/*Dado uma posicao, checa se para alguma direcao
existe um control point, e retorna qual direcao esta
o mais perto, contando giradas necessárias*/
int searchNearestControl (Grid *g, Position p, Robot *r) {
int i, min = 500, best_dir = 0, cont;
for(i = 0; i < 6; i++) {
/*Conta para chegar o numero de viradas necessarias
ja que elas gastam um turno*/
cont = 1 + quickTurn (r->dir, i);
Position s = getNeighbor (p,i);
while(valid (s, g->m, g->n, g)) {
if(isControlPoint (g,s)) {
if(cont < min) {
min = cont;
best_dir = i;
break;
}
}
cont++;
s = getNeighbor (s, i);
}
}
/*Nao existe control points no mapa*/
if (min == 500)
return -1;
else
return best_dir;
}
void AffineDeformationFast::doAffineDeformation()
{
if(oldControlPoint.size()!=newControlPoint.size())
{
return;//控制点形变前后数目不等，不能形变
}
if(!isPreComputed)
{
calcA();
}
int i,j;
Point tempPoint,qstar;
double sumofwqx,sumofwqy;
ansPoint=commonPoint;
for(i=0;i<ansPoint.size();i++)
{
if((j=isControlPoint(commonPoint[i]))>=0)
{
ansPoint[i].xx=newControlPoint[j].xx;
ansPoint[i].yy=newControlPoint[j].yy;
continue;
}
sumofwqx=0.0;
sumofwqy=0.0;
for(j=0;j<oldControlPoint.size();j++)
{
sumofwqx+=w[i][j]*newControlPoint[j].xx;
sumofwqy+=w[i][j]*newControlPoint[j].yy;
}
qstar.xx=sumofwqx/sumofw[i];
qstar.yy=sumofwqy/sumofw[i];
tempPoint.xx=0;
tempPoint.yy=0;
for(j=0;j<oldControlPoint.size();j++)
{
tempPoint.xx+=A[i][j]*(newControlPoint[j].xx-qstar.xx);
tempPoint.yy+=A[i][j]*(newControlPoint[j].yy-qstar.yy);
}
ansPoint[i].xx=tempPoint.xx+qstar.xx;
ansPoint[i].yy=tempPoint.yy+qstar.yy;
}
isComputed=true;
}
Action Desviar (Position pos, Grid *grid, Robot *r){
int deve, i, dir_proj, dir_ini;
Position p, proj_pos;
Projectile *proj;
deve = deveDesviar (pos, grid, r);
/*Se estivermos num ponto de controle e nao estivermos sendo atacados*/
if (isControlPoint (grid, pos)) {
dir_proj = searchNearestProjectile (grid, pos, r);
dir_ini = searchNearestRobot (grid, pos, r);
/* Caso seja encontrado um projetil numa direcao valida e caso exista municao realizamos uma acao */
if (dir_ini != -1 && dir_proj != -1 && r->bullets > 0 )
{
if (dir_proj == r->dir) return SHOOT_CENTER;
if (dir_proj == (r->dir + 1)%6) return SHOOT_RIGHT;
if (dir_proj == (r->dir + 2)%6) return OBSTACLE_RIGHT;
if (dir_proj == (r->dir + 3)%6) return OBSTACLE_CENTER;
if (dir_proj == (r->dir + 4)%6) return OBSTACLE_LEFT;
if (dir_proj == (r->dir + 5)%6) return SHOOT_LEFT;
}
}
else {
if(deve==1) return WALK;
else if(deve==-1) {
p=getNeighbor (pos, (r->dir+1)%6);
if(limiteDoMapa (p, grid->m, grid->n) && (grid->map[p.x][p.y].type == NONE)) return TURN_RIGHT;
else return TURN_LEFT;
/*vai virar pra esquerda caso a posição da esquerda seja vazia, ou nem a da direita ou da esquerda seja vazia, ai ele vai ter q da uma volta*/
}
else {/*sobrou só o caso -2*/
for (i = 0; i < 6; i++){
if (adjacentes[i] == 3){
proj_pos = getNeighbor (pos, i);
proj = &grid->map[proj_pos.x][proj_pos.y].object.projectile;
if ((proj->dir + 3)%6 == i){
if (r->dir == i) return SHOOT_CENTER;
if (r->dir == (i + 3)%6) return OBSTACLE_CENTER;
}
}
}
}
}
return STAND;
}
/* Retorna a acao a ser realizada quando a vida do robo eh baixa */
Action acaoSaudavel (Grid *g, Position p) {
