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d_oldversions.cpp
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d_oldversions.cpp
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#ifdef ENABLE_LOGGING
#undef ENABLE_LOGGING
#endif
#include "d_oldversions.hpp"
#include <vector>
#include <map>
template<class T, class UnaryPredicate>
void filterVectorErr(std::vector<T> &v, UnaryPredicate p)
{
v.erase(v.begin(), unstable_remove_if(v.begin(), v.end(), p));
}
#ifdef WRITE_LOG
#undef WRITE_LOG
#define WRITE_LOG(x) ;
#endif
template<bool negCommand>
void quickStartGuyComputeMove(MyRobot &me, Simulator &sim)
{
constexpr F INV_Z = negCommand ? 1 : -1;
// Наша стратегия умеет играть только на земле
// Поэтому, если мы не касаемся земли, будет использовать нитро
// чтобы как можно быстрее попасть обратно на землю
if (!me.touch)
{
me.action.target_velocity = P3(0, -MAX_ENTITY_SPEED, 0);
me.action.jump_speed = 0;
me.action.use_nitro = true;
return;
}
// Если при прыжке произойдет столкновение с мячом, и мы находимся
// с той же стороны от мяча, что и наши ворота, прыгнем, тем самым
// ударив по мячу сильнее в сторону противника
bool jump = length(me.body.pos - sim.ball.pos) < BALL_RADIUS + ROBOT_MAX_RADIUS && me.body.pos.z * INV_Z < sim.ball.pos.z * INV_Z;
// Так как роботов несколько, определим нашу роль - защитник, или нападающий
// Нападающим будем в том случае, если есть дружественный робот,
// находящийся ближе к нашим воротам
bool is_attacker = sim.robots.size() == 2;
for (MyRobot &robot : sim.robots)
{
if (robot.side == me.side && robot.id != me.id)
{
if (robot.body.pos.z * INV_Z <= me.body.pos.z * INV_Z)
{
is_attacker = true;
}
}
}
if (is_attacker)
{
// Стратегия нападающего:
// Просимулирем примерное положение мяча в следующие 10 секунд, с точностью 0.1 секунда
for (int i = 1; i <= 100; ++i)
{
F t = i * 0.1;
P3 ball_pos = sim.ball.pos + sim.ball.vel * t;
// Если мяч не вылетит за пределы арены
// (произойдет столкновение со стеной, которое мы не рассматриваем),
// и при этом мяч будет находится ближе к вражеским воротам, чем робот,
if (ball_pos.z * INV_Z > me.body.pos.z * INV_Z
&& std::abs(ball_pos.x) < (sim.arena->width / 2.0)
&& std::abs(ball_pos.z) < (sim.arena->depth / 2.0))
{
// Посчитаем, с какой скоростью робот должен бежать,
// Чтобы прийти туда же, где будет мяч, в то же самое время
P delta_pos = P(ball_pos.x, ball_pos.z) - P(me.body.pos.x, me.body.pos.z);
F need_speed = delta_pos.len() / t;
// Если эта скорость лежит в допустимом отрезке
if (0.5 * ROBOT_MAX_GROUND_SPEED < need_speed
&& need_speed < ROBOT_MAX_GROUND_SPEED)
{
// То это и будет наше текущее действие
P target_velocity = delta_pos.norm() * need_speed;
me.action.target_velocity = P3(target_velocity.x, 0, target_velocity.z);
me.action.jump_speed = jump ? ROBOT_MAX_JUMP_SPEED : 0;
me.action.use_nitro = false;
return;
}
}
}
}
// Стратегия защитника (или атакующего, не нашедшего хорошего момента для удара):
