humanoid.java.bak5

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.
// Edited By Omid Aghazadeh
package yab.agent.object;

import yab.agent.DisasterSpace;
import yab.io.object.*;
import MRL.Utilities.SimulatorsConstants;
import java.util.*;

public abstract class Humanoid extends MovingObject {
    public Humanoid(int id, BaseHumanoid object, DisasterSpace world)
    { super(id, object, world); }
    private BaseHumanoid obj() { return (BaseHumanoid) object; }

    public int hp() { return obj().hp(); }
    public int damage() { return obj().damage(); }
    public int buriedness() { return obj().buriedness(); }

    public boolean isBuried() {
      return (buriedness() > 0);
    }

    public boolean needLoad() {
      return (hp() > 0
              && buriedness() == 0
              && ! (position() instanceof AmbulanceTeam)
              && ! (motionlessPosition() instanceof Refuge)
              && this instanceof Civilian
              && damage() >=SimulatorsConstants.CIVILIAN_UNACTABLE_DAMAGE);
    }

    public int lifespan() {
      if(damage() == 0 ) return Integer.MAX_VALUE;
      return hp() / damage();
    }

    public void setLifeSpan(int t)
    {
      estimateLifeTime = t;
    }

    public boolean needRescue() {
        return (hp() > 0 && buriedness() > 0 && !(motionlessPosition() instanceof Refuge ));
    }

    public void updateHumanoidInfo(RealObject amPositoion, List fires,
                                   HashSet civilVictimSet) {
      distanceToMe = (float) amPositoion.distance(this.motionlessPosition());
      calDistanceToNearestFire(fires);
      calCost(civilVictimSet);
      calValue();
    }


    private void calCost(HashSet civiliVictimSet)
    {


      int numOfDead=0;
      cost = buriedness()+ 10*lifespan() ;
      for (Iterator ite = civiliVictimSet.iterator(); ite.hasNext(); )
      {
        Humanoid hum = (Humanoid) ite.next();

       if ((hum.lifespan()-(buriedness()/(world.ambulanceTeams.size()-1))) <0)
       {
         numOfDead++;
       }
      }
      cost=cost +200*numOfDead;
    }

    public float getCost() {
      return cost;
    }


    private void calValue() {

      if (damage() != 0) {
          if (estimateLifeTime-(buriedness()/(world.ambulanceTeams.size()-1 ))<0 )
            value=Integer.MAX_VALUE;
          else
            value = (estimateLifeTime-(buriedness()/(world.ambulanceTeams.size()-2 )) );
//            value = (estimateLifeTime-(buriedness()/(world.ambulanceTeams.size()-1 )) );
          if(this instanceof PoliceForce){
            value /= 100f;
          }
          else if (this instanceof FireBrigade){
            value /= 100f;
          }
          else if (this instanceof AmbulanceTeam){
            value /= 100f;
          }


      }

      else {
        value = Integer.MAX_VALUE;
      }
    }

    public float getValue() {
      return value;
    }


    private void calDistanceToNearestFire(List fires) {
      if (fires.isEmpty()) {
        distanceToNearestFireSite = Integer.MAX_VALUE;
        return;
      }

      Iterator it = fires.iterator();
      Building build = (Building) it.next();
      distanceToNearestFireSite = (float)this.motionlessPosition().distance(build.
          motionlessPosition());

      for (; it.hasNext(); ) {
        build = (Building) it.next();
        float tempDistance = (float)this.motionlessPosition().distance(build.
            motionlessPosition());
        if (tempDistance < distanceToNearestFireSite) {
          distanceToNearestFireSite = tempDistance;

        }

      }

//      distanceToNearestFireSite = motionlessPosition().getMinDist(fires);
    }

    private int myCloneSize = 1;
    public float distanceToNearestFireSite;
    private float timeToBurned;
    private float distanceToRefuge;
    public float distanceToMe; // distance to Ambulance that add this civilian to his set
    private float estimateLifeTime = 301;
    private float value = 0;
    private float cost = Integer.MAX_VALUE;
    private boolean accessible=true;
    public int notAccseesibleTime=0;
    private int addTime=0;  // time that agent see the this Humanoid

    private int getAddTime()
    {
        return addTime;
    }

    public void setAddTime(int t )
    {
        addTime=t;
    }

    public boolean isAccessible()
    {
       return accessible;
    }

    public void setAccesible(boolean b )
    {
        accessible = b;
    }

    private int TimeToRescue(int numofAmb)
    {
     return (int) (java.lang.Math.ceil(buriedness() / numofAmb)) + 6;
    }




//// DEBUG:
    public String toString() {
//      return "Huma: id=" + id + " time=" + time()
//          + " buriedness=" + buriedness()
//          + " damage=" + damage()
//          + " hp=" + hp()
//          + " position=(" + position() + ")"
//          + " nl=" + needLoad()
//          + " nr=" + needRescue()
//          + " vi=" + isVisible()
//          ;
      //      + " " + (Object) this;
      return super.toString();
    }

}