int i, j, control_dir;
Position s;
Robot *r = &g->map[p.x][p.y].object.robot;
/*Se estiver em cima de um control point, SCORE TIME*/
if (isControlPoint (g, p) && !inimigoAdjacente (p, g, r)) {
if (deveDesviar (p, g, r)) return Desviar (p, g, r);
return atiraNoInimigo (g, p, r);
}
else {
/*procura algum control point em alguam direcao do robo*/
control_dir = searchNearestControl (g, p, r);
/*Caso em nenhuma direcao tem um control point livre
andar em uma direcao valida, ou comeca a virar para uma direcao valida*/
if (control_dir == -1) {
for(i = r->dir, j = 0; j < 6; i++,j++){
if (i >= 6) i-=6;
s = getNeighbor(p,i);
if(valid(s, g->m, g->n, g)) {
if(i == r->dir) {
return WALK;
}
else {
return fastTurn (r->dir, i);
}
}
}
/*Se nenhuma posicao em volta eh valida, SAD TIME*/
return STAND;
}
/*Se encontrou um control point em alguma direcao,
comeca a virar e andar em sua direcao*/
else if(control_dir == r->dir)
return WALK;
else {
return fastTurn (r->dir, control_dir);
}
}
}
void AffineDeformationFast::calcA()
{
int i,j;
double sumofwpx,sumofwpy;
Point *pstar=new Point[commonPoint.size()];
if(sumofw!=NULL)
{
delete[] sumofw;
sumofw=NULL;
}
sumofw=new double[commonPoint.size()];
w.clear();//w[非控制点下标][控制点下标]
vector<double> tempVector(oldControlPoint.size(),0.0);
precomputedpart=commonPoint;
for(i=0;i<commonPoint.size();i++)
{
if(isControlPoint(commonPoint[i])>=0)//是控制点,不需要计算w值
{
w.push_back(tempVector);
continue;
}
sumofw[i]=0.0;
sumofwpx=0.0;
sumofwpy=0.0;
for(j=0;j<oldControlPoint.size();j++)
{
double t1=oldControlPoint[j].xx-commonPoint[i].xx;
double t2=oldControlPoint[j].yy-commonPoint[i].yy;
t1=1.0/pow(t1*t1+t2*t2,alpha);
sumofw[i]+=t1;
sumofwpx+=t1*oldControlPoint[j].xx;
sumofwpy+=t1*oldControlPoint[j].yy;
tempVector[j]=t1;
}
pstar[i].xx=sumofwpx/sumofw[i];
pstar[i].yy=sumofwpy/sumofw[i];
precomputedpart[i].xx=commonPoint[i].xx-pstar[i].xx;
precomputedpart[i].yy=commonPoint[i].yy-pstar[i].yy;
w.push_back(tempVector);
cleartempMatrix();
for(j=0;j<oldControlPoint.size();j++)
{
double a=oldControlPoint[j].xx-pstar[i].xx;
double b=oldControlPoint[j].yy-pstar[i].yy;
tempMatrix[0][0]+=tempVector[j]*a*a;
tempMatrix[1][1]+=tempVector[j]*b*b;
a*=b;
tempMatrix[0][1]+=tempVector[j]*a;
tempMatrix[1][0]+=tempVector[j]*a;
}
double tt,dt=tempMatrix[0][0]*tempMatrix[1][1]-tempMatrix[0][1]*tempMatrix[1][0];
doubleswap(tempMatrix[0][0],tempMatrix[1][1]);
tempMatrix[0][0]/=dt;
tempMatrix[1][1]/=dt;
tempMatrix[0][1]/=(-dt);
tempMatrix[1][0]/=(-dt);
tt=precomputedpart[i].xx*tempMatrix[0][0]+precomputedpart[i].yy*tempMatrix[1][0];
dt=precomputedpart[i].xx*tempMatrix[0][1]+precomputedpart[i].yy*tempMatrix[1][1];
precomputedpart[i].xx=tt;
precomputedpart[i].yy=dt;
}
A.clear();//A[非控制点下标][控制点下标]
for(i=0;i<commonPoint.size();i++)
{
if(isControlPoint(commonPoint[i])>=0)//是控制点,不需要计算w值
{
A.push_back(tempVector);
continue;
}
for(j=0;j<oldControlPoint.size();j++)
{
Point tempPoint;
tempPoint.xx=oldControlPoint[j].xx-pstar[i].xx;
tempPoint.yy=oldControlPoint[j].yy-pstar[i].yy;
tempVector[j]=w[i][j]*(precomputedpart[i].xx*tempPoint.xx+precomputedpart[i].yy*tempPoint.yy);
}
A.push_back(tempVector);
}
delete[] pstar;
isPreComputed=true;
}
