143 lines
3.3 KiB
C
143 lines
3.3 KiB
C
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#include "control.h"
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#include <math.h>
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#include <stdlib.h>
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#include <assert.h>
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struct angle {
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double a;
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int c;
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};
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typedef struct angle angle;
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gint cmp_angle(gconstpointer _a, gconstpointer _b, gpointer p) {
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const angle *a = (const angle*) _a, *b = (const angle*) _b;
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UNUSED(p);
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return (a->a == b->a) ? 0 : (a->a < b->a) ? -1 : 1;
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}
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void angle_free(angle* a) {
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g_slice_free(angle, a);
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}
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angle* angle_new(double a, int c) {
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angle *x = g_slice_new(angle);
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x->a = a; x->c = c;
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return x;
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}
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static double fixangle(double a) {
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while (a < -180) a += 360;
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while (a > 180) a -= 360;
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return a;
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}
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void goradar(trial *t) {
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vehicle v;
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telemetry *tm;
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GSequence *angles = g_sequence_new((GDestroyNotify) angle_free);
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GSequenceIter *prev, *cur, *end;
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angle *acur, *aprev;
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double hang, ang = 1000, weight = 0;
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int c;
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guint i;
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v = t->sim.tm.vehicle;
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hang = atan2(-v.y, -v.x)*180/M_PI;
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tm = &t->sim.tm;
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g_sequence_insert_sorted(angles, angle_new(-45, 0), cmp_angle, NULL);
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g_sequence_insert_sorted(angles, angle_new(45, 0), cmp_angle, NULL);
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for (i = 0; i < tm->objects->len; i++) {
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object *o = &g_array_index(tm->objects, object, i);
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double phi, phi2, avoid = 0, oangle;
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double distance = sqrt((o->y - v.y) * (o->y - v.y) + (o->x - v.x) * (o->x - v.x));
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oangle = fixangle(atan2(-o->y, -o->x)*180/M_PI - hang);
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if (fabs(oangle) > 180) continue;
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// if (distance > 100) continue;
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phi = fixangle(atan2(o->y - v.y, o->x - v.x)*180/M_PI - hang);
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if (fabs(phi) > 45) continue;
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switch (o->type) {
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case BOLDER:
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avoid = 1.2 * o->rad + VEHICLE_RADIUS; break;
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case CRATER:
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avoid = 1.2 * o->rad + VEHICLE_RADIUS + 1; break;
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case MARTIAN:
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avoid = o->rad + VEHICLE_RADIUS + 5; break;
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}
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phi2 = atan(avoid / distance )*180/M_PI;
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g_sequence_insert_sorted(angles, angle_new(phi - phi2, 1), cmp_angle, NULL);
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g_sequence_insert_sorted(angles, angle_new(phi + phi2, -1), cmp_angle, NULL);
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}
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prev = g_sequence_get_begin_iter(angles), end = g_sequence_get_end_iter(angles);
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if (prev != end) {
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aprev = (angle*) g_sequence_get(prev);
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c = aprev->c;
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while ((cur = g_sequence_iter_next(prev)) != end) {
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acur = (angle*) g_sequence_get(cur);
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assert(aprev->a <= acur->a);
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if (!c) {
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// fprintf(stderr, "Gap between %f and %f\n", aprev->a, acur->a);
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if (acur->a - aprev->a > 1) {
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double ax, ad, w1 = 1E20, w2 = 1E20, w;
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if (aprev->a <= 0) {
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if (acur->a <= 0) {
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ax = acur->a;
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} else {
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ax = 0;
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}
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} else {
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ax = aprev->a;
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}
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if (ax != 0) w1 = 1/fabs(ax);
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ad = fixangle(ax - v.dir + hang);
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if (ad != 0) w2 = 1/fabs(ad);
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w = w1+w2;
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if (w > weight) {
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fprintf(stderr, "Selected %f\n", ax);
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ang = ax;
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weight = w;
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}
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}
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}
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c += acur->c;
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prev = cur;
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aprev = acur;
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}
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}
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if (weight == 0) {
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fprintf(stderr, "Potential\n");
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godown(t);
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return;
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}
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ang = fixangle(ang - v.dir + hang);
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fprintf(stderr, "Angle: %f, objects: %u\n", ang, tm->objects->len);
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if (ang < 1) {
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if (ang < -50) {
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vehicle_hard_right(t);
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} else {
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vehicle_right(t);
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}
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} else if (ang > 1) {
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if (ang > 50) {
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vehicle_hard_left(t);
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} else {
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vehicle_left(t);
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}
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}
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ang = fabs(ang);
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if (ang > 90) {
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vehicle_break(t);
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} else if (ang > 45) {
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vehicle_roll(t);
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} else {
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vehicle_accel(t);
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}
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}
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