//RETURNS: 0 on success, -1 o/w
int
shMapLevel::pushCreature (shCreature *c, shDirection dir)
{
shDirection dirlist[3];
int r = RNG (1, 2);
int i;
dirlist[0] = dir;
dirlist[r] = (shDirection) ((dir + 1) % 8);
dirlist[3-r] = (shDirection) ((dir + 7) % 8);
for (i = 0; i < 3; i++) {
int x = c->mX;
int y = c->mY;
shDirection dir = dirlist[i];
moveForward (dir, &x, &y);
if (isObstacle (x, y) or isOccupied (x, y))
continue;
return moveCreature (c, x, y);
}
if (c->isHero ()) {
I->p ("You are crushed between the walls!");
} else if (Hero.canSee (c)) {
I->p ("%s is crushed!", THE (c));
}
c->die (kMisc, "Crushed by a garbage compactor");
return -1;
}
int Problem::movAction(MapNode *cur, MovAction_t action, MapNode **next)
{
int x1, x2, y1, y2 = 0;
switch(action)
{
case MOV_ACT_RIGHT:
x1 = cur->getNodeA().getX() + 1;
y1 = cur->getNodeA().getY();
x2 = cur->getNodeB().getX();
y2 = cur->getNodeB().getY() + 1;
break;
case MOV_ACT_DOWN:
x1 = cur->getNodeA().getX();
y1 = cur->getNodeA().getY() + 1;
x2 = cur->getNodeB().getX() - 1;
y2 = cur->getNodeB().getY();
break;
case MOV_ACT_LEFT:
x1 = cur->getNodeA().getX() - 1;
y1 = cur->getNodeA().getY();
x2 = cur->getNodeB().getX();
y2 = cur->getNodeB().getY() - 1;
break;
case MOV_ACT_TOP:
x1 = cur->getNodeA().getX();
y1 = cur->getNodeA().getY() - 1;
x2 = cur->getNodeB().getX() + 1;
y2 = cur->getNodeB().getY();
break;
default:
break;
}
if(x1 < 1 || x2 < 1 || x1 > _size || x2 > _size ||
y1 < 1 || y2 < 1 || y1 > _size || y2 > _size)
{
return NO_OP;
}
if(isObstacle(x1, y1) || isObstacle(x2, y2))
{
return NO_OP;
}
int cost = cur->getPathCost() + getActCost(action);
*next = new MapNode(x1, y1, x2, y2, cur, action, cost);
return OP_OK;
}
void
shMapLevel::buildTwistyRooms ()
{
int i = 1000;
int n = 0;
int x, y;
n = buildTwistyCorridor (RNG (mColumns / 3, 2 * mColumns / 3),
4, kSouth);
while (--i and n < 4 * (mRows + mColumns)) {
do {
x = RNG (mColumns);
y = RNG (mRows);
} while (!TESTSQ (x, y, kFloor));
n += buildTwistyCorridor (x, y, (shDirection) (2 * RNG (4)));
if (n > 4 * (mRows + mColumns)) break;
}
buildSnuggledRooms ();
// wallCorridors ();
n = RNG (1, 6) + RNG (1, 6) + RNG (1, 6) + RNG (1, 6);
for (i = 0; i < n; i++) {
do {
x = RNG (mColumns);
y = RNG (mRows);
} while (!TESTSQ (x, y, kFloor) or
isObstacle (x, y));
putObject (generateObject (), x, y);
}
}
path aStar(map c, coord p, finish f){
int end=0;
int i,j;
list* open=createList();
list* closed=createList();
node* startNode=createNode(p);
node* current;
node* neighbor;
addElement(open,startNode);
coord bestFinish=getbestFinish(p,f);
while(!end)
{
current= removeElement(open);
addElement(closed,current);
end=isFinish(current->coord,f);
for(i=-1;i<=1;i++)
{
for(j=-1;j<=1;j++)
{
if(i!=0 || j!=0)
{
neighbor=createNode(createCoord(current->coord.x+i, current->coord.y+j));
if(! (isObstacle(neighbor->coord,c) || contains(closed,neighbor)))
{
if(contains(open,neighbor))
{
if(current->cost+1 < neighbor->cost)
{
neighbor->cost= current->cost+1;
if(isSand(neighbor->coord,c))
{
neighbor->cost += 4;
}
neighbor->pred=current;
}
}
else
{
neighbor->pred=current;
neighbor->cost=current->cost+1;
if(isSand(neighbor->coord,c))
{
neighbor->cost += 4;
}
neighbor->heuristic=neighbor->cost=current->cost + neighbor->cost+norm(substractCoords(bestFinish,current->coord));
addSortedElement(open,neighbor);
}
}
}
}
}
}
freeList(closed);
freeList(open);
path path=reconstructPath(current);
return path;
}
bool segmentFeasibility(State<2> a,State<2> b){
double res=0.05;
State<2> inc=b-a;
double l=inc.norm();
inc=inc*(res/l);
for(int i=1;i<l/res;++i){
if(isObstacle(a+inc*i))
return false;
}
return true;
}
void displayAllBullets()
{
int pos;
for (int i=0;i<server_data.bullet_count;i++)
{
Bullet b=server_data.bullets[i];
switch(b.dir)
{
case DOWN:
b.i = b.i-1;
break;
case UP:
b.i = b.i+1;
break;
case RIGHT:
b.j = b.j+1;
break;
case LEFT:
b.j = b.j-1;
break;
}
if(CheckPlayerCollide(b.i,b.j)!=-1)
{
pos=CheckPlayerCollide(b.i,b.j);
deleteBullet(i);
Alien a=server_data.aliens[pos];
a.energy -=20;
