--- /dev/null
+/*
+ * zeRace "checkpoint" bot + optimizer
+ * http://royale.zerezo.com/zerace/
+ *
+ * Copyright (C) 2006 Antoine Jacquet <royale@zerezo.com>
+ * Licensed under GPL
+ *
+ * This robot uses a static database of checkpoint.
+ * It will not be able to race on an unknown track.
+ *
+ * If you want to train it for a new track, you will need to add some manual
+ * checkpoints to the list.
+ *
+ * You can then use the optimizer to find better checkpoints.
+ * An example: ./optimize formula 5 10000 4
+ * Will optimize the track "formula" using 10000 races of 5 laps.
+ * At each loop, it will move each checkpoint of 4 pixel or less.
+ * The optimizer will output new values for checkpoints you should copy/paste.
+ */
+
+#define sqr(x) ((x)*(x))
+#define MAX_STUCK 100
+#define LOOPS 1000
+#define LAPS 5
+#define INIT_PRECISION 50
+#define TIMEOUT 19999
+#define TOLERANCE_DISTANCE 30.0
+
+#include <complex.h>
+#include "bot.h"
+
+typedef struct {
+ int x;
+ int y;
+} coord;
+
+char dummy[99];
+
+struct {
+ char *trackname;
+ float max_speed_angle;
+ coord *checkpoint;
+} db[] = {
+ /* dummy entry used for new tracks */ dummy, 0.5, (coord[]){ -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, -1,-1, },
+ /* 7373 */ "bio", 0.59, (coord[]){ 890,683, 502,526, 277,599, 72,530, 45,302, 298,232, 781,192, 826,185, 916,324, 970,548, -1,-1, },
+ /* 4700 */ "car", 0.40, (coord[]){ 781,664, 877,617, 883,479, 522,242, 291,237, 111,449, 149,580, 234,661, -1,-1, },
+ /* 5572 */ "city", 0.65, (coord[]){ 49,266, 122,198, 259,174, 349,183, 377,211, 453,229, 749,308, 917,487, 681,595, 546,574, 417,596, 233,571, 128,486, 45,414, -1,-1, },
+ /* 13338 */ "desert", 0.40, (coord[]){ 561,378, 382,338, 285,415, 367,522, 440,594, 377,697, 103,289, 136,154, 258,66, 366,57, 588,50, 729,126, 821,308, 897,525, 777,649, 720,495, -1,-1, },
+ /* 5792 */ "first", 0.65, (coord[]){ 500,240, 762,150, 988,418, 916,544, 712,590, 556,663, 225,646, 115,339, -1,-1, },
+ /* 6602 */ "formula", 0.60, (coord[]){ 682,577, 968,495, 964,255, 762,232, 722,421, 554,610, 215,520, 160,448, 266,252, -1,-1, },
+ /* 21470 */ "hairpins", 0.50, (coord[]){ 353,604, 182,617, 68,516, 195,501, 217,381, 159,342, 119,346, 103,207, 250,97, 334,123, 346,259, 446,309, 492,104, 588,37, 632,93, 791,140, 862,136, 971,271, 806,200, 722,262, 802,446, 838,460, 865,593, 838,697, 698,595, 637,491, 487,504, 481,470, 570,550, 549,665, -1,-1, },
+ /* 8581 */ "http", 0.58, (coord[]){ 635,88, 689,98, 796,232, 776,292, 773,364, 792,408, 809,521, 665,693, 622,710, 518,696, 476,663, 408,689, 344,461, 431,366, 338,224, 245,303, 110,216, 297,118, 404,83, 473,97, 528,47, -1,-1, },
+ /* 5854 */ "icy", 0.67, (coord[]){ 792,164, 951,255, 873,535, 710,593, 616,635, 547,667, 235,657, 116,353, 329,202, -1,-1, },
