robotank/server-nodejs/worldsim.ts

// SPDX-License-Identifier: GPL-3.0-or-later
// Author: Sascha Nitsch https://contentnation.net/@grumpydevelop

import { MonitorWS } from "./websockets/monitor";
import { RobotWS } from "./websockets/robot";
import { Robot } from "./robot";
import { RobotCmd } from "./robotcmd";

class Bullet {
  private source: string;
  public x: number;
  public y: number;
  private direction: number
  private closest: number;
  constructor(uuid: string, x: number, y: number, direction: number) {
    this.source = uuid;
    this.x = x;
    this.y = y;
    this.direction = direction * Math.PI / 180;
    this.closest = 100;
  }
  advance(dt: number, robots: Map<String, Robot>, width: number, height: number) {
    this.x += 100*Math.sin(this.direction) * dt;
    this.y -= 100*Math.cos(this.direction) * dt;
    if (this.x > width || this.x < 0 || this.y > height || this.y < 0) {
      return true;
    }
    let damage = false;
    robots.forEach((robot, uuid) => {
      if (uuid === this.source) {
        return;
      }
      const rX = robot.getX();
      const rY = robot.getY();
      if (Math.abs(rX - this.x) < 20 && Math.abs(rY - this.y) < 20) { // quick check
        const dist = Math.sqrt((rX - this.x)*(rX - this.x) + (rY - this.y) * (rY - this.y));
        //console.log("potential hit on", uuid, "from ",this.source, dist);
        if (dist<10) {
          if (dist > this.closest) {
            const damageAmount = Math.pow(1.6, 10-this.closest)
            robot.damage(damageAmount);
            const sourceRobot = robots.get(this.source);
            sourceRobot?.causedDamage(damageAmount);
            damage = true;
          } else {
            this.closest = dist;
          }
        }
      }
    });
    return damage;
  }
}

class WorldSim {
  private monitors: MonitorWS;
  private simulationTime: number;
  private worldTickTimer: NodeJS.Timeout;
  private robotsWS: RobotWS;
  public robots: Map<string, Robot>
  private staged: Set<string>;
  private ready: Set<string>
  private numRobots: number;
  private numRunsLeft: number;
  private resolvePromise?: Function;
  private winner: string;
  private width: number;
  private height: number;
  private bullets: Array<Bullet>

  constructor() {
    this.simulationTime = 0;
    this.robots = new Map();
    this.staged = new Set();
    this.ready = new Set();
    this.numRobots = 0;
    this.numRunsLeft = 99999;
    this.winner = "";
    this.width = 500;
    this.height = 500;
    this.bullets = [];
  }

  cmd(uuid: string, cmd: RobotCmd) {
    const robot = this.robots.get(uuid);
    if (robot) {
      robot.updateCmd(cmd);
    }
  }

  fire(uuid: string, posX, posY, direction) : void {
    const bullet = new Bullet(uuid, posX, posY, direction);
    this.bullets.push(bullet);
  }

  getTime() : number {
    return this.simulationTime;
  }
  register(uuid: string) {
    const robot = new Robot(this, uuid, this.width, this.height);
    this.robots.set(uuid, robot);
    this.monitors.broadcast("connected " + uuid);
    this.staged.add(uuid);
  }

  robotReady(uuid: string) {
    this.monitors.broadcast("ready " + uuid);
    this.robotsWS.send(uuid, "ready");
    this.staged.delete(uuid);
    this.ready.add(uuid);
    if (this.staged.size == 0 && this.ready.size == this.numRobots) {
      --this.numRunsLeft;
      this.monitors.broadcast("start");
      this.ready.forEach((uuid: string) => {
        this.robotsWS.send(uuid, "start");
      });
      this.worldTickTimer = setInterval(this.worldTick, 50);
    }
  }

  setModel(uuid: string, model: string){
    const robot = this.robots.get(uuid);
    if (robot === undefined) {
      return;
    }
    robot.setModel(model);
    this.monitors.broadcast("model " + uuid + " " + model);
    this.robotsWS.send(uuid, "specs " + JSON.stringify({width: this.width, height: this.height}));
    const status = robot.getStatus();
    const statusString = status.toJSON();
    this.robotsWS.send(uuid, "status " + statusString);
    this.monitors.broadcast('status ' + uuid + ' ' + statusString);
    if(robot.isReady()) {
      this.robotReady(uuid);
    }
  }