server_data.aliens[pos]=a;
if(getCommandoIndex(server_data.bullets[i].pid)!=-1)
{
int commpos =getCommandoIndex(server_data.bullets[i].pid);
server_data.commandos[commpos].score +=100;
}
if(getAlienIndex(server_data.bullets[i].pid)!=-1)
{
int alienpos =getAlienIndex(server_data.bullets[i].pid);
server_data.aliens[alienpos].score -=100;
}
if(a.energy <= 0)
{server_data.map_matrix[a.i][a.j]=NONE;
deleteAlien(pos);}
}
else if(checkAppleCollide(b.i,b.j)!=-1)
{
pos=checkAppleCollide(b.i,b.j);
deleteBullet(i);
destroyGenerateApple(pos);
server_data.map_matrix[b.i][b.j]=NONE;
}
else if(isObstacle(b.i,b.j))
{
deleteBullet(i);
server_data.map_matrix[b.i][b.j]=NONE;
}
else if(checkBulletCollide(b.i,b.j)!=-1)
{
pos=checkBulletCollide(b.i,b.j);
if(i>pos)
{
deleteBullet(i);
deleteBullet(pos);
}
else
{
deleteBullet(pos);
deleteBullet(i);
}
server_data.map_matrix[b.i][b.j]=NONE;
}
if(checkCommandoCollide(b.i,b.j)!=-1)
{
pos=checkCommandoCollide(b.i,b.j);
Commando c=server_data.commandos[pos];
c.energy -=20;
server_data.commandos[pos]=c;
if(getCommandoIndex(server_data.bullets[i].pid)!=-1)
{
int commpos =getCommandoIndex(server_data.bullets[i].pid);
server_data.commandos[commpos].score -=100;
}
if(getAlienIndex(server_data.bullets[i].pid)!=-1)
{
int alienpos =getAlienIndex(server_data.bullets[i].pid);
server_data.aliens[alienpos].score +=100;
}
if(c.energy <= 0)
{server_data.map_matrix[c.i][c.j]=NONE;
deleteCommando(pos);}
deleteBullet(i);
}
else
{
server_data.bullets[i]=b;
if(b.i<0 || b.i>(ROWS-1) ||b.j <0 || b.j >(COLUMNS-1) )
{
deleteBullet(i);
}
}
}
}
void demo_7_main_core_0() {
int threads = TOTAL_PROC_NUM;
// Initialize obstacle map from heightmap
if (1) {
logStart("initialize obstacle map");
// Recode heightmap to global_obstacles
int a, b, c;
for (a = 0; a < WORLD_SIZE_X; a++) {
for (b = 0; b < WORLD_SIZE_Y; b++) {
int height = getHeightmapValue(a, b);
// some regions cannot be flown over
if (height > 174)
height = 255;
for (c = 0; c < height; c++) {
global_obstacles[a][b][c] = 1;
}
for (c = height; c < WORLD_SIZE_Z; c++) {
global_obstacles[a][b][c] = 0;
}
}
}
logEnd("initialize obstacle map");
}
// Set goal
setGoal(WORLD_SIZE_X - 3, WORLD_SIZE_Y - 3, getHeightmapValue(WORLD_SIZE_X - 3, WORLD_SIZE_Y - 3) + 2);
// Set current position
setPosition(3, 3, getHeightmapValue(3, 3) + 2);
// Init weightmap from obstacle map
if (1) {
int a, b, c;
logStart("initialize weightmap from obstacle map");
for (a = 0; a < WORLD_SIZE_X; a++) {
for (b = 0; b < WORLD_SIZE_Y; b++) {
for (c = 0; c < WORLD_SIZE_Z; c++) {
if (isGoal(a, b, c)) {
world[a][b][c] = WEIGHT_SINK;
} else if (isObstacle(a, b, c)) {
world[a][b][c] = WEIGHT_OBSTACLE;
} else {
world[a][b][c] = WEIGHT_INIT;
}
}
}
}
logEnd("initialize weightmap from obstacle map");
}
// Propagate weights with selected algorithm
promote_world(ITERATIONS, threads);
// Find waypoints to goal
findWaypoints();
printf("Iterations: %i\n", ITERATIONS);
return;
}
void findWaypoints() {
int position[3]; // Current position
int i;
double path_length = 0; // Total length of the path
int path_steps = 0; // Total length of the path in steps
logStart("findWaypoints");
position[0] = getPosition()[0];
position[1] = getPosition()[1];
position[2] = getPosition()[2];
for (i = 0; i < 1024; i++) {
int a, b, c;
double best_value = world[position[0]][position[1]][position[2]]; // So far best weigt == current weight
int next[3] = { -1, -1, -1 }; // Next position
for (a = -1; a <= 1; a++) {
if (position[0] + a >= 0 && position[0] + a < WORLD_SIZE_X) {
for (b = -1; b <= 1; b++) {
if (position[1] + b >= 0 && position[1] + b < WORLD_SIZE_Y) {
for (c = -1; c <= 1; c++) {
if (position[2] + c >= 0 && position[2] + c < WORLD_SIZE_Z) {
if (!isObstacle(position[0] + a, position[1] + b, position[2] + c)) {
double new_value = world[position[0] + a][position[1] + b][position[2] + c];
/* if (LL_DEBUG || 1)
printf(
"Surrounding point [%i, %i, %i] has value %2.12f (%e) - best know has value %2.12f (%e)\n",
position[0] + a, position[1]
+ b, position[2] + c,
