protected override Task AliveAsync()
{
// await base.AliveAsync();
foreach (var sensor in Sensors)
{
sensor.Sense();
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, true);
SteerAngle(angle);
var willShoot = CanShoot;
if (CanBoost && boost && (this.SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold)
{
if (ShootUntil < GameTime)
{
Boost();
}
willShoot = false;
}
if (CanShoot && willShoot)
{
var target = (AttackFleets ? FleetTargeting.ChooseTarget() : null)
?? (AttackAbandoned ? AbandonedTargeting.ChooseTarget() : null)
?? (AttackFish ? FishTargeting.ChooseTarget() : null);
if (target != null)
{
var shootAngle = MathF.Atan2(target.Position.Y - this.Position.Y, target.Position.X - this.Position.X);
bool dangerous = false;
if (!AttackFleets && this.SensorFleets.MyFleet != null)
{
var flets = FleetTargeting.PotentialTargetFleets();
foreach (var flet in flets)
{
if (RoboMath.MightHit(this.HookComputer, this.SensorFleets.MyFleet, flet, shootAngle))
{
dangerous = true;
}
}
}
if (!Safe || !dangerous)
{
ShootAt(target.Position);
}
}
}
if (ReloadConfigAfter > 0 && ReloadConfigAfter < GameTime)
{
LoadConfig();
ReloadConfigAfter = 0;
}
return(Task.FromResult(0));
}
protected async override Task AliveAsync()
{
await base.AliveAsync();
// when shooting becomes available
// lets see if we should delay
if (!LastCanShoot && CanShoot)
{
DeferShootUntil = GameTime + FiringDelayMS;
}
LastCanShoot = CanShoot;
if (CanShoot && DeferShootUntil < GameTime)
{
var target = (AttackFleets ? FleetTargeting.ChooseTarget() : null)
?? (AttackAbandoned ? AbandonedTargeting.ChooseTarget() : null)
?? (AttackFish ? FishTargeting.ChooseTarget() : null);
if (target != null)
{
ShootAt(target.Position);
}
}
if (CanBoost && (this.SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold)
{
Boost();
}
}
protected async override Task AliveAsync()
{
await base.AliveAsync();
// when shooting becomes available
// lets see if we should delay
if (!LastCanShoot && CanShoot)
{
DeferShootUntil = GameTime + FiringDelayMS;
}
LastCanShoot = CanShoot;
if (CanShoot && DeferShootUntil < GameTime)
{
var target = (AttackFleets ? FleetTargeting.ChooseTarget() : null)
?? (AttackAbandoned ? AbandonedTargeting.ChooseTarget() : null)
?? (AttackFish ? FishTargeting.ChooseTarget() : null);
if (target != null)
{
var shootAngle = MathF.Atan2(target.Position.Y - this.Position.Y, target.Position.X - this.Position.X);
bool dangerous = false;
if (!AttackFleets && this.SensorFleets.MyFleet != null)
{
var flets = FleetTargeting.PotentialTargetFleets();
foreach (var flet in flets)
{
if (RoboMath.MightHit(this.HookComputer, this.SensorFleets.MyFleet, flet, shootAngle))
{
dangerous = true;
}
}
}
if (!Safe || !dangerous)
{
ShootAt(target.Position);
}
}
}
if (CanBoost && (this.SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold)
{
Boost();
}
}
protected override Task AliveAsync()
{
foreach (var sensor in Sensors)
{
sensor.Sense();
}
if (SensorCTF.CTFModeEnabled)
{
if (SensorCTF.IsCarryingFlag)
{
// I'm carrying the flag
if (SensorCTF.OurTeam.FlagIsHome)
{
// our flag is home, head to base to score
Navigation.TargetPoint = SensorCTF.OurTeam.BasePosition;
}
else
{
// our flag is not home, attack the guy who stole it
// this seems required for 1v1, we might get trickier and
// change behavior here if we have a teammate
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
}
else
{
// I'm not carrying a flag
if (!SensorCTF.TheirTeam.FlagIsHome)
{
// our teammate is carrying a flag
if (!SensorCTF.OurTeam.FlagIsHome)
{
// our flag is not home, attack it
Navigation.TargetPoint = SensorCTF.OurTeam.FlagPosition;
}
else
{
// our flag is home, defend teammate
Navigation.TargetPoint = SensorCTF.TheirTeam.FlagPosition;
}
}
else
{
// their flag is home
Navigation.TargetPoint = SensorCTF.TheirTeam.BasePosition;
}
}
}
var contexts = ContextBehaviors.Select(b => b.Behave(Steps)).ToList();
var bangle = 0.0f;
if (SensorFleets.MyFleet != null)
{
bangle = MathF.Atan2(this.SensorFleets.MyFleet.Momentum.Y, this.SensorFleets.MyFleet.Momentum.X);
}
(var finalRing, var angle, var boost) = ContextRingBlending.Blend(contexts, false);
var combined = new ContextRing(this.Steps);
// blur
// lock (typeof(ContextRingBlendingWeighted))
// {
// Console.SetCursorPosition(0, 0);
// Console.WriteLine("RingDump");
// foreach (var context in contexts)
// {
// var name = context.Name;
// while (name.Length < 20)
// name += ' ';
// Console.WriteLine($"{name}\t{string.Join(',', context.Weights.Select(w => (w * context.RingWeight).ToString("+0.0;-0.0")))}");
// }
// }
if (contexts.Any())
{
for (var i = 0; i < this.Steps; i++)
{
combined.Weights[i] = contexts.Sum(c => c.Weights[i] * c.RingWeight);
}
var maxIndex = 0;
var minIndex = 0;
for (var i = 0; i < this.Steps; i++)
{
if (combined.Weights[i] > combined.Weights[maxIndex])
{
maxIndex = i;
}
if (combined.Weights[i] < combined.Weights[minIndex])
{
minIndex = i;
}
}
if (CanBoost && (SensorFleets.MyFleet?.Ships.Count ?? 0) > BoostThreshold && (combined.Weights[maxIndex] < BoostDangerThreshold || (SensorFleets.MyFleet?.Ships.Count ?? 0) > 108))
{
Boost();
}
this.MidBad = combined.Weights[maxIndex] / 2.0f + combined.Weights[minIndex] / 2.0f;
if (CanShoot)
{
var target = FleetTargeting.ChooseTarget()
?? AbandonedTargeting.ChooseTarget()
?? FishTargeting.ChooseTarget();
if (target != null)
{
var fff = target;
Vector2 sp = fff.Position - this.Position;
var angleg = (int)(MathF.Atan2(sp.Y, sp.X) / MathF.Atan2(0.0f, -1.0f) / 2.0f * Steps);
if (true)//combined.Weights[((angleg)%Steps+Steps)%Steps]>combined.Weights[minIndex])
{
ShootAt(sp + this.Position);
}
}
else
{
if (SensorFleets.MyFleet != null)
{
ShootAt(SensorFleets.MyFleet.Momentum);
}
}
}
}
SteerAngle(angle);
return(Task.FromResult(0));
}