增加战斗模拟部分功能测试用例、测试用例代码、海报修改

代码/workspace_robo4/robocode.samples/src/main/java/sample/TestRobot.java

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+/**
+ * Copyright (c) 2001-2016 Mathew A. Nelson and Robocode contributors
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://robocode.sourceforge.net/license/epl-v10.html
+ */
+package sample;
+
+
+import robocode.AdvancedRobot;
+import static robocode.util.Utils.normalAbsoluteAngle;
+import static robocode.util.Utils.normalRelativeAngle;
+
+import java.awt.*;
+import java.awt.event.KeyEvent;
+import static java.awt.event.KeyEvent.*;
+import java.awt.event.MouseEvent;
+import java.awt.event.MouseWheelEvent;
+import java.awt.Color;
+
+
+public class SnippetBot extends AdvancedRobot
+
+{
+
+    
+
+    Enemy target;                   //our current enemy  代表对手，包括了对手的所有有用参数
+
+    final double PI = Math.PI;          //just a constant 
+
+    int direction = 1;              //direction we are heading...1 = forward, -1 = backwards
+
+                                    //我们坦克车头的方向
+
+    double firePower;                   //the power of the shot we will be using - set by do firePower() 设置我们的火力
+
+ 
+
+    public void run() 
+
+    {
+
+        target = new Enemy();               //实例化Enemy()类
+
+        target.distance = 100000;           //initialise the distance so that we can select a target
+
+        setColors(Color.red,Color.blue,Color.green);    //sets the colours of the robot
+
+        //the next two lines mean that the turns of the robot, gun and radar are independant
+
+        //让gun,radar独立于坦克车
+
+        setAdjustGunForRobotTurn(true);
+
+        setAdjustRadarForGunTurn(true);
+
+        turnRadarRightRadians(2*PI);            //turns the radar right around to get a view of the field 以弧度计算旋转一周
+
+        
+
+        while(true) 
+
+        {
+
+            doMovement();               //Move the bot 移动机器人
+
+            doFirePower();              //select the fire power to use 选择火力
+
+            doScanner();                //Oscillate the scanner over the bot 扫描
+
+            doGun();                    //move the gun to predict where the enemy will be 预测敌人，调整炮管
+
+            out.println(target.distance);       
+
+            fire(firePower);            //所有动作完成后，开火
+
+            execute();              //execute all commands  上面使用的都为AdvancedRobot类中的非阻塞调用
+
+                                    //控制权在我们，所有这里用阻塞方法返回控制给机器人
+
+       }
+
+   }
+
+　
+
+    
+
+    void doFirePower() 
+
+    {
+
+        firePower = 400/target.distance;//selects a bullet power based on our distance away from the target 
+
+                                        //根据敌人距离来选择火力,因为本身前进，后退为300，所以火力不会过大
+
+   }
+
+　
+
+    
+
+    void doMovement() 
+
+    {
+
+        if (getTime()%20 == 0)  //过20的倍数时间就反转方向
+
+        {
+
+            //every twenty 'ticks'
+
+            direction *= -1;        //reverse direction
+
+            setAhead(direction*300);    //move in that direction
+
+       }
+
+        setTurnRightRadians(target.bearing + (PI/2)); //every turn move to circle strafe the enemy 
+
+                                                      //每一时间周期以敌人为中心绕圆运动
+
+   }
+
+    
+
+    void doScanner() 
+
+    {
+
+        double radarOffset;  //雷达偏移量
+
+        if (getTime() - target.ctime > 4) //why来回扫了4个回合都没扫到意味失去了目标，再全扫一遍
+
+        {
+
+            //if we haven't seen anybody for a bit....
+
+            radarOffset = 360;      //rotate the radar to find a target
+
+       } 
+
+        else 
+
+        {
+
+            //next is the amount we need to rotate the radar by to scan where the target is now
+
+            //通过扫描决定雷达旋转的弧度，"见基本原理方向剖析及目标锁定www.robochina.org".雷达弧度-敌人角度得到两者相差为旋转值
+
+            radarOffset = getRadarHeadingRadians() - absbearing(getX(),getY(),target.x,target.y);
+
+            //this adds or subtracts small amounts from the bearing for the radar to produce the wobbling
+
+            //and make sure we don't lose the target
+
+            //在得到的角度中加或减一点角度，让雷达很小的范围内摆而不失去目标
+
+            if (radarOffset < 0)
+
+            radarOffset -= PI/8;  //(0.375)
+
+            else
+
+            radarOffset += PI/8; 
+
+       }
+
+        //turn the radar
+
+        setTurnRadarLeftRadians(NormaliseBearing(radarOffset)); //左转调整转动角度到PI内
+
+   }
+
+    
+
+    void doGun() 
+
+    {
+
+        //works out how long it would take a bullet to travel to where the enemy is *now*
+
+        //this is the best estimation we have 
+
+        //计算子弹到达目标的时间长speed = 20 - 3 * power;有计算公式,距离除速度=时间
+
+        long time = getTime() + (int)(target.distance/(20-(3*firePower)));
+
+        //offsets the gun by the angle to the next shot based on linear targeting provided by the enemy class
+
+        //以直线为目标，偏移子弹下一次发射的角度。（这样让子弹射空的几率减少。但对付不动的和做圆运动的机器人有问题）
+
+        //target.guesssX(),target.guessY()为目标移动后的坐标
+
+        double gunOffset = getGunHeadingRadians() - absbearing(getX(),getY(),target.guessX(time),target.guessY(time));
