package wd;
import robocode.*;
import java.awt.Color;
import java.awt.geom.Point2D;
public class Wangdong extends AdvancedRobot
{
static double nextMove; //the time before our next move
final static int storedInfo = 800; //how many frames we store in our pattern analyzer.
//not too large to get fresh details on target quickly,
//but large enough to remember the opponents behavior a little while
static double[][] pattern = new double[storedInfo][4]; //all stored info about our enemy
public void run() {
setAdjustRadarForGunTurn(true);
setAdjustGunForRobotTurn(true);
Color c = Color.darkGray.brighter();
setColors( c , c , new Color( 162 , 244 , 89 ) ); //new and better ninja colors:-p
while( true ) {
turnRadarRightRadians( Double.POSITIVE_INFINITY ); //turn radar to find a target
}
}
public void onScannedRobot(ScannedRobotEvent e) {
int time = (int) getTime() % storedInfo; // store time to save codesize
double targetBearing = getHeadingRadians() + e.getBearingRadians();
double ourX = getX(); //store own coordinates
double ourY = getY(); //-"-
double firePower = Math.min( 3 , 30 * getEnergy() / e.getDistance() ); //powersaving when far from target and low on energy
//movement code
/**
* 在场地中随机寻找一点作为运动的目标点（这一点要满足离墙不能太近，而且如果要过去这一点，我需要的用方向要满足不能和当前正在运动的方向相差太少
* 也就是要>minimumAngleDifference，也不能于相对敌人的方向相差太少，要>2 * minimumAngleDifference,意思就是说，方向要变多些，不能看起来
* 跟没改变差不多，也不能向着敌人冲过去。minimumAngleDifference是一个自己设定的数，因该是经过测试和塞选出来的，为什么要跟a有关，也就是为什么
* 循环到后面minimumAngleDifference越小？因为万一前面找不到满足条件的角度呢？那么后面，限制就因该小一些)
* nextMove = e.getDistance() / ( 29 - 3 * firePower );if ( nextMove-- <= 0 )的意思是在敌人第二发子弹快要发出的时候改变运动目标点
*/
if ( nextMove-- <= 0 ) { //it's time to make our next move
for ( double a = 0 ; a < 500 ; a++ ) {
double testX = Math.random() * getBattleFieldWidth(); //make random test points
double testY = Math.random() * getBattleFieldHeight(); //-"-
double distToWall = Math.min( testX , getBattleFieldWidth() - testX ) * Math.min( testY , getBattleFieldHeight() - testY ); //check the product of the distance to the shortest walls
if ( distToWall > 7600 ) { //make sure the point is within the current wall tolerance (which is always 7600 in this bot which is good for a 800 x 600 battlefield)
//use point if angle to point is a certain amount from angle to target
double ourAngleToPoint = getAngle( ourX , ourY , testX , testY ); //angle to the testpoint
double minimumAngleDifference = ( ( 500 - a ) / 500 ) * Math.PI / 6; //minimumAngleDifference is the smallest angle difference to accept
if ( Math.abs( angle_180( targetBearing ) - ourAngleToPoint ) > 2 * minimumAngleDifference
&& Math.abs( angle_180( getHeadingRadians() ) - ourAngleToPoint ) > minimumAngleDifference ) {
double turnAngle = angle_180( getAngle( ourX , ourY , testX , testY ) - getHeadingRadians() ); //calculate angle to turn to next point
//decide which direction to go to reach our point as soon as possible
double moveDirection = 1; //use front if next check is false
if ( Math.abs( turnAngle ) > Math.PI / 2 ) { //if angle is greater than PI / 2 in either directions
moveDirection = - 1; //switch direction
turnAngle += Math.acos( moveDirection ); //and change turnangle acordingly
}
setTurnRightRadians( angle_180( turnAngle ) ); //make turn
setAhead( moveDirection * Point2D.Double.distance( ourX , ourY , testX , testY ) ); //move towards point
break;
}
}
}
//make nextMove a little before a bullet will reach you next time
nextMove = e.getDistance() / ( 29 - 3 * firePower ); //use own firePower here to save space. The enemy is likely to use about the same power as us since firepower often is based on own energy
}
setMaxVelocity( getTurnRemaining() > 45 ? 0.001 : 8 ); //adjust velocity when turning to make sharper turns
//end of movement
//pattern analyzer
/**
* 射击策略主要思路是用一个800长度的数组纪录一个直线提前量射击策略的PredictionAngle
* 每个记录点都记录从自己子弹到敌人这段时间（子弹假定能量为3，敌人假定为不动，虽然这样不精确，但是也只能这样，你知道敌人怎样动？如果知道你还计算啥？）
* 里PredictionAngle的累加
* 需要射击时，寻找一个历史中（所有以前的记录节点中）完成了累加的，而且与目前的PredictionAngle最相似的记录节点（也就是以PredictionAngle最相似
* 就视为运动方式最相似），那么，敌人以后的运动因该和历史中的那段运动情况很相似（也就是历史重现）。
* 找到了历史要重现的地方了，那么用那段历史中的平均PredictionAngle作为射击Angle射击
*
* 这种射击方式就是寻找历史中和你现在运动相似的情况，所以如果你的运动有规律的话，他能很好的找出你下一步会怎样走，那么，你被命中的几率就很大
* 这也正是作者的运动采用随机运动的原因。
*/
int match = 0;
pattern[ time ][0] = e.getDistance() / ( 20 - 3 * firePower ); //store time before we will use this angle in our analyzer
pattern[ time ][1] = e.getVelocity() * Math.sin( e.getHeadingRadians() - targetBearing ); //store linear prediction angle
/**
* pattern[ time ][1] = e.getVelocity() * Math.sin( e.getHeadingRadians() - targetBearing );
* 正弦定理e.getVelocity()/Math.sin(predictionAngle)==myBulletVelocity/Math.sin(e.getHeadingRadians() - targetBearing);
* 所以pattern[ time ][1]==myBulletVelocity*Math.sin(predictionAngle)；
* 也就是说pattern[ time ][1]记录的是直线提前量的射击角度与自己子弹速度的乘积
*/
pattern[ time ][2] = pattern[ time ][3] = 0; //reset values used to store our target's actual move
for ( int a = 0; a < storedInfo; a++ ) {
//每个记录点pattern[a]中，如果当前时间是在我的子弹到达敌人之前则累加计算到的myBulletVelocity*Math.sin(predictionAngle)值；
//同时记录累加了多少次（pattern[ a ][3]的值）
if ( pattern[ a ][0] > 0 ) { //if angle is under evaluation
pattern[ a ][2] += e.getVelocity() * Math.sin( e.getHeadingRadians() - targetBearing ); //add angle to prediction
pattern[ a ][0]--; //decrease time before use
pattern[ a ][3]++; //increase counter for number of angles used
}
}
//在历史中（所有记录中）寻找一个和目前的myBulletVelocity*Math.sin(predictionAngle)值最相近的记录点（这个纪录点必须是累加完毕的点pattern[a][0]<0)
//把�
