public override BehaviourTreeStatus Tick()
{
if (this.bb.CurrentEnemy == null)
{
return(BehaviourTreeStatus.Failure);
}
List <GravPoint> gravpoints = new List <GravPoint>();
AdvancedRobot r = this.bb.Robot;
gravpoints.Add(new GravPoint(this.bb.CurrentEnemy.x, this.bb.CurrentEnemy.y, 1000));
double changeInEnergy = this.bb.PreviousEnergy - this.bb.CurrentEnemy.E.Energy;
if (changeInEnergy >= -3 && changeInEnergy <= 3)
{
//Detect if enemy energy has changed
//Now we need to "predict" where the bot will fire its bullets and assign grav points to them
gravpoints.Add(new GravPoint(r.X + 15, 0, RandomNumber(-1000, 1000)));
gravpoints.Add(new GravPoint(r.X - 15, 0, RandomNumber(-1000, 1000)));
}
double xforce = 0;
double yforce = 0;
double force;
double ang;
GravPoint p;
for (int i = 0; i < gravpoints.Count; i++)
{
p = (GravPoint)gravpoints[i];
//Calculate the total force from this point on us
force = p.power / Math.Pow(GetRange(r.X, r.Y, p.x, p.y), 1.5);
//Find the bearing from the point to us
ang =
NormaliseBearing(Math.PI / 2 - Math.Atan2(r.Y - p.y, r.X - p.x));
//Add the components of this force to the total force in their
//respective directions
xforce += Math.Sin(ang) * force;
yforce += Math.Cos(ang) * force;
}
/**The next section adds a middle point with a random (positive or negative) strength.
* The strength changes every 5 turns, and goes between -1000 and 1000. This gives a better
* overall movement.**/
midPointCount++;
if (midPointCount > 5)
{
midPointCount = 0;
midPointPower = RandomNumber(-1000, 1000);
}
p = new GravPoint(this.bb.Robot.BattleFieldWidth / 2, this.bb.Robot.BattleFieldHeight / 2, midPointPower);
force = p.power / Math.Pow(GetRange(r.X, r.Y, p.x, p.y), 1.5);
ang = NormaliseBearing(Math.PI / 2 - Math.Atan2(r.Y - p.y, r.X - p.x));
/*
* double TOP = r.BattleFieldWidth - 18.0;
* double RIGHT = r.BattleFieldHeight - 18.0;
* double BOTTOM = 18.0;
* double LEFT = 18.0;
*
* double N = 2.0 * Math.PI;
* double E = Math.PI / 2.0;
* double S = Math.PI;
* double W = 3.0 * Math.PI / 2.0;
*
* double s = 8.0;
* double x = r.X;
* double y = r.Y;
* double a = ang; // whatever angle you wish to travel, we can smooth it!
* bool clockwise = true; // your choice!
*
* if (clockwise)
* {
* if (S < a)
* { // left wall
* if (shouldSmooth(a - S, LEFT - x, s))
* {
* a = smooth(a - S, LEFT - x, s) + S;
* }
* }
* else if (a < S)
* { // right wall
* if (shouldSmooth(a, x - RIGHT, s))
* {
* a = smooth(a, x - RIGHT, s);
* }
* }
* if (W < a || a < E)
* { // top wall
* if (shouldSmooth(a + E, y - TOP, s))
* {
* a = smooth(a + E, y - TOP, s) - E;
* }
* }
* else if (E < a && a < W)
* { // bottom wall
* if (shouldSmooth(a - E, BOTTOM - y, s))
* {
* a = smooth(a - E, BOTTOM - y, s) + E;
* }
* }
* }
* else
* {
* if (S < a)
* { // left wall
* if (shouldSmooth(N - a, LEFT - x, s))
* {
* a = N - smooth(N - a, LEFT - x, s);
* }
* }
* else if (a < S)
* { // right wall
* if (shouldSmooth(S - a, x - RIGHT, s))
* {
* a = S - smooth(S - a, x - RIGHT, s);
* }
* }
* if (W < a || a < E)
* { // top wall
* if (shouldSmooth(E - a, y - TOP, s))
* {
* a = E - smooth(E - a, y - TOP, s);
* }
* }
* else if (E < a && a < W)
* { // bottom wall
* if (shouldSmooth(W - a, BOTTOM - y, s))
* {
* a = W - smooth(W - a, BOTTOM - y, s);
* }
* }
* }*/
xforce += Math.Sin(ang) * force;
yforce += Math.Cos(ang) * force;
/**The following four lines add wall avoidance. They will only
* affect us if the bot is close to the walls due to the
* force from the walls decreasing at a power 3.**/
xforce += 5000 / Math.Pow(GetRange(r.X, r.Y, r.BattleFieldWidth, r.Y), 3);
xforce -= 5000 / Math.Pow(GetRange(r.X, r.Y, 0, r.Y), 3);
yforce += 5000 / Math.Pow(GetRange(r.X, r.Y, r.X, r.BattleFieldHeight), 3);
yforce -= 5000 / Math.Pow(GetRange(r.X, r.Y, r.X, 0), 3);
//Move in the direction of our resolved force.
