void RemoteProcessClient::writeCar(const Car& car) {
writeBoolean(true);
writeLong(car.getId());
writeDouble(car.getMass());
writeDouble(car.getX());
writeDouble(car.getY());
writeDouble(car.getSpeedX());
writeDouble(car.getSpeedY());
writeDouble(car.getAngle());
writeDouble(car.getAngularSpeed());
writeDouble(car.getWidth());
writeDouble(car.getHeight());
writeLong(car.getPlayerId());
writeInt(car.getTeammateIndex());
writeBoolean(car.isTeammate());
writeEnum<CarType>(car.getType());
writeInt(car.getProjectileCount());
writeInt(car.getNitroChargeCount());
writeInt(car.getOilCanisterCount());
writeInt(car.getRemainingProjectileCooldownTicks());
writeInt(car.getRemainingNitroCooldownTicks());
writeInt(car.getRemainingOilCooldownTicks());
writeInt(car.getRemainingNitroTicks());
writeInt(car.getRemainingOiledTicks());
writeDouble(car.getDurability());
writeDouble(car.getEnginePower());
writeDouble(car.getWheelTurn());
writeInt(car.getNextWaypointX());
writeInt(car.getNextWaypointY());
writeBoolean(car.isFinishedTrack());
}
void MyStrategy::move(const Car& self, const World& world, const Game& game, Move& move)
{
auto curCell = GetCell(self.getX(), self.getY(), game);
if (m_visitedCells.empty() || m_visitedCells.back() != curCell)
m_visitedCells.push_back(curCell);
#ifdef LOG
if(world.getTick() == 1)
PrintMap(world.getTilesXY());
#endif
// move.setEnginePower(1.0);
////////
// FIRE & OIL
///////
for (Car const & car: world.getCars())
{
if (car.isTeammate())
continue;
if (car.getDurability() == 0)
continue;
double dAngleDeg = FDeg(self.getAngleTo(car));
double dist = self.getDistanceTo(car);
if (dAngleDeg < 5
&& dist < 1.9 * game.getTrackTileSize())
move.setThrowProjectile(true);
// for (double tick = 0; tick < 5. * 800./60.; tick += 0.1)
// {
// auto car_pos = GetPosition(car, tick);
// auto bullet_pos_x = GetBulletPosition(self, tick);
// if (GetDist(car_pos.first, car_pos.second, bullet_pos_x.first, bullet_pos_x.second) < 20)
// move.setThrowProjectile(true);
// }
for (int i = 3; i < 7 && i < m_visitedCells.size(); ++i)
{
auto carCell = GetCell(car, game);
if (carCell == m_visitedCells[m_visitedCells.size() - i])
move.setSpillOil(true);
}
}
////////
//BACKBARD
////////
if (m_bBackwardMove)
return BackwardMove(self, world, game, move);
/////////
// PATH
/////////
Cell finish = {self.getNextWaypointX(), self.getNextWaypointY()};
Cell start = curCell;
vector<Cell> path = GetClosestPath(world, start, GetDirection(self), finish, game);
Cell start2 = finish;
auto nextWaypointIndex = self.getNextWaypointIndex() + 1;
if (nextWaypointIndex >= world.getWaypoints().size())
nextWaypointIndex = 0;
Direction nextDir = GetDirection(self);
if (path.size() >= 2)
{
nextDir = GetDirection(path[path.size() - 2], path.back());
}
Cell finish2 = {world.getWaypoints()[nextWaypointIndex][0], world.getWaypoints()[nextWaypointIndex][1]};
vector<Cell> nextPath = GetClosestPath(world, start2, nextDir, finish2, game);
for (size_t i = 1; i < nextPath.size(); ++i)
path.push_back(nextPath[i]);
if (path.empty())
path.push_back({0,0});
while (path.size() < 3)
path.push_back(path.back());
////////
// TARGET CELL
////////
Cell nextTarget = path[1];
Cell nextTarget2 = path[2];
#ifdef LOG
cout << "s " << start << " wp " << finish << " wp2 " << finish << endl << "path ";
for (auto cell: path)
cout << cell << " : ";
cout << " target " << nextTarget << endl;
#endif
double nextWaypointX = (nextTarget.m_x + 0.5) * game.getTrackTileSize();
double nextWaypointY = (nextTarget.m_y + 0.5) * game.getTrackTileSize();
