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icfp11/src/radar.c

162 Zeilen
3.8 KiB
C

#include "control.h"
#include <math.h>
#include <stdlib.h>
#include <assert.h>
struct angle {
double a;
int c;
};
typedef struct angle angle;
gint cmp_angle(gconstpointer _a, gconstpointer _b, gpointer p) {
const angle *a = (const angle*) _a, *b = (const angle*) _b;
UNUSED(p);
return (a->a == b->a) ? 0 : (a->a < b->a) ? -1 : 1;
}
void angle_free(angle* a) {
g_slice_free(angle, a);
}
angle* angle_new(double a, int c) {
angle *x = g_slice_new(angle);
x->a = a; x->c = c;
return x;
}
static double fixangle(double a) {
while (a < -180) a += 360;
while (a > 180) a -= 360;
return a;
}
int distance_weight(double distance) {
if (distance > 50) {
if (distance > 150) return 0;
else return 1;
} else {
if (distance > 20) return 10;
else return 200;
}
}
static inline gboolean insert_object(GSequence *angles, object *o, vehicle *v, double ve_ho_angle) {
double phi, phi2, avoid = 0, oangle;
double distance;
int distweight;
distance = sqrt((o->y - v->y) * (o->y - v->y) + (o->x - v->x) * (o->x - v->x));
distweight = distance_weight(distance - o->rad);
if (distweight == 0) return FALSE;
oangle = fixangle(atan2(-o->y, -o->x)*180/M_PI - ve_ho_angle);
if (fabs(oangle) > 90) return FALSE;
phi = fixangle(atan2(o->y - v->y, o->x - v->x)*180/M_PI - ve_ho_angle);
if (fabs(phi) > 120) return FALSE;
switch (o->type) {
case BOLDER:
avoid = 1 * o->rad + VEHICLE_RADIUS + 1; break;
case CRATER:
avoid = 1 * o->rad + VEHICLE_RADIUS + 2; break;
case MARTIAN:
/* todo: guess martian movement */
avoid = o->rad + VEHICLE_RADIUS + 5; break;
}
phi2 = atan(avoid / distance )*180/M_PI;
g_sequence_insert_sorted(angles, angle_new(phi - phi2, 1), cmp_angle, NULL);
g_sequence_insert_sorted(angles, angle_new(phi + phi2, -1), cmp_angle, NULL);
return TRUE;
}
void goradar(trial *t) {
vehicle v;
telemetry *tm;
GSequence *angles = g_sequence_new((GDestroyNotify) angle_free);
GSequenceIter *prev, *cur, *end;
angle *acur, *aprev;
double ve_ho_angle, ang = 1000, weight = 0;
int c;
GHashTableIter iter;
guint i, objects = 0;
gpointer key;
object *value;
v = t->sim.tm.vehicle;
ve_ho_angle = atan2(-v.y, -v.x)*180/M_PI;
tm = &t->sim.tm;
g_sequence_insert_sorted(angles, angle_new(-120, 0), cmp_angle, NULL);
g_sequence_insert_sorted(angles, angle_new(120, 0), cmp_angle, NULL);
for (i = 0; i < tm->objects->len; i++) {
object *o = &g_array_index(tm->objects, object, i);
if (insert_object(angles, o, &v, ve_ho_angle)) objects++;
}
g_hash_table_iter_init(&iter, t->map.solid_objects);
while (g_hash_table_iter_next(&iter, &key, (gpointer*) &value)) {
if (insert_object(angles, value, &v, ve_ho_angle)) objects++;
}
prev = g_sequence_get_begin_iter(angles), end = g_sequence_get_end_iter(angles);
if (prev != end) {
aprev = (angle*) g_sequence_get(prev);
c = aprev->c;
while ((cur = g_sequence_iter_next(prev)) != end) {
acur = (angle*) g_sequence_get(cur);
assert(aprev->a <= acur->a);
if (acur->a - aprev->a > 1) {
double ax, w;
if (aprev->a <= 0) {
if (acur->a <= 0) {
ax = acur->a;
} else {
ax = 0;
}
} else {
ax = aprev->a;
}
w = 30 - fabs(ax)/30 - c;
// fprintf(stderr, "Angle %f, weight %f\n", ax, w);
if (w > weight) {
// fprintf(stderr, "Selected %f\n", ax);
ang = ax;
weight = w;
}
}
c += acur->c;
prev = cur;
aprev = acur;
}
}
ang = fixangle(ang - v.dir + ve_ho_angle);
// fprintf(stderr, "Angle: %f, objects: %u\n", ang, objects);
if (ang < 1) {
if (ang < -15) {
vehicle_hard_right(t);
} else {
vehicle_right(t);
}
} else if (ang > 1) {
if (ang > 15) {
vehicle_hard_left(t);
} else {
vehicle_left(t);
}
}
ang = fabs(ang);
if (ang > 90) {
vehicle_break(t);
} else if (ang > 60) {
vehicle_roll(t);
} else {
vehicle_accel(t);
}
}