/// <summary>
/// Resets the actions.
/// </summary>
public void ResetActions()
{
secondsSinceLastAction = 0;
FlipReset?.Invoke(this, EventArgs.Empty);
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gameInfo.Update(gameTickPacket, GetRigidBodyTick());
ballPrediction.Update(GetBallPrediction());
Controller controller = new Controller();
if (timeout > 6)
{
double angle = random.NextDouble() * Math.PI * 2;
GameState gamestate = new GameState();
gamestate.BallState.PhysicsState.Location = new DesiredVector3(700 * (float)Math.Cos(angle), 700 * (float)Math.Sin(angle), 100);
gamestate.BallState.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
gamestate.BallState.PhysicsState.Velocity = new DesiredVector3(300 * (float)Math.Cos(angle), 300 * (float)Math.Sin(angle), 1500);
CarState carstate = new CarState();
carstate.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Location = new DesiredVector3(0, 0, 17);
carstate.PhysicsState.Rotation = new DesiredRotator(0, (float)(Math.PI / 2), 0);
gamestate.SetCarState(index, carstate);
SetGameState(gamestate);
timeout = 0;
flipReset = null;
recovery = null;
recoveryState = false;
}
Car car = gameInfo.Cars[index];
Slice[] slices = ballPrediction.ToArray();
if (timeout > 0.3)
{
if (flipReset == null)
{
for (int i = 0; i < slices.Length; i++)
{
if (slices[i].Velocity.Z < 100)
{
Vector3 A = FlipReset.CalculateCourse(car, slices[i].Position, slices[i].Time - gameInfo.Time);
if (A.Length() < 800 && A.Length() > 700)
{
flipReset = new FlipReset(car, slices[i].Position, gameInfo.Time, slices[i].Time);
}
}
}
}
if (flipReset != null && !recoveryState)
{
controller = flipReset.Step(gameInfo.Ball, 1f / 60f, gameInfo.Time);
Car c = new Car(car);
Vector3 lastpoint = c.Position;
for (int i = 0; i < ((flipReset.ArrivalTime - gameInfo.Time) / (5f / 60f)); i++)
{
c.Simulate(new Controller(), 5f / 60f);
Renderer.DrawLine3D(Colors.White, c.Position, lastpoint);
lastpoint = c.Position;
}
if (flipReset.Finished)
{
controller.Roll = 0;
controller.Pitch = -1;
controller.Yaw = 0;
controller.Jump = true;
recoveryState = true;
recovery = new Recovery(car);
}
}
else if (recovery != null)
{
controller = recovery.Step(1f / 60f);
}
}
timeout += gameInfo.DeltaTime;
return(controller);
}