs

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -173,10 +173,10 @@ impl Simulation {
173173
let delta_time = 1.0 / _rules.TICKS_PER_SECOND as f64;
174174
let mut c = 0;
175175
let mut v = Vec3::default();
176-
for _ in 0 .. 99 {
176+
for _ in 0 .. 1 {
177177
let mut collide = false;
178178
let mut col_vel = Vec3::default();
179-
Self::update(_me, _ball, _action, _rules, delta_time / 100.0 as f64, &mut (&mut collide, &mut col_vel));
179+
Self::update(_me, _ball, _action, _rules, delta_time / 1.0 as f64, &mut (&mut collide, &mut col_vel));
180180
if collide {
181181
println!("COL: {:?}", _action);
182182
c += 1;

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