public override NodeStatus Run()
{
var evt = blackboard.robot.LastScanEvent;
if (evt == null)
{
return(NodeStatus.Failed);
}
// Calculate bearing from gun to target
var absoluteBearing = blackboard.robot.Heading + evt.Bearing;
var bearingFromGun = Utils.NormalRelativeAngleDegrees(absoluteBearing - blackboard.robot.GunHeading);
// Turn left or right depending on what is shortest
if (bearingFromGun < 0)
{
blackboard.robot.SetTurnGunLeft(Math.Abs(bearingFromGun));
}
else if (bearingFromGun > 0)
{
blackboard.robot.SetTurnGunRight(Math.Abs(bearingFromGun));
}
if (!useParallel)
{
blackboard.robot.Execute();
}
return(NodeStatus.Success);
}
public override NodeStatus Run()
{
var evt = blackboard.robot.LastScanEvent;
if (evt == null)
{
return(NodeStatus.Failed);
}
// Calculation stolen from http://robowiki.net/wiki/Linear_Targeting
var bulletPower = 3;
var headOnBearing = blackboard.robot.HeadingRadians + evt.BearingRadians;
var linearBearing = headOnBearing + Math.Asin(evt.Velocity / Rules.GetBulletSpeed(bulletPower) * Math.Sin(evt.HeadingRadians - headOnBearing));
blackboard.robot.TurnGunRightRadians(Utils.NormalRelativeAngle(linearBearing - blackboard.robot.GunHeadingRadians));
return(NodeStatus.Success);
}
