void Monster::wander()
{
if (wander_duration <= 0) {
wander_target = Point( posx + rng(-3, 3), posy + rng(-3, 3) );
wander_duration = 3;
}
move_towards(wander_target.x, wander_target.y);
}
void Monster::move_towards(Entity* entity)
{
if (!entity) {
debugmsg("Monster attempted move_towards() on a null target.");
return;
}
move_towards(entity->posx, entity->posy);
}
/* move_away():
* move away form the robot given
*/
static char
move_away(COORD *rob)
{
int dx, dy;
dx = sign(My_pos.x - rob->x);
dy = sign(My_pos.y - rob->y);
return move_towards(dx, dy);
}
static void tract_reshape(tract *tr)
{
SPFLOAT amount;
SPFLOAT slow_return;
SPFLOAT diameter;
SPFLOAT target_diameter;
int i;
int current_obstruction;
current_obstruction = -1;
amount = tr->block_time * tr->movement_speed;
for(i = 0; i < tr->n; i++) {
slow_return = 0;
diameter = tr->diameter[i];
target_diameter = tr->target_diameter[i];
if(diameter < 0.001) current_obstruction = i;
if(i < tr->nose_start) slow_return = 0.6;
else if(i >= tr->tip_start) slow_return = 1.0;
else {
slow_return =
0.6+0.4*(i - tr->nose_start)/(tr->tip_start - tr->nose_start);
}
tr->diameter[i] = move_towards(diameter, target_diameter,
slow_return * amount, 2 * amount);
}
if(tr->last_obstruction > -1 && current_obstruction == -1 &&
tr->noseA[0] < 0.05) {
append_transient(&tr->tpool, tr->last_obstruction);
}
tr->last_obstruction = current_obstruction;
tr->nose_diameter[0] = move_towards(tr->nose_diameter[0], tr->velum_target,
amount * 0.25, amount * 0.1);
tr->noseA[0] = tr->nose_diameter[0] * tr->nose_diameter[0];
}
/* move_between():
* move the closest heap between us and the closest robot
*/
static char
move_between(COORD *rob, COORD *hp)
{
int dx, dy;
float slope, cons;
/* equation of the line between us and the closest robot */
if (My_pos.x == rob->x) {
/*
* me and the robot are aligned in x
* change my x so I get closer to the heap
* and my y far from the robot
*/
dx = - sign(My_pos.x - hp->x);
dy = sign(My_pos.y - rob->y);
CONSDEBUG(("aligned in x"));
}
else if (My_pos.y == rob->y) {
/*
* me and the robot are aligned in y
* change my y so I get closer to the heap
* and my x far from the robot
*/
dx = sign(My_pos.x - rob->x);
dy = -sign(My_pos.y - hp->y);
CONSDEBUG(("aligned in y"));
}
else {
CONSDEBUG(("no aligned"));
slope = (My_pos.y - rob->y) / (My_pos.x - rob->x);
cons = slope * rob->y;
if (ABS(My_pos.x - rob->x) > ABS(My_pos.y - rob->y)) {
/*
* we are closest to the robot in x
* move away from the robot in x and
* close to the scrap in y
*/
dx = sign(My_pos.x - rob->x);
dy = sign(((slope * ((float) hp->x)) + cons) -
((float) hp->y));
}
else {
dx = sign(((slope * ((float) hp->x)) + cons) -
((float) hp->y));
dy = sign(My_pos.y - rob->y);
}
}
CONSDEBUG(("me (%d,%d) robot(%d,%d) heap(%d,%d) delta(%d,%d)",
My_pos.x, My_pos.y, rob->x, rob->y, hp->x, hp->y, dx, dy));
return move_towards(dx, dy);
}
void knights_act() {
unit_list_elem_ptr our_list = us.king == player_1.king ? board.player_1_list : board.player_2_list;
while(our_list != null) {
if(our_list->unit->type == KNIGHT) {
unit_ptr closest_unit = find_closest_unit(our_list->unit);
//Move in the direction of the closest unit and fight
if(closest_unit != null) {
int x = our_list->unit->x;
int y = our_list->unit->y;
int x_closest = closest_unit->x;
int y_closest = closest_unit->y;
move_towards(x, y, x_closest, y_closest);
} else {
fprintf(stderr, "there is no closest unit! WTF?!");
}
}
our_list = our_list->next;
}
}
void Monster::take_turn()
{
// TODO: Move make_plans() outside of this function?