new_value, best_value); */
if (new_value > best_value) {
best_value = new_value;
next[0] = position[0] + a;
next[1] = position[1] + b;
next[2] = position[2] + c;
}
}
}
}
}
}
}
}
printf("Next waypoint: [%i, %i, %i] with value %2.12f (%e)\n", next[0], next[1], next[2], best_value,
best_value);
// Calculate path length
int del_0 = position[0] - next[0];
int del_1 = position[1] - next[1];
int del_2 = position[2] - next[2];
del_0 *= del_0;
del_1 *= del_1;
del_2 *= del_2;
if (del_0 + del_1 + del_2 == 1)
path_length += 1;
if (del_0 + del_1 + del_2 == 2)
path_length += 1.414; // SQRT(2)
if (del_0 + del_1 + del_2 == 3)
path_length += 1.732; // SQRT(3)
path_steps++;
if (isGoal(next[0], next[1], next[2]))
break;
else {
// Set found waypoint as next position
position[0] = next[0];
position[1] = next[1];
position[2] = next[2];
}
}
printf("Total path length: %f\n", path_length);
printf("Total path length in steps: %i\n", path_steps);
logEnd("findWaypoints");
}
bool CostMap2D::isObstacle(unsigned int mx, unsigned int my) const {
unsigned int ind = MC_IND(mx, my);
return isObstacle(ind);
}
/* Computes all the squares visible by the creature */
void
shMapLevel::computeVisibility (shCreature *eyes)
{
int slope; /* slope in v coordinate */
int u, v;
int x, y;
int corner;
int min, max; /* width of beam along v axis */
//I->debug ("**** computing vis ****");
for (x = 0; x < MAPMAXCOLUMNS; x++) {
for (y = 0; y < MAPMAXROWS; y++) {
mVisibility[x][y] = 0;
}
}
/* orthogonal first */
mVisibility[eyes->mX][eyes->mY] = 1;
if (eyes->mZ < 0) {
/* in a pit */
if (isObstacle (eyes->mX, eyes->mY))
return; /* sealed in */
if (eyes-> isUnderwater ())
return;
for (x = eyes->mX-1; x <= eyes->mX+1; x++) {
for (y = eyes->mY-1; y < eyes->mY+1; y++) {
mVisibility[x][y] = 1;
}
}
return;
}
for (x = eyes->mX; x < MAPMAXCOLUMNS and !isOcclusive (x, eyes->mY); x++)
mVisibility[x][eyes->mY] = 1;
for (x = eyes->mX; x >= 0 and !isOcclusive (x, eyes->mY); x--)
mVisibility[x][eyes->mY] = 1;
for (y = eyes->mY; y < MAPMAXROWS and !isOcclusive (eyes->mX, y); y++)
mVisibility[eyes->mX][y] = 1;
for (y = eyes->mY; y >= 0 and !isOcclusive (eyes->mX, y); y--)
mVisibility[eyes->mX][y] = 1;
/* now each quadrant */
#define BEAMS 32
#define MAXD 100
for (slope = 1; slope < BEAMS; slope++) {
for (u = 1, v = slope, min = 0, max = BEAMS-1;
u < MAXD and min <= max;
u++, v += slope)
{
y = v / BEAMS;
x = u - y;
x += eyes->mX;
y += eyes->mY;
if (x >= MAPMAXCOLUMNS or y >= MAPMAXROWS)
break;
corner = BEAMS - v % BEAMS;
if (min < corner) {
mVisibility[x][y] = 1;
if (isOcclusive (x,y)) {
min = corner;
}
}
if (max > corner and y < MAPMAXROWS-1) {
mVisibility[x-1][y+1] = 1;
if (isOcclusive (x - 1, y + 1)) {
max = corner;
}
}
}
}
for (slope = 1; slope < BEAMS; slope++) {
for (u = 1, v = slope, min = 0, max = BEAMS-1;
u < MAXD and min <= max;
u++, v += slope)
{
y = v / BEAMS;
x = u - y;
x = eyes->mX - x;
y += eyes->mY;
if (x < 0 or y >= MAPMAXROWS)
break;
corner = BEAMS - v % BEAMS;
if (min < corner) {
mVisibility[x][y] = 1;
if (isOcclusive (x,y)) {
min = corner;
}
}
if (max > corner and y < MAPMAXROWS-1) {
mVisibility[x+1][y+1] = 1;
if (isOcclusive (x + 1, y + 1)) {
max = corner;
}
}
}
}
for (slope = 1; slope < BEAMS; slope++) {
for (u = 1, v = slope, min = 0, max = BEAMS-1;
u < MAXD and min <= max;
u++, v += slope)
{
y = v / BEAMS;
x = u - y;
x = eyes->mX - x;
y = eyes->mY - y;
if (x < 0 or y < 0)
break;
corner = BEAMS - v % BEAMS;
if (min < corner) {
mVisibility[x][y] = 1;
if (isOcclusive (x,y)) {
min = corner;
}
}
if (max > corner and y > 0) {
mVisibility[x+1][y-1] = 1;
if (isOcclusive (x + 1, y - 1)) {
max = corner;
}
}
}
}
for (slope = 1; slope < BEAMS; slope++) {
for (u = 1, v = slope, min = 0, max = BEAMS-1;
u < MAXD and min <= max;
u++, v += slope)
{
y = v / BEAMS;
x = u - y;
x = x + eyes->mX;
y = eyes->mY - y;
if (x >= MAPMAXCOLUMNS or y < 0)
break;
corner = BEAMS - v % BEAMS;
if (min < corner) {
mVisibility[x][y] = 1;
if (isOcclusive (x,y)) {
min = corner;
}
}
if (max > corner and y > 0) {
mVisibility[x-1][y-1] = 1;