+ /* 13889 */ "kart", 1.16, (coord[]){ 132,657, 38,387, 109,171, 332,215, 472,276, 512,201, 834,108, 957,343, 274,336, 275,512, 900,560, 918,694, -1,-1, },
+ /* 9063 */ "loop", 0.61, (coord[]){ 412,720, 207,659, 68,442, 115,183, 397,132, 523,281, 855,331, 892,276, 839,106, 712,182, 651,208, 658,473, 855,542, 915,630, 719,702, 638,700, -1,-1, },
+ /* 13333 */ "simple", 0.61, (coord[]){ 362,629, 169,663, 78,608, 143,151, 396,375, 420,288, 416,206, 601,131, 652,273, 922,440, 962,541, -1,-1, },
+ /* 12926 */ "wave", 0.57, (coord[]){ 733,381, 916,512, 884,633, 732,540, 872,281, 822,132, 722,137, 647,163, 586,177, 616,173, 573,202, 475,173, 443,206, 405,189, 301,140, 287,169, 155,291, 560,593, 446,681, 334,636, 203,572, 151,525, 676,413, -1,-1, },
+ /* end entry */ NULL, 0, NULL,
+};
+
+char *bot_name()
+{
+ return "Checkpoint";
+}
+
+int current_track = 0;
+int next_checkpoint = 0;
+
+void bot_ia(char *trackname, struct _car *car, SDL_Surface * fun, int *ku, int *kd, int *kl, int *kr)
+{
+ int i;
+ float dx, dy, da;
+ float angle = 0, distance;
+
+ /* if the track has changed */
+ if (strcmp(db[current_track].trackname, trackname) != 0)
+ {
+ current_track = -1;
+
+ /* find the good track in the db */
+ for (i = 0; db[i].trackname != NULL; i++) if (strcmp(db[i].trackname, trackname) == 0) current_track = i;
+
+ /* we did not find the track in the database */
+ if (current_track == -1)
+ {
+ /* we won't be able to drive this race ... */
+ fprintf(stderr, "Unknown track: %s\n", trackname);
+ exit(1);
+ }
+ next_checkpoint = 0;
+ }
+
+ /* compute delta x/y */
+ dx = db[current_track].checkpoint[next_checkpoint].x - car->x;
+ dy = db[current_track].checkpoint[next_checkpoint].y - car->y;
+
+ /* compute the angle of the next checkpoint */
+ if (dy > 0)
+ angle = 3.0 * M_PI / 2 - atan(dx/dy);
+ if (dy < 0)
+ angle = 1.0 * M_PI / 2 - atan(dx/dy);
+
+ /* compute the distance of the next checkpoint */
+ distance = sqrt( sqr(dx) + sqr(dy) );
+
+ /* compute the angle difference */
+ da = angle - car->angle;
+
+ /* keep it between -pi and pi */
+ while (da < -M_PI) da += 2 * M_PI;
+ while (da > +M_PI) da -= 2 * M_PI;
+
+ /* compute steering */
+ if (da < 0) *kl = 1; else *kl = 0;
+ if (da > 0) *kr = 1; else *kr = 0;
+
+ /* we try to go as fast as possible */
+ *ku = 1;
+ *kd = 0;
+
+ /* if the angle and speed are to big */
+ if (car->speed > 0)
+ /* formula should be based on speed, angle diff... and distance? */
+ if (sqrt(1 + car->speed) * sqr(da) > db[current_track].max_speed_angle)
+ {
+ /* we should brake! */
+ *ku = 0;
+ *kd = 1;
+ }
+
+ /* if we are close enought of the checkpoint, jump to the next one */
+ if (distance < TOLERANCE_DISTANCE)
+ {
+ next_checkpoint++;
+ if (db[current_track].checkpoint[next_checkpoint].x == -1) next_checkpoint = 0;
+ }
+
+ /* debug */
+ if (0)
