reasonable object avoidance.

botserv.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"bitbucket.org/hackerbots/vector"
+	"fmt"
 )
 
 type ClientConfig struct {
@@ -101,16 +102,16 @@ type Instruction struct {
 }
 
 type Boardstate struct {
-	MyRobots    []Robot      `json:"my_robots"`
-	OtherRobots []OtherRobot `json:"robots"`
-	Projectiles []Projectile `json:"projectiles"`
-	Splosions   []Splosion   `json:"splosions"`
-	Obstacles   []Obstacle   `json:"obj"`
-	Reset       bool         `json:"reset"`
-	Type        string       `json:"type"`
-	Turn        int          `json:"turn"`
-	AllBots     []BotHealth  `json:"all_bots"`
-	Messages    []string     `json:"messages"`
+	MyRobots    []Robot        `json:"my_robots"`
+	OtherRobots []OtherRobot   `json:"robots"`
+	Projectiles []Projectile   `json:"projectiles"`
+	Splosions   []Splosion     `json:"splosions"`
+	Obstacles   []MiniObstacle `json:"objects"`
+	Reset       bool           `json:"reset"`
+	Type        string         `json:"type"`
+	Turn        int            `json:"turn"`
+	AllBots     []BotHealth    `json:"all_bots"`
+	Messages    []string       `json:"messages"`
 }
 
 type OtherRobot struct {
@@ -121,8 +122,34 @@ type OtherRobot struct {
 	Health   int               `json:"health"`
 }
 
+type MiniObstacle [4]int
+
+func (mo *MiniObstacle) id() string {
+	return fmt.Sprintf(
+		"%x%x%x%x",
+		mo[0],
+		mo[1],
+		mo[2],
+		mo[3],
+	)
+}
+
+func (mo MiniObstacle) String() string {
+	return mo.id()
+}
+
+func (mo *MiniObstacle) toObstacle() Obstacle {
+	return Obstacle{
+		Bounds: govector.AABB2d{
+			A: govector.Point2d{float32(mo[0]), float32(mo[1])},
+			B: govector.Point2d{float32(mo[2]), float32(mo[3])},
+		},
+	}
+}
+
 type Obstacle struct {
 	Bounds govector.AABB2d `json:"bounds"`
+	Hp     int             `json:"-"`
 }
 
 type BotHealth struct {

main.go

@@ -21,7 +21,7 @@ var weaponSpeed = flag.Int("wspeed", 50, "weapons speed")
 
 // XXX: add TurnSpeed, WeaponDamage, WeaponSpeed
 
-var server = flag.String("server", "hackerbots.us", "server hostname")
+var server = flag.String("server", "localhost", "server hostname")
 var port = flag.Int("port", 8666, "server port")
 
 var botname = flag.String("name", "gobot", "the name that other players will see")
@@ -62,7 +62,8 @@ func main() {
 				WeaponDamage:  *weaponDamage,
 				WeaponSpeed:   *weaponSpeed,
 			},
-			wg: &wg,
+			wg:             &wg,
+			knownObstacles: make(map[string]Obstacle),
 		}
 		wg.Add(1)
 		go r.play()

robot.go

@@ -10,6 +10,8 @@ import (
 	"sync"
 )
 
+const maxSpeed = 100
+
 func connect(server string, port int) (*websocket.Conn, error) {
 	origin := "http://localhost/"
 	url := fmt.Sprintf("ws://%s:%d/ws/", server, port)
@@ -25,6 +27,12 @@ type robot struct {
 	name     string
 	stats    StatsRequest
 
+	speed          float32
+	moveto         *govector.Point2d
+	boardstate     Boardstate
+	me             Robot
+	knownObstacles map[string]Obstacle
+
 	// TODO: don't know if I like how this is done ... I would rather send
 	// a signal over a chanel
 	wg *sync.WaitGroup
@@ -106,47 +114,103 @@ func (r *robot) play() {
 		return
 	}
 