if (isOcclusive (x - 1, y - 1)) {
max = corner;
}
}
}
}
/* corner peeking */
if (eyes->mY > 1) {
for (x = eyes->mX, y = eyes->mY-1;
x < MAPMAXCOLUMNS-1 and !isOcclusive (x, y) ;
x++)
{
mVisibility[x][y-1] = mVisibility[x+1][y-1] =
mVisibility[x+1][y] = 1;
}
for (x = eyes->mX, y = eyes->mY-1; x > 0 and !isOcclusive (x, y);
x--)
{
mVisibility[x][y-1] = mVisibility[x-1][y-1] =
mVisibility[x-1][y] = 1;
}
}
if (eyes->mY < MAPMAXROWS - 2) {
for (x = eyes->mX, y = eyes->mY+1;
x < MAPMAXCOLUMNS-1 and !isOcclusive (x, y) ;
x++)
{
mVisibility[x][y+1] = mVisibility[x+1][y+1] =
mVisibility[x+1][y] = 1;
}
for (x = eyes->mX, y = eyes->mY+1; x > 0 and !isOcclusive (x, y);
x--)
{
mVisibility[x][y+1] = mVisibility[x-1][y+1] =
mVisibility[x-1][y] = 1;
}
}
if (eyes->mX > 1) {
for (x = eyes->mX-1, y = eyes->mY;
y < MAPMAXROWS-1 and !isOcclusive (x, y);
y++)
{
mVisibility[x-1][y] = mVisibility[x-1][y+1] =
mVisibility[x][y+1] = 1;
}
for (x = eyes->mX-1, y = eyes->mY; y > 0 and !isOcclusive (x, y);
y--)
{
mVisibility[x-1][y] = mVisibility[x-1][y-1] =
mVisibility[x][y-1] = 1;
}
}
if (eyes->mX < MAPMAXCOLUMNS - 2) {
for (x = eyes->mX+1, y = eyes->mY;
y < MAPMAXROWS-1 and !isOcclusive (x, y);
y++)
{
mVisibility[x+1][y] = mVisibility[x+1][y+1] =
mVisibility[x][y+1] = 1;
}
for (x = eyes->mX+1, y = eyes->mY; y > 0 and !isOcclusive (x, y);
y--)
{
mVisibility[x+1][y] = mVisibility[x+1][y-1] =
mVisibility[x][y-1] = 1;
}
}
}
void Astar_planning(){
ROS_INFO("A star planning");
std::priority_queue<PQItem> open_list;
const unsigned num_cells = local_map->info.height*local_map->info.width;
std::vector<bool> seen(num_cells); // Default initialized to all false
const occupancy_grid_utils::index_t dest_ind = occupancy_grid_utils::pointIndex(local_map->info,goal.point);
const occupancy_grid_utils::index_t src_ind = occupancy_grid_utils::pointIndex(local_map->info,statePoint(startState));
open_list.push(PQItem(src_ind, 0, h(src_ind),src_ind));
std::vector<occupancy_grid_utils::index_t> parent(num_cells,0);
while (!open_list.empty()) {
const PQItem current = open_list.top();
open_list.pop();
const occupancy_grid_utils::Cell c = occupancy_grid_utils::indexCell(local_map->info, current.ind);
if (seen[current.ind])
continue;
parent[current.ind] = current.parent_ind;
seen[current.ind] = true;
ROS_DEBUG_STREAM_NAMED ("shortest_path_internal", " Considering " << c << " with cost " <<
current.g_cost << " + " << current.h_cost);
if (current.ind == dest_ind) {
std::cout << "solution found" << std::endl;
std::cout << "Visited " << std::count(seen.begin(), seen.end(), true) << " states out of " << num_cells << std::endl;;
std::deque<occupancy_grid_utils::index_t> path;
path.push_back(dest_ind);
occupancy_grid_utils::index_t last = dest_ind;
while (parent[last]!=src_ind){
path.push_front(parent[last]);
last=parent[last];
}
/*for(std::deque<occupancy_grid_utils::index_t>::iterator it=path.begin(),end=path.end();it!=end;++it){
std::cout << occupancy_grid_utils::indexCell(local_map->info, *it) << " -- ";
}
std::cout << std::endl;*/
current_path_raw.resize(path.size());
std::transform(path.begin(), path.end(), current_path_raw.begin(), &indexState);
/*std::cout << "Path length: " << current_path_raw.size() << std::endl;
std::cout << "Path cost: " << current.g_cost << std::endl;
std::cout << "Path :" << std::endl;
for(std::deque<State<2>>::iterator it=current_path_raw.begin(),end=current_path_raw.end();it!=end;++it){
std::cout << (*it) << " -- ";
}
std::cout << std::endl;*/
planned=true;
return;
}
for (int d=-1; d<=1; d+=2) {
for (int vertical=0; vertical<2; vertical++) {
const int cx = c.x + d*(1-vertical);
const int cy = c.y + d*vertical;
if (cx>=0 && cy>=0) {
const occupancy_grid_utils::Cell c2((occupancy_grid_utils::coord_t) cx, (occupancy_grid_utils::coord_t) cy);
if (withinBounds(local_map->info, c2)) {
const occupancy_grid_utils::index_t ind = cellIndex(local_map->info, c2);
if (!isObstacle(pointState(indexPoint(ind))) && !seen[ind]) {
open_list.push(PQItem(ind, current.g_cost + g(ind), h(ind), current.ind));
