Improving basic swarm bot

gobot/main.go

@@ -30,6 +30,7 @@ var forceJSON = flag.Bool("json", false, "force json encoding")
 
 func main() {
 	log.SetFlags(log.Ldate | log.Ltime | log.Lshortfile)
+
 	rand.Seed(time.Now().UnixNano())
 	var gameId string
 	flag.Parse()
@@ -39,6 +40,7 @@ func main() {
 		gameId = flag.Arg(0)
 	}
 
+	client.Verbose = *verbose
 	c := &client.Client{
 		Server: *serverHostname,
 		Port:   *port,

player.go

@@ -9,6 +9,8 @@ import (
 	"bitbucket.org/hackerbots/vector"
 )
 
+var Verbose bool = false
+
 // Player is the interface that is implemented when specifying non-default
 // player behavior.
 //
@@ -22,90 +24,120 @@ type Player interface {
 // own Player implementations.
 type SimplePlayer struct {
 	me             server.Robot
-	width, height  float32
+	width, height  float64
 	knownObstacles map[string]server.Obstacle
 	nearestEnemy   *server.OtherRobot
 	fireat         *vector.Point2d
 	moveto         *vector.Point2d
-	speed          float32
+	speed          float64
-	maxSpeed       float32
+	maxSpeed       float64
-	safeDistance   float32
+	safeDistance   float64
 }
 
 // NewSimplePlayer simply returns a populated, usable *SimplePlayer
-func NewSimplePlayer(width, height float32) *SimplePlayer {
+func NewSimplePlayer(width, height float64) *SimplePlayer {
 	return &SimplePlayer{
 		knownObstacles: make(map[string]server.Obstacle),
 		width:          width,
 		height:         height,
-		maxSpeed:       100,
+		maxSpeed:       1000,
-		safeDistance:   40,
+		safeDistance:   50,
 	}
 }
 
 // Recv is our implementation of receiving a server.Boardstate from the server
 func (p *SimplePlayer) Update(bot *server.Robot, bs *server.Boardstate) server.Instruction{
-	instruction := server.Instruction{
+	p.me = *bot
-		MoveTo:      nil,
+	p.speed = 1000
-		TargetSpeed: nil,
+	if p.me.Health <= 0{
-		FireAt:   	 nil,
+		return server.Instruction{}
-	}
-
-	p.speed = p.maxSpeed
-	if len(bs.MyRobots) > 0 {
-		p.me = bs.MyRobots[0]
-	} else {
-		return instruction
 	}
 
 	p.recon(bs)
 	p.navigate()
 	
+	probe_point := p.me.Position.Add(p.me.Heading.Scale(p.safeDistance))
+
+	if Verbose {
+		fmt.Printf("PROBE SENT: %v\n",probe_point)
+	}
+
 	return server.Instruction{
 		MoveTo:      p.moveto,
 		TargetSpeed: &p.speed,
 		FireAt:   	 p.fireat,
+		Probe:		 &probe_point,
 	}
 }
 
 func (p *SimplePlayer) navigate() {
+	if Verbose {
+		fmt.Printf("%v   S:%v   H:%v TS:%v\n\tX:%v  Y:%v\n\tHX:%v  HY:%v\n", 
+			p.me.Name, p.me.Speed, p.me.Health, p.me.TargetSpeed, 
+			p.me.Position.X, p.me.Position.Y,
+			p.me.Heading.X, p.me.Heading.Y)
+
+		if p.me.MoveTo != nil {
+			fmt.Printf("\tTX:%v  TY:%v\n",
+				p.me.MoveTo.X, p.me.MoveTo.Y)
+		}		
+	}
+
+	// if !p.probe(p.me.Position.Add(p.me.Heading.Scale(p.safeDistance))) {
+	// 	if !p.probe(*p.moveto) {
+	// 		p.moveto = p.randomDirectionDrift(p.moveto, 20)
+	// 		// p.speed = p.maxSpeed
+	// 		fmt.Printf("Obstacle?\n")
+	// 		return
+	// 	}
+	// }
+
+	if p.me.ProbeResult != nil {
+		p.moveto = p.randomDirectionDrift(&p.me.Position, 100)		
+		p.speed = -20
+		if Verbose {
+			fmt.Printf("Probe %v\n", p.me.ProbeResult)
+		}
+		return
+	}
+
+	if p.me.Collision != nil {
+		p.moveto = p.randomDirectionDrift(&p.me.Position, 100)
+		p.speed = -20
+		if Verbose {
+			fmt.Printf("Hit!\n")
+		}
+		return
+	}
+
 	if p.moveto == nil {
 		p.moveto = p.randomDirection()
+		// p.speed = p.maxSpeed
+		if Verbose {
+			fmt.Printf("Start\n")
+		}
+		return
 	}
 
