Robocode 直线瞄准机器人

该方法是直线瞄准算法

使用Walls机器人以及下面算法的机器人

//战场类

package type.com.xalead;

public class Enemy {

// public static void main(String[] args ) {

// Enemy e1 = new Enemy();

// Enemy e2 = new Enemy();

// Enemy e3 = new Enemy();

// Enemy e4 = new Enemy();

// e1.PI = 3.14159265;

// System.err.println(e2.PI);

// Enemy.PI = 333;

// Enemy.work();

// }

// static double PI = 3.14;

// public static void work(){}

//attribute

private double bearing ;

private double distance = 3000;

private double heading ;

private double speed ;

public double getSpeed() {

return speed ;

}

public void setSpeed( double speed) {

this . speed = speed;

}

public double getDistance() {

return distance ;

}

public void setDistance( double distance) {

this . distance = distance;

}

public double getHeading() {

return heading ;

}

//property

public void setHeading( double heading) {

if (!(heading < 0.0)){

this . heading = heading;

}

/**

* bearing锟斤拷锟斤拷锟斤拷锟�

* @return

public double getBearing(){

return this . bearing ;

}

/**

* bearing锟斤拷锟斤拷锟�

* @param bearing

public void setBearing( double bearing){

this . bearing = bearing;

}

//测试机器人

package type.com.xalead;

import java.awt.geom.Point2D;

import robocode.AdvancedRobot;

import robocode.Rules;

import robocode.ScannedRobotEvent;

import robocode.util.Utils;

public class TestRobot extends AdvancedRobot {

public static void main(String[] args) {

// double a = Math.tan(Math.toRadians(135));

// System.err.println(a);

// double a = Math.toDegrees(Math.atan2(10, -10));

// System.err.println(a);

System. out .println(Math. random ());

}

private double time1 = 0;

private Enemy enemy = new Enemy();

private boolean discover = false ;

private double heading = 0.0;

private double radarHeading = 0.0;

private double bPower = 3;

private double time = 0;

private double distance = 3000;

@Override

public void onScannedRobot(ScannedRobotEvent e) {

discover = true ;

preTime = time1 ;

time1 = getTime();

enemy .setBearing(e.getBearingRadians());

enemy .setSpeed(e.getVelocity());

enemy .setDistance(e.getDistance());

preHeading = enemy .getHeading();

enemy .setHeading(e.getHeadingRadians());

time = distance / Rules. getBulletSpeed ( bPower );

}

//装饰方法

private void dressing() {

}

//旋转方法

private void severance() {

setAdjustGunForRobotTurn( true );

setAdjustRadarForGunTurn( true );

}

//简单移动的方法

private void simpleMove() {

double increment = 0;

if ( enemy .getBearing() > 0) {

increment = Math. PI / 2 - enemy .getBearing();

setTurnLeftRadians(increment);

} else {

increment = Math. PI / 2 + enemy .getBearing();

setTurnRightRadians(increment);

}

setAhead(1000);

}

private double safDis = 100;//安全距离

//高级移动方法

private void movement() {

if (getDistanceRemaining() < 1) {

double nx = 0;

double ny = 0;

nx = Math. random () * (getBattleFieldWidth() - 2 * safDis ) + safDis ;

ny = Math. random () * (getBattleFieldHeight() - 2 * safDis ) + safDis ;

double headArg = 90 - Math. atan2 (ny - getY(), nx - getX());

headArg = Utils. normalAbsoluteAngle (headArg);

double dis = Point2D. distance (getX(), getY(), nx, ny);

if (headArg - getHeadingRadians() > Math. PI / 2) {

setTurnRightRadians(headArg - getHeadingRadians() + Math. PI );

setAhead(-dis);

} else {

setTurnRightRadians(headArg - getHeadingRadians());

setAhead(dis);