}
//ROS_DEBUG_STREAM_COND_NAMED (g.data[ind]!=UNOCCUPIED, "shortest_path_internal",
// " Skipping cell " << indexCell(g.info, ind) <<
// " with cost " << (unsigned) g.data[ind]);
}
}
}
}
}
planning=false;
ROS_INFO("Planning failed");
}
bool isValid(const ob::State* s) const
{
return !isObstacle(obstateState(s));
}
void MutableMap::toggle(unsigned _x, unsigned _y) {
setObstacle(_x,_y,isObstacle(_x,_y)?false:true);
}
//平台从第1回合开始调用此函数获得每回合指令，请勿修改此函数声明。
extern "C" Order makeOrder(DataForAI data)
{
//printf("===================round%d tank%d==================\n",data.round,data.myID);
Order order;
order.type=STOP;
mydata=data;
updateResource(data);
if(data.round==1&&data.myID==0)
{
assignResource(data);
//getNext(data);
}
short range=data.tank[data.myID].range;
//printf("range:%d\n",range);
short vision=range;
Point me;
me.row=data.tank[data.myID].row;
me.col=data.tank[data.myID].col;
for(int i=-vision;i<=vision;i++)
{
for(int j=-vision;j<=vision;j++)
{
if(abs(i)+abs(j)<=vision)//in vision
{
short nr=me.row+i,nc=me.col+j;
Point target;
target.row=nr;
target.col=nc;
if(isInMap(nr,nc))//in map
if(data.map[nr][nc].whoIsHere!=-1)//tank detected
{
short n=data.map[nr][nc].whoIsHere;
if(data.tank[n].flag!=data.myFlag)
{
//printf("enemy tank%d\n",n);
order.row=nr;
order.col=nc;
order.type=FIRE;
return order;
}
}
else if((data.map[nr][nc].type==BREAKBRICK||data.map[nr][nc].type==BRICK)&&isObstacle(target,nextStep[data.myID]))//bricks detected
{
//printf("tank%dbricks\n",data.myID);
order.row=nr;
order.col=nc;
order.type=FIRE;
return order;
}
}
}
}
//
//printf("the nearest point for tank%d (%d,%d)\n",data.myID,nearestS[data.myID].row,nearestS[data.myID].col);
//assert(nearestS[data.myID].row>0);
if(data.tank[data.myID].life!=0)
{
clock_t tstart,tend;
float timeuse;
tstart=clock();
if(data.map[nearestS[data.myID].row][nearestS[data.myID].col].isHereSource==RedSource||data.map[data.tank[data.myID].row][data.tank[data.myID].col].isHereSource==RedSource||nextStep[data.myID].empty())
{
getNearestRS(data);
}
getNext(data);
tend=clock();
timeuse=(tend-tstart)/CLOCKS_PER_SEC;
//printf("round%d tank%dchange resource(%d,%d) and next step:(%d,%d),%f seconds used\n",data.round,data.myID,nearestS[data.myID].row,nearestS[data.myID].col,next[data.myID].row,next[data.myID].col,timeuse);
};
/*
if(data.map[next[data.myID].row][next[data.myID].col].whoIsHere!=-1||next[data.myID].row==-1)
{
while(1)
{
srand((int)time(0));
short i=rand()%4;
short nr=data.tank[data.myID].row+dir[i][0],nc=data.tank[data.myID].col+dir[i][1];
if(data.map[nr][nc].type==PERVIOUS&&data.map[nr][nc].whoIsHere!=-1)
{
next[data.myID].row=nr;
next[data.myID].col=nc;
break;
}
}
}
*/
short x=next[data.myID].row-data.tank[data.myID].row,y=next[data.myID].col-data.tank[data.myID].col;
//printf("(x,y) for tank%d\n",x,y,data.myID);
/*if(x<0)x=-1;
else if(x>0)x=1;
if(y<0)y=-1;
else if(y>0)y=1;*/
for(int i=0;i<4;i++)
{
if(dir[i][0]==x&&dir[i][1]==y)
{
order.type=direction[i];
//printf("tank%d is going %s\n",data.myID,ds[i]);
return order;
}
else
{
order.type=STOP;
}
//random step
/*
else
{
srand((int)time(0));
order.type=direction[rand()%4];
return order;
}*/
}
return order;
}
void moveAutoPlayers()
{
int key;
for (int i=0;i<server_data.alien_count;i++)
{
if(server_data.aliens[i].isauto)
{
int nearerpos;
Alien a=server_data.aliens[i];
int pos;
int previ=a.i,prevj=a.j;
if(server_data.commando_count ==0) break;
int min=0;;
for(int pos=0;pos<server_data.commando_count;pos++)
{
nearerpos=0;
if(min>calculate_distance(a.i,a.j,server_data.commandos[pos].i,server_data.commandos[pos].j))
{min=calculate_distance(a.i,a.j,server_data.commandos[pos].i,server_data.commandos[pos].j); nearerpos=pos;}
}
if(timercount%5==0)
{
if(a.i > server_data.commandos[nearerpos].i) {key =0;}
else if(a.i < server_data.commandos[nearerpos].i) {key =1;}
else if(a.j < server_data.commandos[nearerpos].j) {key=3;
}
else if(a.j > server_data.commandos[nearerpos].j) {key=2;
}
switch (key)
{
case 0:
if(a.dir!=DOWN)a.dir=DOWN;
