wraprandom.c

偶然收集到的一个C语言源码

/**
 * 围绕对手作来回的移动，并在此基础上添加了与对手保持一定距离，不撞墙的功能，
 * 并且运动带有随机性。
 * @author xiemin
 */
#include <airobot/c/SimpleRobot.h>
 
//理想距离
#define PREFER_DISTANCE 300
//计算目标点时采用的搜索半径
#define SEARCH_DIS 100
//每次迭代的递增量
#define GAP toRadians(5)
//离墙的距离
#define AWAY_FROM_WALL 50

//移动的方向,这个变量的值只能取1和-1，1表示前进，-1表示后退
int direction = 1;
//在一个方向上最大的移动时间
long maxTime = 30;
//当前在一个方向上的移动时间
long moveTime = 0;

//设置移动的方向
void setDirection(void);
//执行移动
void doMove(void);
//执行转动
void doTurn(void);
//得到圆心位置
void getCenter(double* x, double* y);
//得到用于保持理想距离的修正角deltaAngle
double getDeltaAngle(double centerX, double centerY);
//得到用来修正移动方向避免机器人撞墙的夹角needTurn
double getNeedTurn(double headingTo);
//判断给定的点是否是一个有效的目标点
int isValid(double x, double y);

void onTick(struct TickAction* action)
{
	setDirection();
	doMove();
	doTurn();
}
	
void setDirection(void)
{
	moveTime++;
	if(moveTime>=maxTime)
	{
		moveTime=0;
		//随机生成在这个方向上移动的时间
		maxTime = rand()%60;
		//改变运动方向
		direction *= -1;
	}
}

void doMove(void)
{
	move(10*direction);
}

void doTurn(void)
{
	double centerX, centerY, lineHeading, headingTo, deltaAngle, needTurn, bea;
	
	getCenter(&centerX, &centerY);
	lineHeading = heading(getX(), getY(), centerX, centerY);
	headingTo = lineHeading + PI/2;
	//为了保持距离用deltaAngle对headingTo进行修正
	deltaAngle = getDeltaAngle(centerX, centerY);
	headingTo -= deltaAngle;
	//为了不撞墙用needTurn对headingTo进行修正
	needTurn = getNeedTurn(headingTo);
	headingTo -= needTurn;
			
	bea = bearing(headingTo, getHeading());
	turn(bea);
}

void getCenter(double* x, double* y)
{
	struct Bot* bot = getFirstOpponent();
	if(bot==NULL)
	{
		*x = getCourtWidth()/2;
		*y = getCourtHeight()/2;
	}
	else
	{
		*x = bot->x;
		*y = bot->y;
	}
}

double getDeltaAngle(double centerX, double centerY)
{
	double dis = distance(centerX, centerY, getX(), getY());
	double deltaDistance = dis-PREFER_DISTANCE;
	//deltaDistance = deltaDistance/fmax(distance, PREFER_DISTANCE);
	deltaDistance = deltaDistance/500;
	return direction*PI/3*deltaDistance;
}

double getNeedTurn(double headingTo)
{
	double needTurn = 0, nextX, nextY;
	//进入迭代
	while(1)
	{
		nextPoint(getX(), getY(), headingTo-needTurn, 
			direction*SEARCH_DIS, &nextX, &nextY);
		if(isValid(nextX, nextY)) break;
		needTurn += direction*GAP;
	}
	return needTurn;
}

int isValid(double x, double y)
{
	return inCourt(x, y, AWAY_FROM_WALL);
}
		
//启动机器人程序
int main(int argC, char* argV[])
{
	tickHook = onTick;
	return startup(argC, argV);
}