// Будем стоять посередине наших ворот
P target_pos = P(0.0, -(sim.arena->depth / 2.0) + sim.arena->bottom_radius) * INV_Z;
// Причем, если мяч движется в сторону наших ворот
if (sim.ball.vel.z * INV_Z < -EPS)
{
// Найдем время и место, в котором мяч пересечет линию ворот
F t = (target_pos.z - sim.ball.pos.z) / sim.ball.vel.z;
F x = sim.ball.pos.x + sim.ball.vel.x * t;
// Если это место - внутри ворот
if (std::abs(x) < (sim.arena->goal_width / 2.0))
{
// То пойдем защищать его
target_pos.x = x;
}
}
// Установка нужных полей для желаемого действия
P target_velocity = P(
target_pos.x - me.body.pos.x,
target_pos.z - me.body.pos.z
) * ROBOT_MAX_GROUND_SPEED;
me.action.target_velocity = P3(target_velocity.x, 0, target_velocity.z);
me.action.jump_speed = jump ? ROBOT_MAX_JUMP_SPEED : 0;
me.action.use_nitro = false;
}
void QuickStartGuy::compute(const Simulator &_sim)
{
this->sim = _sim;
for (MyRobot &me : sim.robots)
{
if (me.side != Side::NEG)
continue;
quickStartGuyComputeMove<true>(me, sim);
}
}
namespace stratV24 {
constexpr size_t PRED_COUNT = 90;
constexpr F NITRO_POINTS = 100;
inline bool testDist(const P &delta, size_t ticks)
{
return delta.len2() < sqr(ticks * ROBOT_MAX_GROUND_SPEED * TICK_DUR);
}
struct PredictedBallIterator
{
Simulator sim;
int t = 0;
int myId;
PredictedBallIterator(const Simulator &_sim, int myId)
{
sim = _sim;
filterVector(sim.robots, [myId](const MyRobot &r){return r.id == myId;});
this->myId = myId;
}
bool computeTick()
{
if (t > 20)
{
sim.robots.clear();
}
else
{
for (MyRobot &r : sim.robots)
{
r.action.jump_speed = 0;
r.action.use_nitro = false;
r.action.target_velocity = xz((sim.ball.pos - r.body.pos).xz(), 0) / TICK_DUR;
if ((!r.touch && r.body.vel.y > 1) || (sim.ball.pos - r.body.pos).len2() < sqr(BALL_RADIUS + ROBOT_MAX_RADIUS - 0.01))
{
r.action.jump_speed = ROBOT_MAX_JUMP_SPEED;
}
}
}
sim.tickFast();
t++;
if (myId % 2 == 0)
renderSphere(sim.ball.pos, 0.1, 0xffff00ffu);
return finished();
}
bool finished() const
{
return (sim.scoreSide == Side::NONE);
}
};
struct EngagePoint {
EngagePoint(const Simulator &sim, const MyRobot &me) : predictedBallIterator(sim, me.id)
{
}
P3 foundTargetPos;
F height;
size_t targetT;
size_t arrivalT;
bool found;
P arrivalSpd;
PredictedBallIterator predictedBallIterator;
};
P3 getTargetPos(const Ball &ball, const MyRobot &me);
EngagePoint computeEngagePoint(const Simulator &sim, const MyRobot &me, int count, int enEngageT)
{
EngagePoint result = EngagePoint(sim, me);
result.foundTargetPos = getTargetPos(sim.ball, me);
result.height = ROBOT_RADIUS;
result.targetT = PRED_COUNT - 1;
result.arrivalT = PRED_COUNT - 1;
result.found = false;
for (size_t i = 0; i < count; )
{
if (i > 0)
{
if (!result.predictedBallIterator.computeTick())
break;
}
Ball &ball = result.predictedBallIterator.sim.ball;
/*if (enEngageT >= 0 && !result.found && i == enEngageT)
{
result.foundTargetPos = getTargetPos(ball, me);
}*/
//renderSphere(ball.pos, 0.02, 0xff000000);