else if(a.i>0)
a.i--;
break;
case 1:
if(a.dir!=UP)a.dir=UP;
else if(a.i<(ROWS-1))
a.i++;
break;
case 2:
if(a.dir!=LEFT)a.dir=LEFT;
else if(a.j>0)
a.j--;
break;
case 3:
if(a.dir!=RIGHT)a.dir=RIGHT;
else if(a.j<(COLUMNS-1))
a.j++;
break;
}
if(!(isObstacle(a.i,a.j)))
{
if(checkAppleCollide(a.i,a.j)!=-1)
{
Bullet b;
b.i = previ;
b.j = prevj;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b);
}
else if(checkBulletCollide(a.i,a.j)!=-1)
{
a.energy -=20;
int bulletpos =checkBulletCollide(a.i,a.j);
if(getCommandoIndex(server_data.bullets[bulletpos].pid)!=-1)
{
int commpos =getCommandoIndex(server_data.bullets[bulletpos].pid);
server_data.commandos[commpos].score +=100;
}
if(getAlienIndex(server_data.bullets[bulletpos].pid)!=-1)
{
int alienpos =getAlienIndex(server_data.bullets[bulletpos].pid);
server_data.aliens[alienpos].score -=100;
}
if(a.energy <=0)
{server_data.map_matrix[a.i][a.j]=NONE;}
}
else if(CheckPlayerCollide(a.i,a.j)!=-1 && CheckPlayerCollide(a.i,a.j) !=i)
{
}
else
{
if(checkCommandoCollide(a.i,a.j)==-1)
{
//server_data.map_matrix[previ][prevj]=NONE;
server_data.map_matrix[a.i][a.j]=BOOKED;
a.energy -=1;
server_data.aliens[i]=a;}
else
{Bullet b;
b.i = previ;
b.j = prevj;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b);
}
}
}
else
{ Bullet b;
b.i = previ;
b.j = prevj;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b); }
if(a.energy <= 0)
{deleteAlien(i);}
if(((key == 2 || key ==3 ) && (!aliensenserhorizontal(nearerpos,i)) )|| (prevj = server_data.commandos[nearerpos].j) && (!aliensenservertical(nearerpos,i)) ) {
Bullet b;
b.i = a.i;
b.j = a.j;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b); }
}
}
}
for (int i=0;i<server_data.commando_count;i++)
{
if(server_data.commandos[i].isauto)
{
int nearerpos;
Commando a=server_data.commandos[i];
int pos;
int previ=a.i,prevj=a.j;
if(server_data.alien_count ==0) break;
int min=0;
for(int pos=0;pos<server_data.alien_count;pos++)
{
nearerpos=0;
if(min>calculate_distance(a.i,a.j,server_data.aliens[pos].i,server_data.aliens[pos].j))
{min=calculate_distance(a.i,a.j,server_data.aliens[pos].i,server_data.aliens[pos].j); nearerpos=pos;}
}
if(timercount%5==0)
{
if(a.i > server_data.aliens[nearerpos].i) {key =0;}
else if(a.i < server_data.aliens[nearerpos].i) {key =1;}
else if(a.j < server_data.aliens[nearerpos].j) {key=3;
}
else if(a.j > server_data.aliens[nearerpos].j) {key=2;
}
switch (key)
{
case 0:
if(a.dir!=DOWN)a.dir=DOWN;
else if(a.i>0)
a.i--;
break;
case 1:
if(a.dir!=UP)a.dir=UP;
else if(a.i<(ROWS-1))
a.i++;
break;
case 2:
if(a.dir!=LEFT)a.dir=LEFT;
else if(a.j>0)
a.j--;
break;
case 3:
if(a.dir!=RIGHT)a.dir=RIGHT;
else if(a.j<(COLUMNS-1))
a.j++;
break;
}
if(!(isObstacle(a.i,a.j)))
{
if(checkAppleCollide(a.i,a.j)!=-1)
{
server_data.map_matrix[server_data.commandos[i].i][server_data.commandos[i].j]=NONE;
int pos_app=checkAppleCollide(a.i,a.j);
destroyGenerateApple(pos_app);
if(server_data.commandos[i].energy <= 100 && server_data.commandos[i].energy >= 80) {server_data.commandos[i].energy =100;}
else if(server_data.commandos[i].energy < 80){
server_data.commandos[i].energy+=20;
}
server_data.commandos[i].score+=100;
server_data.commandos[i].i=a.i;
server_data.commandos[i].j=a.j;
server_data.map_matrix[a.i][a.j]=BOOKED;
server_data.commandos[i]=a;
}
else if(checkBulletCollide(a.i,a.j)!=-1)
{
a.energy -=25;
int bulletpos =checkBulletCollide(a.i,a.j);
if(getCommandoIndex(server_data.bullets[bulletpos].pid)!=-1)
{
int commpos =getCommandoIndex(server_data.bullets[bulletpos].pid);
server_data.commandos[commpos].score -=100;
}
if(getAlienIndex(server_data.bullets[bulletpos].pid)!=-1)
{
int alienpos =getAlienIndex(server_data.bullets[bulletpos].pid);
server_data.aliens[alienpos].score +=100;
}
if(a.energy <=0)
{
server_data.map_matrix[a.i][a.j]=NONE;}
}
else if(checkCommandoCollide(a.i,a.j)!=-1 && checkCommandoCollide(a.i,a.j) !=i)
{
}
else
{
if(CheckPlayerCollide(a.i,a.j)==-1)
{
// server_data.map_matrix[previ][prevj]=NONE;
server_data.map_matrix[a.i][a.j]=BOOKED;
server_data.commandos[i]=a;