make_plans();
while (action_points > 0 && !dead) {
if (wander_duration > 0) {
wander_duration--;
}
if (target) {
if (can_attack(target)) {
attack(target);
} else {
move_towards(target);
}
} else {
wander();
}
}
}
int main()
{
FILE *f_trace;
FILE *f_graph; // File containing the graph
FILE *f_run; // To save swarm positions, for each iteration
int auto_move_type;
struct particle best_hood; // Best particle in the neighbourhood
double best_best_f;
struct coeff coeff;
double eps_max,eps_mean,eps_min;
int hamilt;
int i;
int improv,improv_best;
//int iter,iter_min;
//struct graph G2;
char graph[80]; // Graph file name
int j;
int k;
// int m;
//float level;
//int loop_auto_move;
float max_eval;
//int max_iter;
double mean_eval;
float min_tour;
int move4;
struct particle new_p;
int norm_v;
int n_success;
//int parallel;
int run,run_max;
int scanR;
int swarm_size;
double zzz,zzz2;
/*----------------- SOME PARAMETERS -------------- */
#include "param.c"
f_trace=fopen("trace.txt","w");
if (save==0) goto graph;
/*-------------------------- */
printf("\nChoose the file to save the run, please");
scanR=scanf("%s",graph);
f_run=fopen(graph,"w");
/*-------------------------- */
graph:
/* Read the valuated graph (Note: value 0 <=> no arc) */
printf("\nFile name for the graph, please: ");
scanR=scanf("%s",graph);
//printf("\nMultiply all arc values by: ");
//scanf("%f",&integer_coeff) ;
integer_coeff=1;
f_graph=fopen(graph,"r");
G=read_graph(f_graph,trace);
//display_graph(G);
/* // Save the graph
for (i=0;i<G.N;i++)
{
fprintf(f_trace,"\n");
for (j=0;j<G.N;j++) fprintf(f_trace,"%.0f ",G.v[i][j]);
}
return EXIT_SUCCESS;
*/
printf("\n Just looking for Hamilton cycles ? (y/n): ");
scanR=scanf("%s",answer);
if (answer[0]=='y')
{
G=TSP_to_Hamilton(G);
return EXIT_SUCCESS;
}
G=graph_min_max(G); /* Compute the max and the min arc values, and the number of edges */
min_tour=G.N*G.l_min;
printf("\n Target ? (suggestion %.0f) ",min_tour);
scanR=scanf("%f",&target);
/*------------------------------ */
//graph_study:
hamilt=check_Hamilton_cycle(G);
if (hamilt==0) printf("\n\n WARNING. There is NO Hamiltonian cycle. I look for a Hamiltonian path\n");
if(hamilt==1 || hamilt==2)printf("\n\n LUCKY YOU. There IS at least one Hamiltonian cycle. I look for the best one\n");
if (hamilt==3) printf("\n I don't know whether there is a Hamiltonian cycle or not. Let's try");
//parameters:
printf("\n\n Default parameters");
//swarm_size=G.N; // Just a rule of thumb
//zzz=0; for (i=2;i<G.N;i++) zzz=zzz+log(i);
//swarm_size=2.46*zzz-55; // Another rule of thumb (valid only if the result is >0
swarm_size=2*G.N+1; // Another rule of thumb
//swarm_size=400;
printf("\nSwarm size ......... %i",swarm_size);
swarm_size=MAX(1,MIN(swarm_size,Max_size));
sw1.size=swarm_size;
// see param.c
printf("\n Init option................ %i",init_option);
printf("\n Neighbourhood size.. %i ",hood);
printf("\nHood_type .............%i",hood_type);
printf("\nMove_type ............. %i",move[0]);
if(move[0]<=5)
{
printf("\nKappa value ...... %.2f",kappa) ;
printf("\nPhi value ............%.2f",phi);
}
printf("\nAuto_move_type ....%i",move[1]);
printf("\nSplice_around the best %i",move[2]);
printf("\nSplice_around more.... %i",move[3]);
printf("\nRebuild method .......... %i",move[4]);
//same_best_thresh=G.N/(2*hood); //Just a rule of thumb
size_max=G.N; // Max size for splice_around. Just a rule of thumb
printf("\n Do you want to modify them? (y/n): ") ;
scanR=scanf("%s",answer);
if (answer[0]=='n') goto end_param;
// -----------------------------------Ask for parameters
printf("\n Swarm size? (max = %i) ",Max_size);
scanR=scanf("%i",&swarm_size);
swarm_size=MAX(1,MIN(swarm_size,Max_size));
sw1.size=swarm_size;