}

private void doScan() {

if ( discover ) {

heading = this .getHeadingRadians();

radarHeading = this .getRadarHeadingRadians();

double temp = radarHeading - heading - enemy .getBearing();

temp = Utils. normalRelativeAngle (temp);

temp *= 1.2;

setTurnRadarLeftRadians(temp);

}

private double firePower() {

return bPower ;

}

/**

private double immidate() {

double increment = heading + enemy .getBearing()

- getGunHeadingRadians();

increment %= 2 * Math. PI ;

increment = Utils. normalRelativeAngle (increment);

return increment;

}

/**

* 开枪

private void gun() {

// double increment = immidate ();

double increment = line();

setTurnGunRightRadians(increment);

}

private double preHeading = 0.0; //锟斤拷锟斤拷

private double preTime = 0.0; //前一锟斤拷时锟斤拷

*曲线射击

private double circle(){

double t = 0.0;

double ea = Utils. normalAbsoluteAngle (getHeadingRadians() + enemy .getBearing());

double ex = getX() + enemy .getDistance() * Math. sin (ea);

double ey = getY() + enemy .getDistance() * Math. cos (ea);

double offsetHeading = enemy .getHeading() - preHeading ;

double dv = offsetHeading /( time1 - preTime );

if (Math. abs (dv)<0.00001){

dv+=0.00001;

}

double r = enemy .getSpeed()/dv;

double preDistance= enemy .getDistance();

for ( int i = 0; i<8;i++){

double bulletTime = preDistance / Rules. getBulletSpeed ( bPower );

double nextHeading = enemy .getHeading()+dv*bulletTime;

double nextx = ex + r * Math. cos ( enemy .getHeading())- r * Math. cos (nextHeading);

double nexty = ey + r * Math. sin (nextHeading)- r * Math. cos ( enemy .getHeading());

preDistance = Point2D. distance (getX(), getY(),nextx, nexty);

t = Math. atan2 (nexty - getY(), nextx - getX());

}

return Utils. normalRelativeAngle ((Math. PI / 2 - t - getGunHeadingRadians())

% (2 * Math. PI ));

}

/**

* 直线射击

* @return

private double line() {

double ea = Utils. normalAbsoluteAngle (getHeadingRadians() + enemy .getBearing());

double ex = getX() + enemy .getDistance() * Math. sin (ea);

double ey = getY() + enemy .getDistance() * Math. cos (ea);

double s = 0;

if ( enemy .getSpeed() >= Rules. MAX_VELOCITY - 0.1) {

s = enemy .getSpeed() * time ;

} else if ( enemy .getSpeed() > 0.0) {

double as = (Math. pow (Rules. MAX_VELOCITY , 2) - Math. pow (

enemy .getSpeed(), 2))

/ 2 * Rules. ACCELERATION ;

double vs = ( time - (Rules. MAX_VELOCITY - enemy .getSpeed())

/ Rules. ACCELERATION )

* Rules. MAX_VELOCITY ;

s = as + vs;

} else {

s = 0.0;

}

double nextx = ex + s * Math. sin ( enemy .getHeading());

double nexty = ey + s * Math. cos ( enemy .getHeading());

distance = Point2D. distance (getX(), getY(), nextx, nexty);

double t = Math. atan2 (nexty - getY(), nextx - getX());

return Utils. normalRelativeAngle ((Math. PI / 2 - t - getGunHeadingRadians())

% (2 * Math. PI ));

}

public void run() {

dressing();

severance();

// setTurnRadarLeft(400);

// execute();

while ( true ) {

if (! discover ) {

setTurnRadarLeftRadians(Math. PI * 2.1);

execute();

} else {

movement();

double fire = firePower();

doScan();

gun();

// if (getGunTurnRemaining() <= 0) {

setFire(fire);

execute();

// }

loseTarget();

execute();

}

private void loseTarget() {

if ((getTime() - time1 ) >= 4)

discover = false ;

}

运行界面:

运行结果:

Robocode 直线瞄准机器人

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