+
+        setTurnGunLeftRadians(NormaliseBearing(gunOffset));  //调整相对角度到2PI内
+
+   }
+
+    
+
+    //if a bearing is not within the -pi to pi range, alters it to provide the shortest angle
+
+    double NormaliseBearing(double ang) 
+
+    {
+
+        if (ang > PI)
+
+        ang -= 2*PI;
+
+        if (ang < -PI)
+
+        ang += 2*PI;
+
+        return ang;
+
+   }
+
+    //if a heading is not within the 0 to 2pi range, alters it to provide the shortest angle
+
+    double NormaliseHeading(double ang) 
+
+    {
+
+        if (ang > 2*PI)
+
+        ang -= 2*PI;
+
+        if (ang < 0)
+
+        ang += 2*PI;
+
+        return ang;
+
+   }
+
+    //returns the distance between two x,y coordinates '**'
+
+    //以两边长求得与对手之间的距离
+
+    public double getrange( double x1,double y1, double x2,double y2 )
+
+    {
+
+        double xo = x2-x1;
+
+        double yo = y2-y1;
+
+        double h = Math.sqrt( xo*xo + yo*yo ); 
+
+        return h;   
+
+   }
+
+    //gets the absolute bearing between to x,y coordinates
+
+    //根据x,y的坐标求出绝对角度，见"坐标锁定"利用直角坐标系来反求出角度。？？？
+
+    public double absbearing( double x1,double y1, double x2,double y2 )
+
+    {
+
+        double xo = x2-x1;
+
+        double yo = y2-y1;
+
+        double h = getrange( x1,y1, x2,y2 );
+
+        if( xo > 0 && yo > 0 )
+
+        {
+
+            //反正弦定义，对边除斜边得弧度.以robocode中的绝对方向系及坐标系参照
+
+            //x,y为正右上角为0-90,x正y负右下角为90-180,x,y负左下角180-270,x负，y正右上角270-360
+
+            //此处要理解robocode中的绝对角度是上为0,下为180，如以中心为点划分象限则得到下面的结果
+
+            return Math.asin( xo / h );
+
+       }
+
+        if( xo > 0 && yo < 0 )
+
+        {
+
+            return Math.PI - Math.asin( xo / h ); //x为正,y为负第二象限角
+
+        }
+
+        if( xo < 0 && yo < 0 )
+
+        {
+
+            return Math.PI + Math.asin( -xo / h ); //第三象限内180+角度
+
+       }
+
+        if( xo < 0 && yo > 0 )
+
+        {
+
+            return 2.0*Math.PI - Math.asin( -xo / h ); //四象限360-角度
+
+       }
+
+        return 0;
+
+   }
+
+    
+
+    public void onScannedRobot(ScannedRobotEvent e) 
+
+    {
+
+        //if we have found a closer robot....
+
+        if ((e.getDistance() < target.distance)||(target.name == e.getName())) 
+
+        {
+
+            //the next line gets the absolute bearing to the point where the bot is
+
+            //求得对手的绝对弧度
+
+            double absbearing_rad = (getHeadingRadians()+e.getBearingRadians())%(2*PI);
+
+            //this section sets all the information about our target
+
+            target.name = e.getName();
+
+            //求得对手的x,y坐标，见"robocode基本原理之坐标锁定"文章
+
+            target.x = getX()+Math.sin(absbearing_rad)*e.getDistance(); //works out the x coordinate of where the target is
+
+            target.y = getY()+Math.cos(absbearing_rad)*e.getDistance(); //works out the y coordinate of where the target is
+
+            target.bearing = e.getBearingRadians();
+
+            target.head = e.getHeadingRadians();
+
+            target.ctime = getTime();               //game time at which this scan was produced 扫描到机器人的游戏时间
+
+            target.speed = e.getVelocity();         //得到敌人速度
+
+            target.distance = e.getDistance();
+
+       }
+
+   }
+
+    public void onRobotDeath(RobotDeathEvent e) 
+
+    {
+
+        if (e.getName() == target.name)
+
+        target.distance = 10000; //this will effectively make it search for a new target
+
+   }   
+
+ 
+
+}
+
+ 
+
+ 
+
+/*
+
+* This class holds scan data so that we can remember where enemies were
+
+* and what they were doing when we last scanned then.
+
+* You could make a hashtable (with the name of the enemy bot as key)
+
+* or a vector of these so that you can remember where all of your enemies are
+
+* in relation to you.
+
+* This class also holds the guessX and guessY methods. These return where our targeting
+
+* system thinks they will be if they travel in a straight line at the same speed
+
+* as they are travelling now.  You just need to pass the time at which you want to know
+
+* where they will be.
+
+* 保存我们扫描到的目标的所有有用数据，也可用hashtable，vector方法处理所有和我们有关的目标数据(用于群战)
+
+* 中间的guessX,guessY方法是针对做直线均速运动机器人一个策略
+
+*/
+
+class Enemy 
+
+{
+
+    /*
+
+     * ok, we should really be using accessors and mutators here,
+
+     * (i.e getName() and setName()) but life's too short.
+
+     */
+
+    String name;
+
+    public double bearing;
+
+    public double head;
+
+    public long ctime; //game time that the scan was produced
+
+    public double speed;
+
+    public double x,y;
+
+    public double distance;
+
+    public double guessX(long when)
+
+    {
+
+        //以扫描时和子弹到达的时间差 ＊ 最大速度=距离, 再用对手的坐标加上移动坐标得到敌人移动后的坐标
+
+        long diff = when - ctime;
+
+        return x+Math.sin(head)*speed*diff; //目标移动后的坐标
+
+   }
+
+    public double guessY(long when)
+
+    {
+
+        long diff = when - ctime;
+
+        return y+Math.cos(head)*speed*diff;
+
+   }
+
+}
+