F maxHeight = me.nitro > 15 ? 8.5 : 6.5;
if (ball.pos.y < maxHeight || (ball.pos.y < 9 && ball.pos.z < (-ARENA_DEPTH * 0.5)))
{
P3 targetPos = getTargetPos(ball, me);
if (testDist(targetPos.xz() - me.body.pos.xz(), i + 1))
{
Robot2d robot2d = Robot2d(me);
for (size_t t = 0; t <= i; ++t)
{
F remainingDist = (robot2d.pos - targetPos.xz()).len();
if (remainingDist < robot2d.vel.len() * TICK_DUR)
{
result.foundTargetPos = targetPos;
result.height = ball.pos.y;
result.targetT = i;
result.found = true;
result.arrivalT = t;
result.arrivalSpd = robot2d.vel;
//LOG("FOUND " << i << " " << foundTargetPos);
break;
}
robot2d.tick((targetPos.xz() - robot2d.pos)/TICK_DUR);
}
}
}
if (result.found)
break;
++i;
}
return result;
}
F ballScoreFast(const Simulator &ssim, const std::vector<MyRobot> &robots)
{
const Ball &ball = ssim.ball;
F sscore = ball.vel.z;
if (ball.vel.z == 0)
return 0;
F T = ball.vel.z > 0 ? (ARENA_DEPTH * 0.5 + BALL_RADIUS - ball.pos.z) / ball.vel.z : (-(ARENA_DEPTH * 0.5 + BALL_RADIUS) - ball.pos.z) / ball.vel.z;
F x = ball.pos.x + ball.vel.x * T;
/*if (ball.vel.z > 0 && std::abs(x) < ARENA_WIDTH * 0.4)
{
F y = ball.pos.y + ball.vel.y * T - GRAVITY * 0.5 * sqr(T);
if (y > 5 && y < 10)
{
sscore += 50;
}
}*/
if (std::abs(x) < (ARENA_GOAL_WIDTH * 0.5 - BALL_RADIUS * 0.7))
{
F score;
F y = ball.pos.y + ball.vel.y * T - GRAVITY * 0.5 * sqr(T);
if (y > 0 && y < (ARENA_GOAL_HEIGHT - BALL_RADIUS * 0.7))
{
if (y > 5)
{
score = 1500;
}
else
score = 1000;
}
else
{
score = 200;
}
if (ball.vel.z > 0)
sscore += score;
else
sscore -= score;
}
else
{
if (ball.vel.z > 0 && ball.vel.x != 0)
{
F vx = ball.vel.x;
F px = ball.pos.x;
if (px < 0)
{
px *= -1;
vx *= -1;
}
F wallT = (vx > 0) ? (ARENA_WIDTH * 0.5 - px) / vx : (ARENA_WIDTH * 0.5 + px) / (-vx);
if (wallT < T)
{
F y = ball.pos.y + ball.vel.y * wallT - GRAVITY * 0.5 * sqr(wallT);
if (y > 3 && y < ARENA_HEIGHT - 7)
{
F tx = ARENA_WIDTH * 0.5 - std::abs(vx) * BALL_ARENA_E * (T - wallT);
if (std::abs(tx) < (ARENA_GOAL_WIDTH * 0.5 - BALL_RADIUS * 0.7))
{
sscore += 500;
F y = ball.pos.y + ball.vel.y * T - GRAVITY * 0.5 * sqr(T);
if (y > 5 && y < (ARENA_GOAL_HEIGHT - BALL_RADIUS * 0.7))
{
sscore += 200;
}
}
}
}
}
}
sscore *= 2.0 / (2.0 + T);
/*if (sscore > 0)
{
Simulator tsim = ssim;
tsim.robots.clear();
int minEnemyT = 100;
int minMyT = 100;
for (const MyRobot &r : ssim.robots)
{
EngagePoint engagePoint = computeEngagePoint(tsim, r, std::min(15, (int) (T*TICKS_PER_SECOND)));
if (engagePoint.found)
{
if (r.side == Side::POS)
{
if (minEnemyT > engagePoint.targetT)
minEnemyT = engagePoint.targetT;
}
else
{
if (minMyT > engagePoint.targetT)
minMyT = engagePoint.targetT;
}
}
if (minEnemyT > 5 && minEnemyT < 100 && minEnemyT < minMyT)
{
sscore = sscore * 0.5 - 500;
//LOG("SSS " << sscore);
}
else if (minMyT > 15 && minMyT < 100)
{
sscore += 50;
}
}
}*/
if (sscore > 0)
{
P dir = ball.vel.xz().norm();
F spd = ball.vel.xz().len();
for (const MyRobot &r : robots)
{
if (r.side == Side::POS)
{
