markmental/yapb-noob-edition
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nav: re-added goal history for a round in some reworked way

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jeefo 2023-06-14 19:36:46 +03:00
commit 04503963c5
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GPG key ID: 927BCA0779BEA8ED
6 changed files with 42 additions and 15 deletions
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44
src/navigate.cpp
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@ -206,7 +206,7 @@ int Bot::findBestGoalWhenBombAction () {
return result;
}
int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offensive) {
int goalChoices[4] = { kInvalidNodeIndex, kInvalidNodeIndex, kInvalidNodeIndex, kInvalidNodeIndex };
if (tactic == 0 && !(*defensive).empty ()) { // careful goal
@ -222,8 +222,8 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
postprocessGoals (graph.m_campPoints, goalChoices);
}
}
else if (tactic == 2 && !(*offsensive).empty ()) { // offensive goal
postprocessGoals (*offsensive, goalChoices);
else if (tactic == 2 && !(*offensive).empty ()) { // offensive goal
postprocessGoals (*offensive, goalChoices);
}
else if (tactic == 3 && !graph.m_goalPoints.empty ()) // map goal node
{
@ -282,15 +282,11 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
}
}
}
if (!graph.exists (m_currentNodeIndex)) {
changeNodeIndex (findNearestNode ());
}
ensureCurrentNodeIndex ();
if (goalChoices[0] == kInvalidNodeIndex) {
return m_chosenGoalIndex = graph.random ();
}
bool sorting = false;
do {
@ -313,16 +309,41 @@ int Bot::findGoalPost (int tactic, IntArray *defensive, IntArray *offsensive) {
void Bot::postprocessGoals (const IntArray &goals, int result[]) {
// this function filters the goals, so new goal is not bot's old goal, and array of goals doesn't contains duplicate goals
int searchCount = 0;
int recurseCount = 0;
auto isRecentOrHistorical = [&] (int index) -> bool {
if (m_prevGoalIndex == index || m_previousNodes[0] == index) {
return true;
}
// too less to choice from just return all the goals
if (goals.length () < 4) {
return false;
}
// check if historical goal
for (const auto &hg : m_goalHist) {
if (hg == index) {
return true;
}
}
for (size_t i = 0; i < 4; ++i) {
if (result[i] == index) {
return true;
}
}
return isOccupiedNode (index);
};
for (int index = 0; index < 4; ++index) {
auto goal = goals.random ();
if (searchCount <= 8 && (m_prevGoalIndex == goal || ((result[0] == goal || result[1] == goal || result[2] == goal || result[3] == goal) && goals.length () > 4)) && !isOccupiedNode (goal)) {
if (recurseCount <= cr::max (4, goals.length <int> ()) && isRecentOrHistorical (goal)) {
if (index > 0) {
index--;
}
++searchCount;
++recurseCount;
continue;
}
result[index] = goal;
@ -336,6 +357,7 @@ bool Bot::hasActiveGoal () {
return false;
}
else if (goal == m_currentNodeIndex) { // no nodes needed
m_goalHist.push (goal);
return true;
}
else if (m_pathWalk.empty ()) { // no path calculated