  setMonitors(monitors: MonitorWS) {
    this.monitors = monitors;
  }

  setName(uuid: string, name: string) {
    //console.log("set name for ", uuid, "to", name);
    const robot = this.robots.get(uuid);
    if (robot === undefined) {
      return;
    }
    robot.setName(name);
    this.monitors.broadcast("name " + uuid + " " + name);

    if(robot.isReady()) {
      this.robotReady(uuid);
    }
  }

  setRobots(robots: RobotWS) {
    this.robotsWS = robots;
  }

  start(numRobots: number) : Promise<string> {
    this.numRobots = numRobots;
    return new Promise((resolve) => {
      this.resolvePromise = resolve;
    });
  }

  unregister(uuid: string) {
    this.monitors.broadcast("disconnected " + uuid);
    this.robots.delete(uuid);
    this.ready.delete(uuid);
    this.staged.delete(uuid);
    if (this.numRunsLeft == 0 && this.staged.size == 0 && this.ready.size == 0) {
      console.log("shut down");
      if (this.resolvePromise) {
        this.resolvePromise(this.winner);
      }
    }
  }
  lastTick = 0;
  worldTick = () => {
    const now = Date.now();
    const dt = this.lastTick ? ((now - this.lastTick) / 1000) : 0.1;
    this.lastTick = now;
    this.simulationTime += dt;

    this.ready.forEach((uuid: string) => {
      const robot = this.robots.get(uuid);
      robot?.setSimulationTime(this.simulationTime);
      robot?.causedDamage(0);
    });
    // update bullets and check for hits
    // run twice with half dt
    for (let j = 0; j < 2; ++j) {
      const toDelete:Array<number> = [];
      const bulletPos: Array<Array<number>> = [];
      this.bullets.forEach((bullet, i) => {
        if (bullet.advance(dt / 2, this.robots, this.width, this.height)) {
          toDelete.push(i);
        } else {
          bulletPos.push([bullet.x, bullet.y]);
        }
      });
      if (toDelete.length) {
        toDelete.reverse();
        toDelete.forEach((index) => {
          this.bullets.splice(index, 1);
        });
      }
      if (this.bullets.length > 0 || toDelete.length > 0) {
        this.monitors.broadcast('bullet ' + JSON.stringify(bulletPos));
      }
    }

    // move robots according to "physics"
    this.ready.forEach((uuid: string) => {
      const robot = this.robots.get(uuid);
      robot?.moveRobot(dt);
    });

    // update radar
    this.ready.forEach((uuid: string) => {
      const robot = this.robots.get(uuid);
      robot?.updateRadar();
    });
    

    const killed: Array<string> = [];
    this.ready.forEach((uuid: string) => {
      const robot = this.robots.get(uuid);
      if (robot !== undefined) {
        const status = robot.getStatus();
        if (status.health <= 0) {
          // robot got killed
          killed.push(uuid);
        } else {
          const statusString = status.toJSON();
          /*if (status.contactPoints.length > 0) {
          console.log(statusString);
          }*/
          this.robotsWS.send(uuid, "status " + statusString);
          this.monitors.broadcast('status ' + uuid + ' ' + statusString);
        }
      }
    });
    
    killed.forEach((uuid) => {
      this.monitors.broadcast("lost " + uuid);
      this.robotsWS.send(uuid, "lost");
      this.staged.add(uuid);
      this.ready.delete(uuid);
    });
    
    if (this.ready.size == 1) {
      this.ready.forEach((uuid) => {
        this.monitors.broadcast("won " + uuid);
        this.robotsWS.send(uuid, "won");
        this.staged.add(uuid);
        this.ready.delete(uuid);
        this.winner = uuid;
      });
      clearInterval(this.worldTickTimer);
    }
    if (this.ready.size == 0) {
      clearInterval(this.worldTickTimer);
    }
  }
}

export { WorldSim }