 	togo := p.me.Position.Sub(*p.moveto).Mag()
 	if togo < p.safeDistance+5 {
 		p.moveto = p.randomDirection()
-		return
+		// p.speed = p.maxSpeed
+		if Verbose {
+			fmt.Printf("New Dest\n")
 		}
-	if !p.probe(p.me.Position.Add(p.me.Heading.Scale(p.safeDistance))) {
-		p.speed = 0
-		if !p.probe(*p.moveto) {
-			p.moveto = p.randomDirection()
-			return
-		}
-	}
-	if p.me.Collision != nil {
-		p.moveto = p.randomDirection()
-		p.speed = 0
 		return
 	}
 }
 
 func (p *SimplePlayer) recon(bs *server.Boardstate) {
-	for _, o := range bs.Objects {
-		obj := MiniObstacle(o)
-		if _, ok := p.knownObstacles[obj.Id()]; !ok {
-			p.knownObstacles[obj.Id()] = obj.ToObstacle()
-		}
-	}
 
 	// simplest shooting strategy ... need to do the following:
 	// not shoot through buildings
 	// shoot at where the robot will be, not where it was.
 	p.nearestEnemy = nil
 	p.fireat = nil
-	closest := float32(math.Inf(1))
+	closest := math.Inf(1)
 	for _, enemy := range bs.OtherRobots {
 		dist := p.me.Position.Sub(enemy.Position).Mag()
 		if dist < closest && dist > p.safeDistance {
@@ -118,10 +150,23 @@ func (p *SimplePlayer) recon(bs *server.Boardstate) {
 	}
 }
 
+func (p *SimplePlayer) randomDirectionDrift(start *vector.Point2d, drift float64) *vector.Point2d {
+	for {
+		pt := vector.Vector2d{
+			X: start.X - drift + rand.Float64() * drift * 2,
+			Y: start.Y - drift + rand.Float64() * drift * 2,
+		}.ToPoint()
+
+		if pt.X > 0 && pt.X < p.width && pt.Y > 0 && pt.Y < p.height {
+			return &pt
+		}
+	}
+}
+
 func (p *SimplePlayer) randomDirection() *vector.Point2d {
 	pt := vector.Vector2d{
-		X: rand.Float32() * p.width,
+		X: rand.Float64() * p.width,
-		Y: rand.Float32() * p.height,
+		Y: rand.Float64() * p.height,
 	}.ToPoint()
 	return &pt
 }
@@ -140,31 +185,3 @@ func (p *SimplePlayer) probe(destination vector.Point2d) bool {
 	}
 	return true
 }
-
-// MiniObstacle is a convenient way to encode/decode between the [4]int -> server.Obstacle
-type MiniObstacle [4]int
-
-// id is used to calculate a key for use in maps
-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()
-}
-
-// ToObstacle is where the conversion magic happens
-func (mo *MiniObstacle) ToObstacle() server.Obstacle {
-	return server.Obstacle{
-		Bounds: vector.AABB2d{
-			A: vector.Point2d{X: float32(mo[0]), Y: float32(mo[1])},
-			B: vector.Point2d{X: float32(mo[2]), Y: float32(mo[3])},
-		},
-	}
-}