printf("\n Init option? (suggested 1 or 2): ");
scanR=scanf("%i",&init_option);
printf("\n Neighbourhood size? (max = %i) ",sw1.size);
scanR=scanf("%i",&hood);
hood=MAX(1,MIN(hood,sw1.size));
printf("\n Hood type? (0 = social (quick) 1 = physical (long)\n (suggestion: %i): ",hood_type);
scanR=scanf(" %i",&hood_type);
printf("\n Move type? (1 to 10) (suggestion: %i): ",move[0]);
scanR=scanf("%i",&move[0]);
if(move[0]<=5)
{
printf("\n kappa value? (suggestion: %.2f): ",kappa); // Constriction coefficients. See move_towards
scanR=scanf("%f",&kappa);
printf("\n phi value? (suggestion: %.2f): ",phi);
scanR=scanf("%f",&phi);
}
printf("\n Auto-move type? (0 to 6) (suggestion: %i): ",move[1]);
scanR=scanf("%i",&move[1]);
printf("\nSplice_around the best?(suggestion %i)",move[2]);
scanR=scanf("%i",&move[2]);
printf("\nSplice_around more? (suggestion %i)",move[3]);
scanR=scanf("%i",&move[3]);
printf("\nRebuild method? (suggestion %i)",move[4]);
scanR=scanf("%i",&move[4]);
end_param:
//-------------------------------- Iterations
printf("\n Max tour evaluations? (0 => end) ");
scanR=scanf("%f",&max_eval);
if (max_eval==0) goto the_end;
printf("\n Trace level ? (0,1,2,3,4) ");
scanR=scanf("%i",&trace);
/* ======================================================== HERE IS THE ALGORITHM */
printf("\n How many times? ");
scanR=scanf("%i",&run_max);
if (run_max==0 ) goto the_end;
run=1;
n_success=0;
eps_min=10000*target;
eps_max=0;
eps_mean=0;
mean_eval=0;
if (move[4]>=3) // Initialize the blackboard
{
for (i=0; i<G.N; i++) for (j=0; j<G.N; j++) for (k=0; k<2; k++) BB[k].v[i][j]=0;
}
loop_run:
printf("\n ___________________________ RUN %i",run);
eval_f=0;
time=0; // Current time step
splice_time=0; // Last time splice_around has been used
// Initialize the swarm
sw1=init_swarm(swarm_size,G,trace);
printf("\nAfter init: eval %.0f value %f for particle %i",eval_f, best_best.best_f,sw1.rank_best);
if (best_best.best_f<=target) goto success;// Success
if (save!=0) save_swarm(f_run,sw1); /* Save the run as text file */
if(move[0]<=5 && move[0]!=0)
coeff=convergence_case(kappa,phi); // Coeffs for non spherical methods
moves:
time=time+1;
printf("\n total velocity %.0f",tot_vel(sw1));
if (move[0]>0)
{
//----------------------------------------------------------------------------- Normal move
printf("\nEval %.0f. Normal move %i",eval_f,move[0]);
if (eval_f>=max_eval) goto end_max_eval;
best_best_f=best_best.best_f; // Before the move
for (i=0; i<sw1.size; i++)
{
// find the best in the neighbourhood (or the local queen)
best_hood=best_neighbour(sw1,sw1.p[i],hood,hood_type,monotony,equiv_v,trace);
// M O V E
sw1.p[i]=move_towards(sw1.p[i],best_hood,coeff,move[0],explicit_vel,conv_case,equiv_v,trace);
if (sw1.p[i].best_f<best_best.best_f)// Check best of the best after the move
{
best_best=sw1.p[i];
sw1.rank_best=i;
printf("\neval %.0f value %f",eval_f, best_best.best_f);
display_position(best_best,1);
}
if (best_best.best_f<=target) goto success;// Success
if (best_best.best_f<best_best_f) goto moves; // Loop as soon as there is a global improvement
} // next i for normal move
}
if (move[1]>0)
{
//------------------------------------------------------------- If no improvement, auto_move
printf(" /auto_move %i",move[1]);
auto_move_type=move[1];
// auto_move:
for (i=0; i<sw1.size; i++)
{
sw1.p[i]= auto_move(sw1.p[i],auto_move_type,0,0,trace);
if (sw1.p[i].best_f<best_best.best_f)
{
best_best=sw1.p[i];
sw1.rank_best=i;
if (best_best.best_f<=target) goto success;// Success
printf("\neval %.0f value %f",eval_f, best_best.best_f);
display_position(best_best,1);
goto moves;
}
if (eval_f>=max_eval) goto end_max_eval;
} // next i for auto_move
}
if(move[2]>0)
{
// --------------------------------------------------- If still no improvement, splice_around best particle