-	log.Printf("%s: %+v", r.name, r)
-	// TODO: var target govector.Point2d
-	moveto := govector.Point2d{
-		X: rand.Float32() * r.game.BoardSize.Width,
-		Y: rand.Float32() * r.game.BoardSize.Height,
-	}
-	log.Printf("%s: moveto: %+v", r.name, moveto)
 	log.Printf("%s: starting loop", r.name)
+
 	for {
-		var boardstate Boardstate
-		err = websocket.JSON.Receive(r.ws, &boardstate)
-		if *verbose {
-			log.Printf("%+v", boardstate)
-		}
+		r.speed = float32(maxSpeed)
+		err = websocket.JSON.Receive(r.ws, &r.boardstate)
 		if err != nil {
 			log.Printf("%s: Connection lost", r.name)
 			return
 		}
-		for _, me := range boardstate.MyRobots {
-			me = boardstate.MyRobots[0]
-			if govector.Distance(me.Position, moveto) < 3.0 {
-				log.Printf("%s: old: %+v: %+v", r.name, me.Position, moveto)
-				moveto = govector.Point2d{
-					X: rand.Float32() * r.game.BoardSize.Width,
-					Y: rand.Float32() * r.game.BoardSize.Height,
-				}
-				log.Printf("%s: new: %+v: %+v", r.name, me.Position, moveto)
-			}
+		if *verbose {
+			log.Printf("\n\n%#v\n\n", r.boardstate)
+		}
 
-			// TODO: send instructions
-			instruction := map[string]Instruction{
-				me.Id: {
-					MoveTo: &moveto,
-					FireAt: &moveto,
-				},
-			}
-			err = websocket.JSON.Send(r.ws, instruction)
-			if err != nil {
-				log.Println(err)
-				return
-			}
+		r.recon()
+
+		if len(r.boardstate.MyRobots) > 0 {
+			r.me = r.boardstate.MyRobots[0]
+		} else {
+			// XXX
+			log.Println("continue")
+			continue
+		}
+
+		r.navigate()
+
+		instruction := map[string]Instruction{
+			r.me.Id: {
+				MoveTo:      r.moveto,
+				TargetSpeed: &r.speed,
+				// FireAt: moveto,
+			},
+		}
+		err = websocket.JSON.Send(r.ws, instruction)
+		if err != nil {
+			log.Println(err)
+			return
+		}
+	}
+}
+
+func (r *robot) recon() {
+	for _, o := range r.boardstate.Obstacles {
+		if _, ok := r.knownObstacles[o.id()]; !ok {
+			r.knownObstacles[o.id()] = o.toObstacle()
+		}
+	}
+}
+
+func (r *robot) selectDirection() *govector.Point2d {
+	p := govector.Vector2d{
+		X: rand.Float32() * r.game.BoardSize.Width,
+		Y: rand.Float32() * r.game.BoardSize.Height,
+	}.ToPoint()
+	return &p
+}
+
+func (r *robot) probe(destination govector.Point2d) bool {
+	// XXX: make test for this
+	for i := 0; i < 20; i++ {
+		for _, v := range r.knownObstacles {
+			collided, _, _ := govector.RectIntersection(
+				v.Bounds,
+				r.me.Position,
+				destination.Sub(r.me.Position),
+			)
+			if collided {
+				return false
+			}
+		}
+	}
+	return true
+}
+
+func (r *robot) navigate() {
+	if r.boardstate.Reset {
+		// XXX We actually *want* to get here, but never do ..
+		panic("reset")
+		r.moveto = r.selectDirection()
+	}
+
+	if r.moveto == nil {
+		r.moveto = r.selectDirection()
+	}
+
+	if r.me.Collision {
+		r.moveto = r.selectDirection()
+		r.speed = 0
+		return
+	}
+	togo := r.me.Position.Sub(*r.moveto).Mag()
+	if togo < 20.0 {
+		r.moveto = r.selectDirection()
+	}
+	if !r.probe(r.me.Position.Add(r.me.Heading.Scale(80))) {
+		r.speed = 0
+		if !r.probe(*r.moveto) {
+			r.moveto = r.selectDirection()
 		}
 	}
 }