P pp = r.body.pos.xz() + r.body.vel.xz() * 0.2;
P pd = pp - ball.pos.xz();
F d = dot(pd, dir);
if (d > 5)
{
F pt = d / spd;
F y = ball.pos.y + ball.vel.y * pt - GRAVITY * 0.5 * sqr(pt);
if (y < 4)
{
P bp = ball.pos.xz() + ball.vel.xz() * pt;
F l = pp.dist(bp);
if (l < 20)
{
sscore -= 1000/(l + 3);
}
}
}
}
}
}
F vb = ball.vel.len();
if (vb < 10)
{
sscore -= sqr(10 - vb);
}
return sscore;
}
F ballScore(const Simulator &ssim, const std::vector<MyRobot> &robots)
{
const Ball &ball = ssim.ball;
F sscore = 0;
Simulator testSim = ssim;
testSim.robots.clear();
std::vector<P3> renderPoints;
F coef = 1.0;
for (size_t t = 0; t < 130; ++t)
{
renderPoints.push_back(testSim.ball.pos);
testSim.tickFastUltra();
if (testSim.scoreSide != Side::NONE)
{
F goalScore = 1000 + (testSim.ball.pos.y - BALL_RADIUS) * 100;// + testSim.ball.vel.len() * 10;
if (testSim.scoreSide == Side::NEG)
{
sscore += goalScore * coef;
}
else
{
sscore -= goalScore * coef;
}
break;
}
coef *= 0.99;
if (t == 30)
sscore += testSim.ball.vel.z;
/*if (testSim.ball.pos.xz().dist2(P(0, -ARENA_DEPTH * 0.5)) < sqr(ARENA_GOAL_WIDTH * 0.5))
{
sscore -= 5 * coef;
}
else if (testSim.ball.pos.xz().dist2(P(0, ARENA_DEPTH * 0.5)) < sqr(ARENA_GOAL_WIDTH * 0.5))
{
sscore += 5 * coef;
}*/
}
return sscore + ballScoreFast(ssim, robots) * 0.5;
}
constexpr P POS_GOAL_POS = P(0, ARENA_DEPTH * 0.5 + BALL_RADIUS);
constexpr P NEG_GOAL_POS = P(0, -(ARENA_DEPTH * 0.5 + BALL_RADIUS));
constexpr P POS_GOAL_POS_NEAR = P(0, ARENA_DEPTH * 0.5 + 10);
constexpr P NEG_GOAL_POS_NEAR = P(0, -(ARENA_DEPTH * 0.5 + 10));
P3 getTargetPos(const Ball &ball, const MyRobot &me)
{
P bpos = ball.pos.xz();
P bvel = ball.vel.xz();
Side mySide = me.side;
// 10 - 460
// 11 - 462
// 12 - 438
// 13 - 290
// 14 - 189
// 15 - 137/514
// 16 - 107
// 17 - 101
// 18 - 121
// 19 -148
// 20 - 177/514
// h 6.5 - 50
// h 6 - 28
// h 5.5 - 25
if (bpos.z < (-ARENA_DEPTH * 0.5) && ball.pos.y > 6.5 && mySide == Side::NEG)
{
F dz = (-ARENA_DEPTH * 0.5) - bpos.z;
return P3(bpos.x, ROBOT_RADIUS, -ARENA_DEPTH * 0.5 - 18 + dz*2);
}
F l = bvel.len();
if (l > 0)
{
if (l > 50)
bvel /= l;
else
bvel /= (50);
}
bool nearGoal = std::abs(bpos.z) > (ARENA_DEPTH * 0.5 - 5) && std::abs(bpos.x) < (ARENA_GOAL_WIDTH * 0.5);
P targetPos = bpos + ((bpos - (mySide == Side::NEG ? (nearGoal ? POS_GOAL_POS_NEAR : POS_GOAL_POS) : (nearGoal ? NEG_GOAL_POS_NEAR : NEG_GOAL_POS))).norm() + bvel ).norm() * ((ROBOT_RADIUS + BALL_RADIUS) * 0.65f);
return xz(targetPos, ROBOT_RADIUS);
}
F optimizeKick(const Simulator &sim, MyRobot &me, int enEngageT);
void updateActions(double jump_speed, Simulator &tsim, int t, int meId, const std::map<int, RobotState> &robotState, bool useNitro)
{
for (MyRobot &r : tsim.robots)
{
const RobotState &enSt = robotState.find(r.id)->second;
r.action.target_velocity = xz((enSt.foundTargetPos - r.body.pos).xz().norm(), (useNitro ? ROBOT_MAX_JUMP_SPEED : 0)) * enSt.speed;
r.action.use_nitro = useNitro;
if (r.id == meId)
{