GoTo(this.bb.Robot.X - xforce, this.bb.Robot.Y - yforce);
//if(Math.Abs(r.X) != Math.Abs(xforce) && Math.Abs(r.Y) != Math.Abs(yforce))
//{
// return BehaviourTreeStatus.Running;
//}
//else
return(BehaviourTreeStatus.Success);
}
void antiGravMove()
{
double xforce = 0;
double yforce = 0;
double force;
double ang;
GravPoint p;
Enemy en;
// cycle through all the enemies. If they are alive, they are repulsive. Calculate the force on us
if (targets.Count > 0)
{
foreach (DictionaryEntry pair in targets)
{
en = ((Enemy)(pair.Value));
if (en.live)
{
p = new GravPoint(en.x, en.y, -1000);
force = (p.power / Math.Pow(this.getRange(X, Y, p.x, p.y), 2));
// Find the bearing from the point to us
ang = this.normaliseBearing(((Math.PI / 2)
- Math.Atan2((Y - p.y), (X - p.x))));
// Add the components of this force to the total force in their respective directions
xforce = (xforce
+ (Math.Sin(ang) * force));
yforce = (yforce
+ (Math.Cos(ang) * force));
}
}
}
/*
* while (targets.Count > 0)
* {
* en = ((Enemy)(e.MoveNext()));
* if (en.live)
* {
* p = new GravPoint(en.x, en.y, -1000);
* force = (p.power / Math.Pow(this.getRange(X, Y, p.x, p.y), 2));
* // Find the bearing from the point to us
* ang = this.normaliseBearing(((Math.PI / 2)
* - Math.Atan2((Y - p.y), (X - p.x))));
* // Add the components of this force to the total force in their respective directions
* xforce = (xforce
+ (Math.Sin(ang) * force));
+ yforce = (yforce
+ (Math.Cos(ang) * force));
+ }
+
+ }*/
this.midpointcount++;
if ((this.midpointcount > 5))
{
this.midpointcount = 0;
this.midpointstrength = ((new Random().Next(0, 100) * 2000)
- 1000);
}
p = new GravPoint((BattleFieldWidth / 2), (BattleFieldHeight / 2), this.midpointstrength);
force = (p.power / Math.Pow(this.getRange(X, Y, p.x, p.y), 1.5));
ang = this.normaliseBearing(((Math.PI / 2)
- Math.Atan2((Y - p.y), (X - p.x))));
xforce = (xforce
+ (Math.Sin(ang) * force));
yforce = (yforce
+ (Math.Cos(ang) * force));
xforce = (xforce + (5000 / Math.Pow(this.getRange(X, Y, BattleFieldWidth, Y), 3)));
xforce = (xforce - (5000 / Math.Pow(this.getRange(X, Y, 0, Y), 3)));
yforce = (yforce + (5000 / Math.Pow(this.getRange(X, Y, X, BattleFieldHeight), 3)));
yforce = (yforce - (5000 / Math.Pow(this.getRange(X, Y, X, 0), 3)));
// Move in the direction of our resolved force.
this.goTo((X - xforce), (Y - yforce));
}
