humanoid.java

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.



 /**
  * Edit by Omid AmirGhiasvand
  * 2006-4-23
  * 4:05 AM
  *
  * Last Edit:
  * 2006-05-19
  * 5:39 pm
  *
  */



package yab.agent.object;

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

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(); }
    private int noOfAmbulanceThatNeededToRescueMe=-1;
    private int timeToDead=301;
    public boolean assigned=false;
    public HashSet ambulanceAssigned= new HashSet();


    private float value=0;
    private boolean accessible=true;
    public int notAccseesibleTime=0;

//saeed 85-2-3s


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


    //////////////////////////??????????????????????????????????????

    public void updateNoOfAmbulanceThatNeededToRescueMe(int n)
       {

           if (timeToRescue(n)+5>timeToDead)
           {
              noOfAmbulanceThatNeededToRescueMe=-1;
              return;
           }
           else
           {
               int i = 1;

               while (i <= n) {
                   if (timeToRescue(i)+5 <= timeToDead) {
                       noOfAmbulanceThatNeededToRescueMe = i;
                       break;
                   }
                   i++;
               }
           }

      }



   public int getNoOfAmbulanceThatNeededToRescueMe()
   {
     return noOfAmbulanceThatNeededToRescueMe;
   }

   public void setTimeToDead(int t)
   {
     timeToDead=t-1;
   }
   public int getTimeToDead()
   {
     return timeToDead;
   }


    public boolean needLoad() {
      return (hp() > 0
              && buriedness() == 0
              && ! (motionlessPosition() instanceof Refuge)
              && this instanceof Civilian
              && position() instanceof Building);
    }

    public int lifespan() {

      if(damage() < 5 )
          return Integer.MAX_VALUE;
      else
      {
          int time =Math.max(this.hearTime(),this.time());
          return (hp()-(world.time()-time)*damage())/damage();

      }

    }



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

    public void updateDistance(RealObject amPositoion, List fires)
    {
      distanceToMe = (float) amPositoion.distance(this.motionlessPosition());
      calDistanceToNearestFire(fires);
    }

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


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

    public float distanceToNearestFireSite;

    public float distanceToMe; // distance to Ambulance that add this civilian to his set


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




    private int m_aliveTime = 0;

    public int getAliveTime()
    {
        return m_aliveTime;
    }

    public void setAliveTime(int value)
    {
        m_aliveTime = value;
    }

    public Collection validRouteBldgs = new HashSet();
/////////////////////////////////////////////////////////////////////////////////

    public void updateValue() {





          if (timeToDead>buriedness()/2)
              value = 100000;


           value = (timeToDead+ distanceToMe/500) + 3*buriedness();

           if (this instanceof PoliceForce)
               value=3;
           else if (this instanceof FireBrigade)
               value=2;
           else if (this instanceof AmbulanceTeam)
               value =1;
       }

      public float getvalue()
      {
        return value;
      }

       public boolean isAccessible()
     {
        return accessible;
     }

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

     public boolean isRescueAble(int numOfAT)
   {
       if (lifespan()-(buriedness()/numOfAT)>0 )
         return true ;
       else
         return false;

   }

    private boolean m_reportedDead = false;
    public boolean isReportedAsDead(){
        return m_reportedDead;
    }

    public void setReportedAsDead(){
        m_reportedDead= true;
    }
    private boolean m_reportedRescued = false;
    public boolean isReportedAsRescued(){
        return m_reportedRescued;
    }
    public void setReportedAsRescued(){
        m_reportedRescued = true;
    }



    private int m_lastHp = 10000;
    public int lastHp(){
        return m_lastHp;
    }
    public void setLastHp(int value){
        m_lastHp = value;
    }
    private int m_lastDamage = 0;
    public int lastDamage()
    {
        return m_lastDamage;
    }
    public void setLastDamage(int value)
    {
        m_lastDamage = value;
    }

    private int m_lastUpdateTime = 2;
    public int lastUpdateTime(){
        return m_lastUpdateTime;
    }
    public void setLastUpdateTime(int value){
        m_lastUpdateTime = value;
    }
}