void AlternativeMove(Points pts)
{
var car = new ACar(self);
var backBruteRes = _doAndSelectBrute(BackBrutes, pts);
if (backBruteRes.Item1 != -1)
{
BackBrutes[backBruteRes.Item1].SelectThis();
var mv = backBruteRes.Item2[backBruteRes.Item1];
if (mv.Count > 0)
{
mv[0].Apply(move, new ACar(self));
ComputedPath[self.Id] = GetCarPath(self, mv);
#if DEBUG
Visualizer.DrawWays(self, backBruteRes.Item2, backBruteRes.Item1);
#endif
return;
}
}
// change points
pts = GetAlternativeWaySegments(self);
var turnCenter = pts[1];
var tmp = new ACar(self);
var aa = tmp + tmp.Speed;
if (Math.Abs(tmp.GetAngleTo(aa)) > Math.PI / 2)
{
move.EnginePower = 1;
move.WheelTurn *= -1;
return;
}
move.EnginePower = 1.0;
if (car.GetDistanceTo(turnCenter) < 1.6 * Const.TileSize)
{
move.EnginePower = 0.8;
}
if (car.GetDistanceTo(turnCenter) < 1.0 * Const.TileSize)
{
if (GetSpeed(self) > 11)
{
move.IsBrake = true;
}
}
move.WheelTurn = car.GetAngleTo(turnCenter);
if (BAD_TESTING_STRATEGY)
{
if (turnCenter.GetDistanceTo(self) >= 7 * Const.TileSize &&
Math.Abs(car.GetAngleTo(turnCenter)) < Math.PI / 6)
{
move.IsUseNitro = true;
}
}
}
private void _move()
{
var pts = GetWaySegments(self);
if (world.Tick > Const.Game.InitialFreezeDurationTicks)
{
PositionsHistory.Add(new Point(self));
}
if (!DurabilityObserver.IsActive(self))
{
return;
}
if (CheckBackMove(pts[1]))
{
return;
}
InitBrutes();
if (world.Tick < Const.Game.InitialFreezeDurationTicks)
{
var nextCell = DijkstraNextCell(GetCell(self), GetNextWayPoint(self), new Cell[] {});
var nextCenter = GetCenter(nextCell);
move.EnginePower = self.GetAngleTo(nextCenter.X, nextCenter.Y) < Math.PI / 2 ? 1 : -1;
return;
}
if (BAD_TESTING_STRATEGY)
{
AlternativeMove(pts);
return;
}
// если еду назад, то запускать только первый перебор
// если маленькая скорость, то 1-й и 2-й
var bruteRes =
_doAndSelectBrute(
self.EnginePower < 0
? new[] { Brutes[0] }
: (GetSpeed(self) < 5 ? new[] { Brutes[0], Brutes[1] } : Brutes), pts);
var sel = bruteRes.Item1;
var bestMoveStacks = bruteRes.Item2;
if (sel != -1 && bestMoveStacks[sel].Count > 0)
{
Brutes[sel].SelectThis();
bestMoveStacks[sel][0].Apply(move, new ACar(self));
ComputedPath[self.Id] = GetCarPath(self, bestMoveStacks[sel]);
#if DEBUG
Visualizer.DrawWays(self, bestMoveStacks, sel);
#endif
}
else
{
TimerStart();
AlternativeMove(pts);
TimerEndLog("AlternativeMove", 30);
}
}