private void avoidSideCrash(Move moveResult, Vector needDirAngle = null)
{
HashSet <IPhysicEvent> events = calculateAvoidMapCrashEvents(moveResult);
IPhysicEvent passageLine = events.ComeContaints(PhysicEventType.PassageLine) ? events.GetEvent(PhysicEventType.PassageLine) : null;
IPhysicEvent mapCrash = events.ComeContaints(PhysicEventType.MapCrash) ? events.GetEvent(PhysicEventType.MapCrash) : null;
IPhysicEvent objectsCrash = events.ComeContaints(PhysicEventType.ObjectsCrash) ? events.GetEvent(PhysicEventType.ObjectsCrash) : null;
IPhysicEvent crash = (null != objectsCrash && objectsCrash.TickCome > 1) ? objectsCrash : mapCrash;
if (null != crash)
{
int tickToPassageLine = (null != passageLine) ? passageLine.TickCome : maxIterationCount;
if (crash.TickCome < tickToPassageLine)
{
Vector dir = new Vector(dirMove.X, dirMove.Y);
PCar physicCar = crash.CarCome;
Tuple <Vector, Vector> crashInfo = crash.infoCome as Tuple <Vector, Vector>;
Logger.instance.Assert(null != crashInfo, "Can't get crash info");
Vector sideNormal = crashInfo.Item2;
double angle = dir.Angle.AngleDeviation(sideNormal.Angle);
if (Vector.sincos(car.Angle).Dot(dir) > 0 || 0 == angle)
{
angle = car.Angle.AngleDeviation(sideNormal.Angle);
}
bool notCurrentTurnSide = null != needDirAngle && sideNormal.Dot(needDirAngle) > 0;
if (!checkStrongParallel(crash) || notCurrentTurnSide)
{
moveResult.WheelTurn = car.WheelTurn - speedSign * Math.Sign(angle) * game.CarWheelTurnChangePerTick;
}
bool isParallel = Vector.sincos(car.Angle).Dot(sideNormal).LessDotWithAngle(Math.PI / 9); //20 degrees
isParallel |= physicCar.Dir.Dot(sideNormal).LessDotWithAngle(Math.PI / 9); //20 degrees
int ticksToZeroEnginePower = (int)(Math.Abs(car.EnginePower) / game.CarEnginePowerChangePerTick);
if (!isParallel && speedSign > 0 && crash.TickCome < ticksToZeroEnginePower)
{
if (moveResult.EnginePower > 0.5)
{
moveResult.EnginePower -= game.CarEnginePowerChangePerTick;
}
}
if (!isParallel)
{
moveResult.IsBrake = moveResult.IsBrake || car.Speed() > Constant.MinBrakeSpeed;
}
}
}
}
private void turn(Move moveResult, Vector needDirAngle)
{
PCar iterCar = new PCar(car, game);
iterCar.setEnginePower(enginePowerSign);
Vector endPoint = endTile.ToVector(1 - dirMove.X, 1 - dirMove.Y);
endPoint = endPoint + new Vector(dirMove.X, dirMove.Y) * game.TrackTileMargin;
double speedSign = Math.Sign(Vector.sincos(car.Angle).Dot(new Vector(car.SpeedX, car.SpeedY)));
HashSet <IPhysicEvent> events = calculateTurnEvents(iterCar, needDirAngle);
IPhysicEvent passageLine = events.ComeContaints(PhysicEventType.PassageLine) ? events.GetEvent(PhysicEventType.PassageLine) : null;
IPhysicEvent outLine = events.ComeContaints(PhysicEventType.OutLine) ? events.GetEvent(PhysicEventType.OutLine) : null;
IPhysicEvent speedReach = events.ComeContaints(PhysicEventType.SpeedReach) ? events.GetEvent(PhysicEventType.SpeedReach) : null;
if (null != passageLine && null != outLine)
{
int speedReachTick = null != speedReach ? speedReach.TickCome : maxIterationCount;
if (speedReachTick * iterCar.CalculateBrakeFactor() > outLine.TickCome)
{
moveResult.IsBrake = car.Speed() > Constant.MinBrakeSpeed;
}
}
if (!hasReserveTicks(iterCar, needDirAngle))
{
HashSet <IPhysicEvent> crashEvents = calculateTurnMapCrashEvents(iterCar, needDirAngle, moveResult.IsBrake);
IPhysicEvent mapBrakeCrash = crashEvents.ComeContaints(PhysicEventType.ObjectsCrash) ? crashEvents.GetEvent(PhysicEventType.ObjectsCrash) : null;
IPhysicEvent passageLineBrake = crashEvents.ComeContaints(PhysicEventType.PassageLine) ? crashEvents.GetEvent(PhysicEventType.PassageLine) : null;
//bool endMove = checkStrongParallel(mapBrakeCrash);
int tickToZeroWheelTurn = (int)Math.Round(Math.Abs(iterCar.WheelTurn / game.CarWheelTurnChangePerTick));
bool nearEndAndCrash = (null != mapBrakeCrash && null != passageLine && mapBrakeCrash.TickCome <= tickToZeroWheelTurn && passageLine.TickCome < tickToZeroWheelTurn);
if ((null == mapBrakeCrash && null != passageLineBrake) || nearEndAndCrash)
{
moveResult.WheelTurn = new PCar(car, game).WheelTurnForEndZeroWheelTurn(needDirAngle.Angle, speedSign);
}
}
if (isMovedOutFromLine(iterCar, needDirAngle))
{
moveResult.WheelTurn = new PCar(car, game).WheelTurnForEndZeroWheelTurn(needDirAngle.Angle, speedSign);
}
}
private bool checkStrongParallel(IPhysicEvent mapCrash)
{
if (null == mapCrash)
{
return(false);
}
Tuple <Vector, Vector> crashInfo = mapCrash.infoCome as Tuple <Vector, Vector>;
if (null == crashInfo)
{
return(false);
}
Vector sideNormal = crashInfo.Item2;
bool isStrongParallel = Vector.sincos(car.Angle).Dot(sideNormal).LessDotWithAngle(Math.PI / 18); //10 degrees
isStrongParallel &= mapCrash.CarCome.Dir.Dot(sideNormal).LessDotWithAngle(Math.PI / 18); //10 degrees
return(isStrongParallel);
}
