protected override void PreSweep(ContextRing ring)
{
base.PreSweep(ring);
AverageAngle = null;
if (LocalTeammates.Any())
{
int count = 0;
var averageMomentum = Vector2.Zero;
foreach (var fleet in LocalTeammates)
{
var distance = Vector2.Distance(fleet.Center, this.Robot.Position);
if (distance >= MinimumRange && distance <= MaximumRange)
{
averageMomentum += fleet.Momentum;
count++;
}
}
if (count > 0)
{
averageMomentum /= count;
AverageAngle = MathF.Atan2(averageMomentum.Y, averageMomentum.X);
}
}
}
protected override void PreSweep(ContextRing ring)
{
base.PreSweep(ring);
TargetPoint = null;
if (LocalTeammates.Any() && this.Robot.SensorFleets.MyFleet != null)
{
var myFleet = this.Robot.SensorFleets.MyFleet;
float count = 0;
int n = 0;
Vector2 accumulator = Vector2.Zero;
var BestTeammates = LocalTeammates.Select(f =>
{
return(new
{
Fleet = f,
Distance = (this.Robot.Position - f.Center).Length(),
FrontDistance = Vector2.Dot(this.Robot.Position - f.Center, myFleet.Momentum / myFleet.Momentum.Length()),
BackDistance = -Vector2.Dot(this.Robot.Position - f.Center, myFleet.Momentum / myFleet.Momentum.Length()),
LeftDistance = Vector2.Dot(this.Robot.Position - f.Center, new Vector2(myFleet.Momentum.Y, -myFleet.Momentum.X) / myFleet.Momentum.Length()),
RightDistance = -Vector2.Dot(this.Robot.Position - f.Center, new Vector2(myFleet.Momentum.Y, -myFleet.Momentum.X) / myFleet.Momentum.Length()),
});
}).Select(f =>
{
return(new
{
Fleet = f.Fleet,
Distance = f.Distance,
FrontDistance = f.FrontDistance < 0 ? float.MaxValue : f.FrontDistance,
BackDistance = f.BackDistance < 0 ? float.MaxValue : f.BackDistance,
LeftDistance = f.LeftDistance < 0 ? float.MaxValue : f.LeftDistance,
RightDistance = f.RightDistance < 0 ? float.MaxValue : f.RightDistance,
});
});
var BestLeft = BestTeammates.OrderBy(p => p.LeftDistance).Select(f =>
f.Fleet);
var BestRight = BestTeammates.OrderBy(p => p.RightDistance).Select(f =>
f.Fleet);
var BestFront = BestTeammates.OrderBy(p => p.FrontDistance).Select(f =>
f.Fleet);
var BestBack = BestTeammates.OrderBy(p => p.BackDistance).Select(f =>
f.Fleet);
var tms = BestBack.Take(MaxFleets).Concat(BestLeft.Take(MaxFleets)).Concat(BestRight.Take(MaxFleets)).Concat(BestFront.Take(MaxFleets));
foreach (var fleet in tms)
{
var distance = Vector2.Distance(fleet.Center, this.Robot.Position);
if (distance <= MaximumRange && distance >= MinimumRange)
{
accumulator += (fleet.Center + (fleet.Momentum * (1.0f)) * LookAheadMS);
count += 1.0f;
n += 1;
}
}
if (accumulator != Vector2.Zero && count > 0)
{
TargetPoint = accumulator / ((float)count) + (this.Robot.SensorFleets.MyFleet == null ? Vector2.Zero : this.Robot.SensorFleets.MyFleet.Momentum * LookAheadMS);
}
}
}