public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 2)
return false;
var current = MyStrategy.map.tileAt(vehicle.position);
var currentToFirst = current.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
if (currentToFirst.isSameAxis(firstToSecond))
return false;
if (currentToFirst.back() != secondToThird)
return false;
var turningFrom = new Vector(currentToFirst);
var turningTo = new Vector(firstToSecond);
if (vehicle.speed.length > 10) {
var steering = Math.Sign(turningFrom.angleTo(turningTo));
var backWall = new Ray(
tilePath[0].center + turningFrom * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningTo * Constants.tileSize * 0.5,
turningTo * Constants.tileSize * 2
);
var backSideWall = new Ray(
backWall.p2 - turningTo * Constants.roadMargin,
-turningFrom * (Constants.tileSize - Constants.roadMargin)
);
var innerWall = new Ray(current.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * Constants.tileSize);
var innerCircle = new Circle(current.center + (new Vector(currentToFirst) + new Vector(firstToSecond)) * Constants.tileSize * 0.5, Constants.roadMargin);
backWall.draw(0x00FF00);
backSideWall.draw(0x00FF00);
innerWall.draw(0x00FF00);
innerCircle.draw(0x00FF00);
var vv = new VirtualVehicle(vehicle);
for (int i = 0; i < 100; ++i) {
vv.simulateTick(0.5, steering);
var rect = vv.rect;
if (rect.isIntersect(innerWall) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.WheelTurn = -steering;
move.IsBrake = false;
return true;
}
if (rect.isIntersect(backWall) || rect.isIntersect(backSideWall)) {
move.IsBrake = false;
move.EnginePower = -1;
//move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize));
move.WheelTurn = steering;
return true;
}
vv.position.draw(0xFF0000);
vv.rect.draw(0x0000FF);
}
}
move.EnginePower = 0.5;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize));
move.IsBrake = false;
return true;
}
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move)
{
if (tilePath.Count < 3)
return false;
var currentTile = MyStrategy.map.tileAt(vehicle.position);
Vector target;
Vector turningFrom;
Vector turningTo;
{
var currentToFirst = currentTile.directionForTile(tilePath[0]).Value;
var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value;
var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value;
if (currentToFirst != secondToThird) {
return false;
}
if (firstToSecond.isSameAxis(currentToFirst)) {
return false;
}
turningFrom = new Vector(currentToFirst);
turningTo = new Vector(firstToSecond);
target = tilePath[2].center - turningFrom * 0.5 * Constants.tileSize;
}
var vehicleToTarget = target - vehicle.position;
if (vehicle.speed.length > 10 && vehicle.forward * (turningFrom + turningTo) > 0) {
var steering = Math.Sign(turningFrom.angleTo(turningTo));
Ray side = new Ray(
tilePath[0].center - turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * (Constants.tileSize - Constants.roadMargin)
);
Ray back = new Ray(side.p2, turningTo * (Constants.tileSize - Constants.roadMargin));
Circle backCircle = new Circle(back.p2 + turningFrom * Constants.roadMargin, Constants.roadMargin);
Ray innerSide = new Ray(
currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5,
turningFrom * Constants.tileSize
);
Circle innerCircle = new Circle(innerSide.p2 + turningTo * Constants.roadMargin, Constants.roadMargin);
side.draw(0x00FF00);
back.draw(0x00FF00);
backCircle.draw(0x00FF00);
innerSide.draw(0x00FF00);
innerCircle.draw(0x00FF00);
var vv = new VirtualVehicle(vehicle);
for (int i = 0; i < 100; ++i) {
vv.simulateTick(1.0, 0.0);
var rect = vv.rect;
if (rect.isIntersect(side) || rect.isIntersect(back) || rect.isIntersect(backCircle)) {
vv = new VirtualVehicle(vehicle);
for (int j = 0; j < 100; ++j) {
vv.simulateTick(1, steering);
if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.IsBrake = true;
move.WheelTurn = steering;
return true;
}
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = steering;
return true;
} else if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
vv = new VirtualVehicle(vehicle);
for (int j = 0; j < 100; ++j) {
vv.simulateTick(1, -steering);
if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) {
move.EnginePower = 1;
move.IsBrake = true;
move.WheelTurn = -steering;
return true;
}
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = -steering;
return true;
}
if (tilePath[2].rect.contains(vv.position)) {
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
return true;
}
rect.draw(0x0000FF);
vv.position.draw(0xFF0000);
}
move.EnginePower = 1;
move.IsBrake = false;
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
//new Ray(vehicle.position, vehicleToTarget).draw(0x00FFFF);
return true;
}
if (vehicle.forward * vehicleToTarget < 0.5) {
if (vehicle.speed.length > 10) {
move.IsBrake = true;
}
move.EnginePower = 0.3;
} else {
move.EnginePower = 1;
}
move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget);
move.IsBrake = false;
return true;
}