+ printf("debug: x=%.2f y=%.2f a=%.0f s=%.2f | kl=%d kr=%d ku=%d kd=%d | c=%d a=%.0f d=%.2f dx/dy=%.0f/%.0f da=%.2f\n",
+ car->x, car->y, 180/M_PI*car->angle, car->speed, *kl, *kr, *ku, *kd, next_checkpoint, 180/M_PI*angle, distance, dx, dy, da);
+}
+
+#ifdef OPTIMIZE
+
+/* if the bot is called from command line, we run the track optimizer */
+int main(int argc, char *argv[])
+{
+ struct _tracklist *tracklist, *loopcheck;
+ SDL_Surface *fun;
+ int loop, lap, ctime, btime = TIMEOUT, tr, nb, i, j, precision, stuck = 0, found = 0;
+ int ku, kd, kl, kr;
+ struct _car car;
+ coord backup[99];
+ float backup_msa;
+
+ /* check parameters */
+ if (argc != 2)
+ {
+ fprintf(stderr,
+ "Usage : %s track\n"
+ " track: the name of the track you want to optimize.\n"
+ "Look at the source code for more details...\n"
+ ,argv[0]);
+ exit(1);
+ }
+
+ /* randomize */
+ srand(time(NULL));
+ precision = INIT_PRECISION;
+
+ /* load tracklist */
+ if (!zeRace_get_tracks(&tracklist))
+ {
+ fprintf(stderr, "Unable to load tracks!\n");
+ exit(1);
+ }
+
+ /* pick up the good track */
+ loopcheck = tracklist;
+ do if (strcmp(tracklist->name, argv[1]) == 0) break; else tracklist = tracklist->next; while (tracklist != loopcheck);
+
+ /* if it is not found, display an error message */
+ if (strcmp(tracklist->name, argv[1]) != 0)
+ {
+ fprintf(stderr, "Unable to load track %s\n", argv[1]);
+ exit(1);
+ }
+
+ /* load the image */
+ fun = IMG_Load(tracklist->function);
+
+ /* find the good track in the db */
+ for (tr = 0; db[tr].trackname != NULL; tr++) if (strcmp(db[tr].trackname, argv[1]) == 0) break;
+
+ /* we did not find the track in the database */
+ if (db[tr].trackname == NULL)
+ {
+ printf("trying to create some checkpoints... "); fflush(stdout);
+ tr = 0;
+ strcpy(db[tr].trackname, argv[1]);
+ /* try to suggest some checkpoints */
+ for (i = 1; i < 32; i += 1)
+ {
+ int x,y, xx = 0,yy = 0, n = 0;
+
+ for (x = 0; x < fun->w; x += 5)
+ for ( y = 0; y < fun->h; y += 5)
+ {
+ Uint32 c;
+ Uint8 r,g,b;
+ /* get the pixel color under the center of car in the function map */
+ c = getpixel(fun, x, y);
+ /* red layer (checkpoints) */
+ /* green layer (road quality) */
+ /* blue layer (grip) */
+ SDL_GetRGB(c, fun->format, &r, &g, &b);
+ if (g == 255 && r/8 == i)
+ {
+ xx += x;
+ yy += y;
+ n++;
+ }
+ }
+
+ db[tr].checkpoint[i-1].x = xx/n;
+ db[tr].checkpoint[i-1].y = yy/n;
+ }
+ printf("done\n");
+ }
+
+ /* while we can continue to optimize better */
+ while (precision > 0 || found)
+ {
+ /* start again ? */
+ if (precision == 0)
+ {
+ printf("starting again...\n");
+ precision = INIT_PRECISION;
+ found = 0;
+ }
+
+ /* check for close checkpoints */
+ nb = 0;
+ for (i = 0; db[tr].checkpoint[i+1].x != -1; i++)
+ /* if the checkpoints are close */
+ if (sqrt( sqr(db[tr].checkpoint[i].x - db[tr].checkpoint[i+1].x) + sqr(db[tr].checkpoint[i].y - db[tr].checkpoint[i+1].y)) < TOLERANCE_DISTANCE)