r.action.jump_speed = jump_speed;
}
else
{
F estT = std::sqrt(2 * (enSt.height - ROBOT_RADIUS) / GRAVITY);
if (estT + t > enSt.targetT)
{
r.action.jump_speed = std::sqrt(2 * (enSt.height - ROBOT_RADIUS) * GRAVITY);
}
if (t + 5 > enSt.targetT && !r.touch)
{
r.action.jump_speed = ROBOT_MAX_JUMP_SPEED;
}
}
}
};
void MyStrat::computeJump(MyRobot &me)
{
RobotState &st = robotState[me.id];
F enemyBallDist = 1e6;
for (const MyRobot &en : sim.robots)
{
if (en.side == Side::POS)
enemyBallDist = std::min(enemyBallDist, length(en.body.pos - sim.ball.pos) - ROBOT_RADIUS - BALL_RADIUS);
}
F currentScore = ballScore(sim, sim.robots);
constexpr int DEPTH_T = 30;
if (st.targetT < DEPTH_T && me.touch)
{
F initEstJumpSpeed = clamp(st.height > ROBOT_RADIUS ? std::sqrt((st.height - ROBOT_RADIUS) * 2 * GRAVITY) : 0, 0, ROBOT_MAX_JUMP_SPEED);
int nitroTicks = 0;
//if (currentScore < -200 || sim.ball.pos.z > 30)
{
if (st.height > 8 && me.nitro > 14)
{
nitroTicks = 14;
initEstJumpSpeed = ROBOT_MAX_JUMP_SPEED;
}
else if (st.height > 6 && me.nitro > 7)
{
nitroTicks = 8;
initEstJumpSpeed = ROBOT_MAX_JUMP_SPEED;
}
}
F score = -1e6;
int jumpTime = -1;
F jumpSpeed = initEstJumpSpeed;
//for (int k = 0; k < 1; ++k)
{
F estJumpSpeed = initEstJumpSpeed;
/*if (k == 1)
{
if (estJumpSpeed > ROBOT_MAX_JUMP_SPEED - 3)
continue;
estJumpSpeed = ROBOT_MAX_JUMP_SPEED;
}*/
//F estJumpSpeed = (1.0 + 0.15 * k) * initEstJumpSpeed;
Simulator testSim = sim;
auto updateScore = [&score, &jumpTime, &jumpSpeed, this](const Simulator &ssim, int jmpT, F jumpS){
F sscore = ballScore(ssim, sim.robots);
sscore /= (5 + jmpT);
//if (jmpT > enEngageT - 5)
// sscore -= (jmpT - enEngageT + 5) * 50;
if (score <= sscore)
{
score = sscore;
jumpTime = jmpT;
jumpSpeed = jumpS;
}
};
for (int i = 0; i < DEPTH_T; ++i)
{
if (i % 2 == 0)
{
Simulator jsim = testSim;
bool ballTouch = false;
for (int ji = i; ji < DEPTH_T; ++ji)
{
int rind = jsim.indexOfRobot(me.id);
int di = ji - i;
if (ji <= i + 1)
updateActions(estJumpSpeed, jsim, ji, me.id, robotState, di < nitroTicks);
else
updateActions(ROBOT_MAX_JUMP_SPEED, jsim, ji, me.id, robotState, di < nitroTicks);
if (ji == 0)
{
jsim.tick();
}
else
{
jsim.tickFast();
}
ballTouch |= jsim.robots[rind].ballTouch;
}
if (i == 0)
renderSphere(jsim.robots[jsim.indexOfRobot(me.id)].body.pos, 0.03, 0x00ff0000);
if (ballTouch)
updateScore(jsim, i, estJumpSpeed);
}
if (jumpTime > 0)
break;
updateActions(0, testSim, i, me.id, robotState, false);
//updateActions(0, testSim, i);
testSim.tickFast();
}
if (jumpTime <= 0)
{
//renderSphere(testSim.robots[testSim.indexOfRobot(me.id)].body.pos, 0.03, 0x00ffff00);
updateScore(testSim, DEPTH_T - 1, estJumpSpeed);
}
//if (jumpTime >= 0)
// LOG("JUMPT " << jumpTime);
if (jumpTime == 0)
{
if (enemyBallDist < 1 || score > 100 || score > currentScore + 500 || sim.ball.pos.z < -5)
{
me.action.jump_speed = jumpSpeed;
st.nitroTicks = nitroTicks;
me.action.target_velocity = xz((st.foundTargetPos - me.body.pos).xz().norm(), (nitroTicks ? ROBOT_MAX_JUMP_SPEED : 0)) * st.speed;