}
else
{Bullet b;
b.i = previ;
b.j = prevj;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b);
}
}
}
else{Bullet b;
b.i = previ;
b.j = prevj;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b);
}
if(a.energy <= 0)
{deleteCommando(i);}
// printf("asfasfasdfas***** %d \n ",aliensenserhorizontal(nearerpos,i)));
if(((key == 2 || key ==3 ) && (!commandosenserhorizontal(nearerpos,i)) )|| (a.j == server_data.aliens[nearerpos].j) && (!commandosenservertical(nearerpos,i)) ) {
Bullet b;
b.i = a.i;
b.j = a.j;
b.dir=a.dir;
b.pid=a.pid;
addBullet(b);}
}
}
}
}
void
shMapLevel::mundaneRoom (int sx, int sy, int ex, int ey)
{
int i, npiles, n;
int x, y;
if (mDLevel != TOWNLEVEL) {
if (RNG (mDLevel + 6) > 9) {
darkRoom (sx, sy, ex, ey);
}
if (!RNG (30)) {
/* Radioactive room. */
for (x = sx + 1; x < ex; x++) {
for (y = sy + 1; y < ey; y++) {
mSquares[x][y].mFlags |= shSquare::kRadioactive;
}
}
}
}
/* treasure expectation per room:
version 0.3:
0.375 piles x 1.1875 obj per pile +
(~) 0.125 niches x 0.8 obj per niche
~ .5453125 objs per room
version 0.2.9:
0.375 piles x 1.375 obj per pile
= .515625 obj per room
*/
npiles = RNG (4) ? 0 : RNG (2) + RNG (2) + RNG (2);
while (npiles--) {
x = RNG (sx + 1, ex - 1);
y = RNG (sy + 1, ey - 1);
if (TESTSQ (x, y, kFloor) and !isObstacle (x, y)) {
n = RNG (10) ? 1 : RNG (2, 3);
for (i = 0; i < n; i++) {
putObject (generateObject (mDLevel), x, y);
}
}
}
if (0 == RNG (9)) {
x = RNG (sx + 1, ex - 1);
y = RNG (sy + 1, ey - 1);
if (TESTSQ (x, y, kFloor) and !isObstacle (x, y) and
0 == countObjects (x, y))
{
addVat (x, y);
}
}
/* Reticulans of PRIME are weak enough to get instakilled in a pit.
Do not place traps at all on first level. */
while (!RNG (12) and mDLevel > 1) {
x = RNG (sx + 1, ex - 1);
y = RNG (sy + 1, ey - 1);
if (TESTSQ (x, y, kFloor) and !isObstacle (x, y) and
!getFeature (x, y))
{
shFeature::Type ttype;
retrap:
/* I'm using this retrap label because putting a for or while
loop here uncovers a bug in g++! */
/* FIXME: Probably the bug is long gone. Get rid of goto. */
ttype = (shFeature::Type) RNG (shFeature::kPit,
shFeature::kPortal);
switch (ttype) {
case shFeature::kPit:
case shFeature::kTrapDoor:
break;
case shFeature::kAcidPit:
if (mDLevel < 7) goto retrap;
break;
case shFeature::kHole:
if (RNG (5)) goto retrap;
break;
case shFeature::kWeb:
goto retrap;
case shFeature::kRadTrap:
if (mDLevel < 5) goto retrap;
break;
case shFeature::kPortal:
default: /* these traps are unimplemented */
goto retrap;
}
addTrap (x, y, ttype);
}
}
}
void
shMapLevel::moveWalls (int action)
{
shFeature *f;
int north = (1 == action or -1 == action) ? 1 : 0;
int squares[20];
int n = 0;
int x, y;
int i, j;
int seen = 0;
int interrupt = 0;
int heard = 0;
// move the wall
y = -1;
for (i = 0; i < mFeatures.count (); i++) {
f = mFeatures.get (i);
if (shFeature::kMovingHWall != f->mType) {
continue;
}
if (action > 0) {
/* close in */
if (north and f->mMovingHWall.mBeginY < f->mMovingHWall.mEndY and
f->mY < f->mMovingHWall.mEndY)
{
//if (Hero.canSee (f->mX, f->mY))
// setMemory (f->mX, f->mY, ' ');
mVisibility[f->mX][f->mY] = 0;
y = f->mY + 1;
squares[n++] = f->mX;
f->mY++;
addMachinery (f->mX, f->mY-1);
} else if (!north and f->mMovingHWall.mBeginY > f->mMovingHWall.mEndY and
f->mY > f->mMovingHWall.mEndY)
{
//if (Hero.canSee (f->mX, f->mY))
// setMemory (f->mX, f->mY, ' ');
mVisibility[f->mX][f->mY] = 0;
y = f->mY - 1;
squares[n++] = f->mX;
f->mY--;
addMachinery (f->mX, f->mY+1);
} else {
continue;
}
if (Hero.canSee (f->mX, f->mY)) {
interrupt++;
seen++;
} else if (distance (&Hero, f->mX, f->mY) < 100) {
heard++;
}
} else if (action < 0) {
/* reset */
int oldy = f->mY;
if (north and f->mMovingHWall.mBeginY < f->mMovingHWall.mEndY and
f->mY > f->mMovingHWall.mBeginY)
{
y = f->mY - 1;
shFeature *machinery = getFeature (f->mX, y);
if (machinery)
removeFeature (machinery);
f->mY--;
} else if (!north and
f->mMovingHWall.mBeginY > f->mMovingHWall.mEndY and
f->mY < f->mMovingHWall.mBeginY)
{
y = f->mY + 1;
shFeature *machinery = getFeature (f->mX, y);