+ {
+ nb++;
+ /* we remove one from the list */
+ for (j = i+1; db[tr].checkpoint[j].x != -1; j++)
+ {
+ db[tr].checkpoint[j].x = db[tr].checkpoint[j+1].x;
+ db[tr].checkpoint[j].y = db[tr].checkpoint[j+1].y;
+ }
+ db[tr].checkpoint[j].x = -1;
+ }
+ if (nb) printf("removing %d checkpoints...\n", nb);
+
+ /* count the checkpoints */
+ for (nb = 0; db[tr].checkpoint[nb].x != -1; nb++);
+
+ /* copy the current checkpoints */
+ memcpy(backup, db[tr].checkpoint, nb * 2 * sizeof(coord));
+ backup_msa = db[tr].max_speed_angle;
+
+ /* try with this precision */
+ printf("trying with %d pixel precision...\n", precision);
+
+ /* do X optimization races (loops) */
+ for (loop = 0; loop < LOOPS; loop++)
+ {
+ /* init parameters */
+ car.speed = 0;
+ car.angle = tracklist->a * 2 * M_PI / 360;
+ car.ox = car.x = tracklist->x;
+ car.oy = car.y = tracklist->y;
+ car.lastcheck = 0;
+ car.w = 30;
+ car.h = 30;
+ ctime = 0;
+ car.lapflag = 0;
+ lap = 0;
+ next_checkpoint = 0;
+
+ /* do X laps */
+ while (1)
+ {
+ bot_ia(argv[1], &car, fun, &ku, &kd, &kl, &kr);
+ move_car(&car, (ku<<3 | kd<<2 | kl<<1 | kr), fun);
+
+ /* if we did a full lap, count it */
+ if (car.lapflag == 1)
+ {
+ lap++;
+ /* we did all the lap, exit */
+ if (lap == LAPS) break;
+ car.lapflag = 0;
+ }
+
+ /* check if we are "stuck" */
+ if (car.speed < 0.01) stuck++; else stuck = 0;
+
+ /* if we missed a checkpoint or too long, exit */
+ if (car.lapflag != 0 || ctime > TIMEOUT || stuck > MAX_STUCK)
+ {
+ ctime = TIMEOUT;
+ break;
+ }
+
+ ctime++;
+ }
+
+ /* check if it is the best ? */
+ if (ctime < btime)
+ {
+ btime = ctime;
+ printf("new record: %d!!!\n", btime);
+ /* print the best table found */
+ printf("/* %d */ \"%s\", %.2f, (coord[]){ ", btime, argv[1], db[current_track].max_speed_angle);
+ for (i = 0; i <= nb; i++)
+ printf("%d,%d, ", db[tr].checkpoint[i].x, db[tr].checkpoint[i].y);
+ printf("},\n");
+ found = 1;
+ }
+ /* restore previous version */
+ else
+ {
+ memcpy(db[tr].checkpoint, backup, nb * 2 * sizeof(coord));
+ db[tr].max_speed_angle = backup_msa;
+ }
+
+ /* backup the new version */
+ memcpy(backup, db[tr].checkpoint, nb * 2 * sizeof(coord));
+ backup_msa = db[tr].max_speed_angle;
+
+ /* do some change to the checkpoint table */
+ db[tr].max_speed_angle += ( rand() % (2 * precision + 1) - precision ) / 100.0;
+ for (i = 0; i < nb; i++)
+ {
+ db[tr].checkpoint[i].x += rand() % (2 * precision + 1) - precision;
+ db[tr].checkpoint[i].y += rand() % (2 * precision + 1) - precision;
+ }
+ }
+
+ /* restore the best version */
+ memcpy(db[tr].checkpoint, backup, nb * 2 * sizeof(coord));
+ db[tr].max_speed_angle = backup_msa;
+
+ /* try to find better... */
+ precision = precision/2;
+ }
+}
+
+#endif
projects / zeRace / commitdiff