st.targetVel = me.action.target_velocity;
WRITE_LOG("JUMP " << jumpSpeed);
//LOG("JUMP " << (jumpSpeed) / initEstJumpSpeed);
if (nitroTicks == 0)
{
F bestScore = -1e6;
for (int k = -2; k <= 2; ++k)
{
F newJumpSpeed = (1.0 + 0.1 * k) * jumpSpeed;
if (newJumpSpeed > ROBOT_MAX_JUMP_SPEED)
break;
Simulator testSim = sim;
for (int i = 0; i < DEPTH_T; ++i)
{
if (i <= 1)
updateActions(newJumpSpeed, testSim, i, me.id, robotState, false);
//updateActions(estJumpSpeed, jsim, ji);
else
updateActions(ROBOT_MAX_JUMP_SPEED, testSim, i, me.id, robotState, false);
if (i == 0)
testSim.tick();
else
testSim.tickFast();
if (testSim.robots[testSim.indexOfRobot(me.id)].ballTouch)
{
F score = ballScore(testSim, sim.robots);
if (score > bestScore)
{
bestScore = score;
me.action.jump_speed = newJumpSpeed;
}
break;
}
}
}
}
}
}
}
}
}
F optimizeKick(const Simulator &sim, MyRobot &me, int enEngageT)
{
F bestScore = -1e6;
if ((sim.ball.pos - me.body.pos).len() < (BALL_RADIUS + ROBOT_MAX_RADIUS + 1))
{
Simulator testSim = sim;
int ind = testSim.indexOfRobot(me.id);
testSim.robots[ind].action.jump_speed = ROBOT_MAX_JUMP_SPEED;
testSim.tickFast();
if (testSim.robots[ind].ballTouch)
{
for (int i = 0; i <= 10; ++i)
{
F jumpSpeed = i / 10.0 * ROBOT_MAX_JUMP_SPEED;
F scoreSum = 0;
for (int k = 0; k < 5; ++k)
{
setFixedEInd(k);
Simulator testSim2 = sim;
testSim2.robots[ind].action.jump_speed = jumpSpeed;
testSim2.tick();
F score = ballScore(testSim2, sim.robots);
scoreSum += score;
}
resetFixedEInd();
if (scoreSum > bestScore)
{
bestScore = scoreSum;
me.action.jump_speed = jumpSpeed;
}
}
}
}
return bestScore;
}
void MyStrat::computePredictedBallPos()
{
}
F computeTrajScore(const Simulator &sim, int meId, const Trajectory2d &traj, int enEngageT)
{
Simulator tsim = sim;
P mePos = tsim.robots[tsim.indexOfRobot(meId)].body.pos.xz();
filterVector(tsim.robots, [meId, &mePos](const MyRobot &r){return r.id != meId && (r.touch || r.body.pos.xz().dist(mePos) > 20);});
int meInd = tsim.indexOfRobot(meId);
std::vector<P3> renderPoints;
renderPoints.push_back(tsim.robots[meInd].body.pos);
bool ballTouch = false;
for (const P &p : traj.vel)
{
tsim.robots[meInd].action.target_velocity = xz(p, 0);
tsim.robots[meInd].action.jump_speed = 0;
tsim.robots[meInd].action.use_nitro = false;
tsim.tick();
//if (tsim.robots[meInd].body.pos.z > tsim.ball.pos.z)
ballTouch |= tsim.robots[meInd].ballTouch;
renderPoints.push_back(tsim.robots[meInd].body.pos);
}
F score = 0;
if (ballTouch)
score -= 1000;
ballTouch = false;
tsim.robots[meInd].action.jump_speed = ROBOT_MAX_JUMP_SPEED;
tsim.robots[meInd].action.target_velocity = xz(traj.lastVel, traj.nitroTicks > 0 ? ROBOT_MAX_JUMP_SPEED : 0);
tsim.robots[meInd].action.use_nitro = traj.nitroTicks > 0;
tsim.tick();
ballTouch |= tsim.robots[meInd].ballTouch;
for (int i = 1; i < traj.flyT; ++i)
{
tsim.robots[meInd].action.jump_speed = 0;
