antigravitymove.cpp

AI-CODE坦克机器人 《C++语言学习利器 —AI-CODE坦克机器人》-杜飞雪-源代码

#include <airobot/cpp/SimpleRobot.hpp> 
#include <airobot/commons/Math.hpp> 

class AntiGravityMove: public SimpleRobot{
	
	public:
      void onTick(TickAction* action) {
		if(getFirstOpponent() == null){
			return;
		}
		double min_force = Double.POSITIVE_INFINITY;
		double prefer_heading = 0;
		double seachDist = 80;
		for(double h=0; h<Math::PI*2; h+=Math::toRadians(5)){
			Point2D p = MathUtils::nextPoint(getLocation(),h, seachDist);
			if(!inCourt(p, RADIUS + 5)){
				continue;
			}
			double force = getGravity(p);
			if(force < min_force){
				min_force = force;
				prefer_heading = h;
			}
		}
		//找到势点相对自己的角度
		double bearing = MathUtils::bearing(prefer_heading, getHeading());
		double velocity = Math::abs(bearing)>Math::PI/2?1:MAX_MOVE_VELOCITY;
		turn(bearing);
		move(velocity);
	}
	
	double getGravity(Point2D& p){
		vector<Bot*>  enemies = getOpponents();
		double force = 0;
//计算所有势点对自己的作用力force的衰减系数
//并分别计算各方向作用力的和
		for(int i=0; i<enemies.size(); i++){
			Bot bot = (Bot)enemies[i];
			if(isAlive(bot))
				force += 1/p->distance(getLocation());
		}
		Point2D center = new Point2D (getCourtWidth()/2, getCourtHeight()/2);
//下面的4行code的作用是避开墙.
//只有当机器人离墙足够近时才会发生作用
           double wallWeigh = 0.1;
	    force += 1/center->distance(p) * wallWeigh;
		force += 1/p->getX() * wallWeigh;
		force += 1/( getCourtWidth() – p->getX()) * wallWeigh;
		force += 1/p->getY() * wallWeigh;
		force += 1/( getCourtHeight() – p->getY()) * wallWeigh;
		return force;
	}
}