double nextWaypointX2 = (nextTarget2.m_x + 0.5) * game.getTrackTileSize();
double nextWaypointY2 = (nextTarget2.m_y + 0.5) * game.getTrackTileSize();
double k = 0.4;
nextWaypointX = (k*nextWaypointX + (1-k)*nextWaypointX2);
nextWaypointY = (k*nextWaypointY + (1-k)*nextWaypointY2);
// double cornerTileOffset = 0.15 * game.getTrackTileSize();
///////////
//// BONUS
///////////
int strightLength = GetStraightLength(path);
double min_bonus_dist = (strightLength - 1 ) * game.getTrackTileSize();
if (strightLength > 2)
{
for (auto const & bonus: world.getBonuses())
{
if (FDeg(self.getAngleTo(bonus)) < 20)
{
if (self.getDistanceTo(bonus) < min_bonus_dist && IsOnPath(bonus, path, game, strightLength))
{
min_bonus_dist = self.getDistanceTo(bonus);
nextWaypointX = bonus.getX();
nextWaypointY = bonus.getY();
}
}
}
}
min_bonus_dist += 700;
bool bNeed_brake_for_bonus = false;
for (auto const & bonus: world.getBonuses())
{
auto b_cell = GetCell(bonus,game);
double dist = self.getDistanceTo(bonus);
if ((bonus.getType() == PURE_SCORE || (bonus.getType() == REPAIR_KIT && self.getDurability() < 0.5 ))
&& dist < min_bonus_dist
&& IsOnPath(bonus, path, game, 1)
&& FDeg(self.getAngleTo(bonus)) < 30)
{
min_bonus_dist = self.getDistanceTo(bonus);
nextWaypointX = bonus.getX();
nextWaypointY = bonus.getY();
bNeed_brake_for_bonus = FDeg(self.getAngleTo(bonus)) > 20 && Speed(self) > 15;
}
}
if (bNeed_brake_for_bonus)
move.setBrake(true);
//////////
// corner
//////////
for (int i = 0; i< 4; ++i)
{
auto corener_coords = GetCornerCoords(curCell, i, game);
if (FDeg(self.getAngleTo(corener_coords.first, corener_coords.second)) < 15)
{
nextWaypointX = (nextTarget.m_x + 0.5) * game.getTrackTileSize();
nextWaypointY = (nextTarget.m_y + 0.5) * game.getTrackTileSize();
}
}
///////////
// WHEEL
//////////
double angleToWaypoint = self.getAngleTo(nextWaypointX, nextWaypointY);
// move.setWheelTurn(angleToWaypoint * 32.0 / PI);
double MAX_ANGLE = 32.;
double Wheel_turn = 0;
if (FDeg(angleToWaypoint) > MAX_ANGLE)
Wheel_turn = (angleToWaypoint > 0 ? 1 : -1);
else
Wheel_turn = ((1./MAX_ANGLE)*(1.15 * Deg(angleToWaypoint)));
move.setWheelTurn(Wheel_turn);
if (world.getTick() < 195)
move.setEnginePower(0.25);
else
move.setEnginePower(1);
//////////
/// NITRO
//////////
int straight_length = GetStraightLength(path);
if (straight_length > 6 && world.getTick() > 220)
{
if (FDeg(angleToWaypoint) < 20)
move.setUseNitro(true);
}
if (self.getRemainingNitroTicks() == 1 && strightLength < 2)
m_brakeAfteNitroTicks = 45;
m_brakeAfteNitroTicks--;
if (m_brakeAfteNitroTicks > 0)
move.setBrake(true);
if (strightLength < 5 && (FDeg(angleToWaypoint) > 15 && Speed(self) > 15))
{
move.setBrake(true);
}
//////////
// 180 turn
//////////
if (Is180Turn(path))
{
m_180TurnCurCell = path[0];
m_180TurnMode = true;
m_180TurnLength = 3;
}
if (m_180TurnMode && curCell != m_180TurnCurCell)
{
m_180TurnLength--;
if (m_180TurnLength == 0)
m_180TurnMode = false;
m_180TurnCurCell = curCell;
}
if (m_180TurnMode && Speed(self) > 12)
{
move.setBrake(true);
}
// if (speedModule * speedModule * abs(angleToWaypoint) > 2.5 * 2.5 * PI)
// {
// move.setBrake(true);
// }
////////
///
///////
m_ForvardTick++;
double speedModule = hypot(self.getSpeedX(), self.getSpeedY());
if (m_ForvardTick > 30 && world.getTick() > 230)
if (speedModule < 1e-1 && m_dPrevSpeed < 1e-1)
{
m_bBackwardMove = true;
m_BacwardTick = BACWARD_DUR;
m_BackwardWheelAngle = -Wheel_turn;
return BackwardMove(self, world, game, move);
}
m_dPrevSpeed = speedModule;
}