printf(" /splice_around, best particle");
i= sw1.rank_best;
sw1.p[i]= splice_around( sw1, sw1.p[i], hood_type,hood);
if (sw1.p[i].best_f<best_best.best_f)// Best of the best after the move
{
best_best=sw1.p[i];
if (best_best.best_f<=target) goto success;// Success
printf("\neval %.0f value %f",eval_f, best_best.best_f);
goto moves;
}
}
if(move[3]>0)
{
// --------------------------------------------------- If still no improvement, splice_around more particles
printf(" /splice_around, more, option %i",splice_around_option);
improv=0;
improv_best=0;
splice_time=time;
for (i=0; i<sw1.size; i++) // For each particle
{
zzz= sw1.p[i].f;
zzz2= sw1.p[i].best_f;
sw1.p[i]= splice_around( sw1, sw1.p[i], hood_type,hood);
if (sw1.p[i].f<zzz) improv=improv+1;
if (sw1.p[i].best_f<zzz2) improv_best=improv_best+1;
if (sw1.p[i].best_f<best_best.best_f)// Best of the best after the move
{
best_best=sw1.p[i];
sw1.rank_best=i;
if (best_best.best_f<=target) goto success;// Success
printf("\neval %.0f value %f",eval_f, best_best.best_f);
goto moves;
}
if (eval_f>=max_eval) goto end_max_eval;
} // next i for splice_around
// if (improv_best>sw1.size/2) goto moves;
}
if (move[4]==9) move4=alea(1,3);
else move4=move[4];
if(move4>0)
{
//--------------------------------- If still no improvement, rebuild tours
if (move4==1) printf(" /rebuild, random");
if (move4==2) printf(" /rebuild, arc_around");
if (move4==3) printf(" /rebuild, blackboard");
for (i=0; i<sw1.size; i++)
{
switch( move4)
{
case 1:
norm_v=alea(1,G.N);
sw1.p[i].v=alea_velocity(norm_v); // random velocity
sw1.p[i]=pos_plus_vel(sw1.p[i],sw1.p[i].v,0,0,0); // => random new position
break;
case 2:
new_p=arc_around(sw1,sw1.p[i]);
sw1.p[i].v=coeff_pos_minus_pos(new_p,sw1.p[i],monotony,0,equiv_v,trace);
sw1.p[i]=new_p;
break;
case 3:
new_p=BB_use(sw1.p[i]);
sw1.p[i].v=coeff_pos_minus_pos(new_p,sw1.p[i],monotony,0,equiv_v,trace);
sw1.p[i]=new_p;
break;
}
if (sw1.p[i].best_f<best_best.best_f)/* Best of the best after the move */
{
best_best=sw1.p[i];
if (best_best.best_f<=target) goto success;// Success
printf("\neval %.0f value %f",eval_f, best_best.best_f);
goto moves;
}
if (eval_f>=max_eval) goto end_max_eval;
}
}
// Primitive rehope
printf("\n Primitive rehope");
for (i=0; i<sw1.size; i++)
{
sw1.p[i].v=alea_velocity(G.N);
sw1.p[i]= pos_plus_vel(sw1.p[i],sw1.p[i].v,0,0,0);
}
goto moves;
//-----------------------------------
// end_move:
if (save!=0) save_swarm(f_run,sw1);
if (trace>1) display_swarm(sw1);
printf("\n Eval %.0f",eval_f);
if (trace>0) display_position(best_best,2);
goto moves;
end_max_eval:
printf("\n\n Stop at max eval %.0f",eval_f);
goto end;
success:
n_success=n_success+1;
printf("\n SUCCESS");
end:
// Give the best position (sequence) found
printf("\n Best solution found after %.0f evaluations",eval_f);
if (best_best.best_x.s[0]!=0) best_best.best_x=rotate(best_best.best_x,0);
display_position(best_best,2);
// Check if no error
zzz=f(best_best,-1,-1);
if (zzz!=best_best.best_f)
{
printf("\n ERROR. The true f value is in fact %f ",zzz);
}
zzz=best_best.best_f;
if (zzz<eps_min) eps_min= zzz;
if (zzz>eps_max) eps_max= zzz;
eps_mean=eps_mean+zzz;
mean_eval=mean_eval+eval_f;
if (save!=0) save_swarm(f_run,sw1);
save_swarm(f_trace,sw1);
if (trace>1) display_swarm(sw1);
run=run+1;
if (run<=run_max) goto loop_run;
else
{
printf("\n With swarm size=%i, max eval=%.0f => %i successes/%i. Rate=%.3f ",swarm_size,max_eval,n_success,run_max,(float)n_success/run_max);
printf("\n Mean %f [%f, %f]",eps_mean/run_max,eps_min,eps_max);
mean_eval=mean_eval/run_max;
printf("\n Mean eval %f",mean_eval);
goto the_end;
}
//error_end:
printf("\n Sorry, I give up");
the_end:
return EXIT_SUCCESS;
}