tsim.robots[meInd].action.use_nitro = i < traj.nitroTicks;
tsim.tick();
ballTouch |= tsim.robots[meInd].ballTouch;
renderPoints.push_back(tsim.robots[meInd].body.pos);
}
tsim.robots[meInd].action.jump_speed = ROBOT_MAX_JUMP_SPEED;
for (int i = 0; i < 5; ++i)
{
setFixedEInd(i);
Simulator tsim2 = tsim;
tsim2.tick();
ballTouch |= tsim2.robots[meInd].ballTouch;
renderPoints.push_back(tsim2.robots[meInd].body.pos);
if (!ballTouch)
{
resetFixedEInd();
return -1e6;
}
score += ballScore(tsim2, sim.robots);
F relSpd = (tsim2.robots[meInd].body.vel - tsim2.ball.vel).xz().len();
if (relSpd > 35)
{
score -= sqr(relSpd - 35);
//LOG("S " << relSpd);
}
F vb = tsim2.ball.vel.len();
if (vb < 30)
{
score -= sqr(30 - vb);
}
}
resetFixedEInd();
renderLineV(renderPoints, 0x44ff4400);
int trajLen = traj.vel.size() + traj.flyT;
if (trajLen >= enEngageT)
score -= 500;
if (trajLen > enEngageT - 15)
{
score -= 50;
score -= (trajLen - enEngageT + 15) * 10;
}
score -= (traj.vel.size() + traj.flyT) * 30.0;
return score;
}
F computeFlyScore(const Simulator &sim, int meId, int enEngageT, P3 targetVel, int nitroTicks)
{
Simulator tsim = sim;
P mePos = tsim.robots[tsim.indexOfRobot(meId)].body.pos.xz();
filterVector(tsim.robots, [meId, &mePos](const MyRobot &r){return r.id != meId && (r.touch || r.body.pos.xz().dist(mePos) > 20);});
tsim.nitro_packs.clear();
for (MyRobot &r : tsim.robots)
{
r.action.target_velocity = r.body.vel;
r.action.jump_speed = ROBOT_MAX_JUMP_SPEED;
}
int ind = tsim.indexOfRobot(meId);
bool ballTouch = false;
Simulator tsimSave;
F score = 0;
for (int t = 0; t < 30; ++t)
{
tsim.robots[ind].action.target_velocity = targetVel;
tsim.robots[ind].action.jump_speed = 0;
if (t < nitroTicks)
{
tsim.robots[ind].action.use_nitro = true;
}
else
{
tsim.robots[ind].action.use_nitro = false;
}
tsimSave = tsim;
tsim.tickFast();
ballTouch |= tsim.robots[ind].ballTouch;
if (ballTouch)
{
tsim = tsimSave;
tsim.robots[ind].action.jump_speed = ROBOT_MAX_JUMP_SPEED;
for (int i = 0; i < 5; ++i)
{
setFixedEInd(i);
Simulator tsim2 = tsim;
tsim2.tick();
score += ballScore(tsim2, sim.robots);
F relSpd = (tsim2.robots[ind].body.vel - tsim2.ball.vel).xz().len();
if (relSpd > 35)
{
score -= sqr(relSpd - 35);
}
F vb = tsim2.ball.vel.len();
if (vb < 30)
{
score -= sqr(30 - vb);
}
}
resetFixedEInd();
if (t >= enEngageT)
score -= 500;
if (t > enEngageT - 15)
{
score -= 50;
score -= (t - enEngageT + 15) * 10;
}
return score;
}
}
return -1e6;
}
struct KickParams
{
MyRobot found;
int T = 0;
int K = 0;
int nitroTicks = 0;
};
KickParams findKickParams(const Simulator &sim, const MyRobot &me, const Ball &b, const P&vel, int ct)
{
KickParams result;
Simulator tsim = sim;
tsim.robots.clear();
tsim.robots.push_back(me);
F bestScore = -1e6;
P dir = (b.pos.xz() - P(0, ARENA_DEPTH * 0.5 + BALL_RADIUS)).norm();
for (size_t nitroTp = 0; nitroTp < 3; ++nitroTp)
{
F consumption = JUMP_CONSTANTS.nitroConsumption[nitroTp];
if (me.nitro < consumption /*|| nitroTp > 0 && b.pos.y < 6*/)
break;