/// <summary>
/// Fires at target.
/// </summary>
/// <param name="location">The current location.</param>
/// <param name="target">The closest target.</param>
/// <param name="direction">The direction.</param>
private void FireAtTarget(Point location, EnemyData target)
{
var absBearing = target.BearingRadians + this.HeadingRadians;
int direction = (Math.Sin(target.HeadingRadians - absBearing) * target.Velocity < 0) ? -1 : 1;
var distance = Point.Distance(location, target.Location);
double power = GetFirePower(distance);
var fieldArea = GetFieldArea(target.Location);
var distanceBucket = (int)(distance / 100);
var lastBullet = target.LastBullet;
// initialize it to be in the middle, guessfactor 0.
int bestindex = guessFactors / 2;
var stats = this.statistics.GetStatistics(target.Name);
var bestStats = stats.SegmentedTargeting.Where(x => x.DistanceBucket == distanceBucket && x.FieldAreaBucket == fieldArea).OrderByDescending(x => x.Value).FirstOrDefault();
if (bestStats != null)
{
bestindex = bestStats.GuessFactorBucket;
}
// this should do the opposite of the math in the WaveBullet
double guessfactor = (double)(bestindex - (guessFactors - 1) / 2) / ((guessFactors - 1) / 2);
double angleOffset = direction * guessfactor * lastBullet.MaxEscapeAngle();
double gunAdjust = Utils.NormalRelativeAngle(lastBullet.StartBearing - this.GunHeadingRadians + angleOffset);
this.SetTurnGunRightRadians(gunAdjust);
if (this.GunHeat == 0 && gunAdjust < Math.Atan2(9, distance))
{
this.SetFireBullet(power);
}
}
/// <summary>
/// Gets the move target using radius sampling method
/// </summary>
/// <param name="location">The current location.</param>
/// <param name="closestTarget">The closest target.</param>
/// <param name="enemyLocations">Enemy locations.</param>
/// <param name="angleChange">if set to <c>true</c>, a significant change of move angle has occured.</param>
/// <returns></returns>
private double GetRadiusSamplingMoveTarget(Point location, EnemyData closestTarget, List<Point> enemyLocations, out bool angleChange)
{
var potentialMoveTargets = GetPotentialMoveTargets(this.moveTargetSampleSize, location, enemyLocations, this.defaultDistance, this.maximumDistance, this.BattleFieldWidth, this.BattleFieldHeight);
// move towards the closest target
var moveTarget = potentialMoveTargets.OrderByDescending(x => Point.Distance(x, closestTarget.Location)).First();
var angle = Math.Atan2(moveTarget.X - location.X, moveTarget.Y - location.Y);
// not important if using this move method
angleChange = false;
return angle;
}
/// <summary>
/// Handle the scan event.
///
/// Predict whether the enemy has fired.
/// Fire a wave bullet atth
/// </summary>
/// <param name="evnt"></param>
/// <inheritdoc/>
public override void OnScannedRobot(ScannedRobotEvent evnt)
{
var name = evnt.Name;
var absBearing = evnt.BearingRadians + this.HeadingRadians;
int direction = (Math.Sin(evnt.HeadingRadians - absBearing) * evnt.Velocity < 0) ? -1 : 1;
// if fighting one-on-one, maintain radar lock
if (this.GunHeat < 1.0 && this.Others == 1)
{
var turn = this.HeadingRadians + evnt.BearingRadians - this.RadarHeadingRadians;
this.SetTurnRadarRightRadians(this.radarFactor * Utils.NormalRelativeAngle(turn));
}
// get the updated enemy data snapshot
var enemyData = new EnemyData()
{
Name = name,
Location = new Point()
{
X = this.X + Math.Sin(absBearing) * evnt.Distance,
Y = this.Y + Math.Cos(absBearing) * evnt.Distance
},
Time = evnt.Time,
Energy = evnt.Energy,
HeadingRadians = evnt.HeadingRadians,
BearingRadians = evnt.BearingRadians,
Velocity = evnt.Velocity
};
// predict whether the enemy has fired a bullet since last scan
// skip this step if there are many robots left on the field to avoid noise
if (this.Others <= 2)
{
if (enemies.ContainsKey(name))
{
var energyDrop = enemies[name].Energy - enemyData.Energy;
if (energyDrop >= 0.1 && energyDrop <= 3)
{
this.enemyBullets.Add(new WaveBullet()
{
TargetName = this.Name,
StartPoint = enemyData.Location,
StartBearing = Utils.NormalRelativeAngle(Math.PI - absBearing),
Power = energyDrop,
Direction = direction,
Time = this.Time
});
}
}
}
// update the enemy data
this.enemies[name] = enemyData;
// process targeting statistics
var targetStatistics = this.statistics.GetStatistics(name);
// add the enemy data to pattern history for pattern matching targeting
//targetStatistics.PatternHistory.Add(enemyData);
// fire a wave bullet at the enemy
double power = GetFirePower(evnt.Distance);
var location = new Point() { X = this.X, Y = this.Y };
var waveBullet = new WaveBullet()
{
TargetName = name,
StartPoint = location,
StartBearing = absBearing,
Power = power,
Direction = direction,
Time = this.Time
};
enemyData.LastBullet = waveBullet;
targetStatistics.WaveBullets.Add(waveBullet);
}