if (machinery)
removeFeature (machinery);
f->mY++;
} else {
continue;
}
if (Hero.canSee (f->mX, oldy))
interrupt++;
}
}
if (!Hero.getStoryFlag ("walls moving")) {
if (seen) {
I->p ("The walls are moving!");
Hero.setStoryFlag ("walls moving", 1);
} else if (heard and !Hero.getStoryFlag ("walls heard")) {
I->p ("You hear a loud rumbling!");
Hero.setStoryFlag ("walls heard", 1);
}
}
// displace objects and creatures
if (n) {
shuffle (squares, n, sizeof(int));
for (i = 0; i < n; i++) {
x = squares[i];
shObjectVector *v = getObjects (x, y);
if (v) {
int y2 = north ? y + 1 : y - 1;
int safe = !isObstacle (x, y2);
for (j = 0; j < v->count (); j++) {
shObject *obj = v->get (j);
if (safe) {
putObject (obj, x, y2);
} else {
delete obj;
}
}
if (Hero.mX == x and Hero.mY == y2) {
I->p ("%s pushed into your vicinity.",
v->count () > 1 ? "Some objects are"
: "An object is");
}
delete v;
setObjects (x, y, NULL);
}
shCreature *c = getCreature (x, y);
if (c) {
if (c->mZ < 0) {
if (c->isHero ()) {
I->p ("You are sealed below the moving wall!");
I->p ("That's not supposed to be possible!");
I->p ("Please send me a bug report! -cyrus");
}
} else {
pushCreature (c, north ? kSouth : kNorth);
}
}
}
}
if (interrupt)
Hero.interrupt ();
}
void test_evitement(void)
{
for(int i = 0;i < 32;i++)
{
trajectory_goto_arel(&traj, END, 45);
while(!trajectory_is_ended(&traj));
}
// addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
// addTask(&tkm, &throwSpears, LOW_PRIORITY, YELLOW);
// addTask(&tkm, &returnFire, LOW_PRIORITY, Y2);
// // addTask(&tkm, &returnFire, HIGH_PRIORITY, Y3);
// addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &putPaint, HIGH_PRIORITY, team);
// addTask(&tkm, &findPosition, HIGH_PRIORITY, YELLOWPAINT);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R1);
// addTask(&tkm, &throwSpears, HIGH_PRIORITY, RED);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R3);
// addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R2);
// asserv_set_vitesse_normal(&asserv);
// while (TIRETTE);
// printf("begin match \n");
// avoidance_init();
// while(doNextTask(&tkm));
// printf("finish \n"); // throwSpears(RED);
// printf("succeed");
// trajectory_goto_d(&traj, END, 10);
// while(!trajectory_is_ended(&traj));
// printf("astar test \n");
// set_startCoor(G_LENGTH * 2 + 2);
// set_goalCoor(G_LENGTH * 8 + 13);
// while(!astarMv() && !actionIsFailed());
// trajectory_goto_d(&traj, END, -100);
// while(!trajectory_is_ended(&traj));
while(1);
// trajectory_goto_arel(&traj, END, 180);
// while(!trajectory_is_ended(&traj));
// trajectory_goto_d(&traj, END, 100);
// while(!trajectory_is_ended(&traj));
//
double x = fxx_to_double(position_get_y_cm(&pos));
double y = fxx_to_double(position_get_x_cm(&pos));
printf("x : %lf y : %lf\n", x, y);
printf("isOut %d obs %d\n", isOutOfGraphe(x, y), isObstacle(x, y));
//go_to_node(x, y,graphe);
}
//Movement Function
void Pacman::move() {
if (isPowerUp()) {
setPowerUp(false);
}
//If there is next direction then check is there any obstacle
//If it has no obstacle then it will become the current direction
switch (NEXT_DIRECTION) {
case UP:
y -= VEL;
if (!isObstacle()) {
DIRECTION = NEXT_DIRECTION;
}
y += VEL;
break;
case RIGHT:
x += VEL;
if (!isObstacle()) {
DIRECTION = NEXT_DIRECTION;
}
x -= VEL;
break;
case DOWN:
y += VEL;
if (!isObstacle()) {
DIRECTION = NEXT_DIRECTION;
}
y -= VEL;
break;
case LEFT:
x -= VEL;
if (!isObstacle()) {
DIRECTION = NEXT_DIRECTION;
}
x += VEL;
break;
}
//Move to the direction set and with equivalent sprite animation
switch (DIRECTION) {
case UP:
angle = 270;
flip = SDL_FLIP_NONE;
y -= VEL;
if (isObstacle()) {
y += VEL;
}
else {
eat();
}
break;
case RIGHT:
angle = 0;
flip = SDL_FLIP_NONE;
x += VEL;
if (isObstacle()) {
x -= VEL;
}
else {
eat();
}
break;
case DOWN:
angle = 90;
flip = SDL_FLIP_NONE;
y += VEL;
if (isObstacle()) {
y -= VEL;
}
else {
eat();
}
break;
case LEFT:
flip = SDL_FLIP_HORIZONTAL;
angle = 0;
x -= VEL;
if (isObstacle()) {
x += VEL;
}
else {
eat();
}
break;
}
}
