public Operations HandleScanedRobot(AdvancedRobot robot, ScannedRobotEvent e, ScannedRobotEvent previousScaned, Operations operations)
{
var calculatedParams = new CalculatedParams(robot, e);
var newOperations = operations.Clone();
if (previousScaned != null && previousScaned.Energy > e.Energy)
{
OnEnemyFired(e, newOperations);
}
double turn = calculatedParams.AbsoluteBearing + Math.PI / 2;
turn -= Math.Max(0.5, (1 / e.Distance) * 100) * newOperations.Direction;
newOperations.TurnRightRadians = Utils.NormalRelativeAngle(turn - robot.HeadingRadians);
//This line makes us slow down when we need to turn sharply.
newOperations.MaxVelocity = 400 / robot.TurnRemaining;
newOperations.Ahead = 100 * newOperations.Direction;
if (newOperations.BulletPower.HasValue)
{
newOperations.TurnGunRightRadians =
Utils.NormalRelativeAngle(
GetCircularTargeting(robot, e, previousScaned != null ? previousScaned.HeadingRadians : 0,
newOperations.BulletPower.Value, calculatedParams) - robot.GunHeadingRadians);
}
newOperations.TurnRadarRightRadians = Utils.NormalRelativeAngle(calculatedParams.AbsoluteBearing - robot.RadarHeadingRadians) * 2;
return(newOperations);
}
public Operations HandleScanedRobot(AdvancedRobot robot, ScannedRobotEvent e, ScannedRobotEvent previousScaned,
Operations operations, BattleEvents battleEvents)
{
var calculatedParams = new CalculatedParams(robot, e);
var newOperations = operations.Clone();
doMoebius(0, patternMatcher.Length, e, SEARCH_DEPTH, calculatedParams.AbsoluteBearing, newOperations, robot);
newOperations.TurnRadarRightRadians = Utils.NormalRelativeAngle(calculatedParams.AbsoluteBearing - robot.RadarHeadingRadians) * 2;
return(newOperations);
}
private double GetCircularTargeting(AdvancedRobot robot, ScannedRobotEvent e, double lastHeadingRadians, double power, CalculatedParams calculated)
{
//Finding the heading and heading change.
double enemyHeading = e.HeadingRadians;
double enemyHeadingChange = enemyHeading - lastHeadingRadians;
/*This method of targeting is know as circular targeting; you assume your enemy will
* keep moving with the same speed and turn rate that he is using at fire time.The
* base code comes from the wiki.
*/
double deltaTime = 0;
double predictedX = robot.X + e.Distance * Math.Sin(calculated.AbsoluteBearing);
double predictedY = robot.Y + e.Distance * Math.Cos(calculated.AbsoluteBearing);
double speed = Utility.GetBulletSpeed(power);
while ((++deltaTime) * speed < Math.Sqrt(Math.Pow(robot.X - predictedX, 2) + Math.Pow(robot.Y - predictedY, 2)))
{
//Add the movement we think our enemy will make to our enemy's current X and Y
predictedX += Math.Sin(enemyHeading) * e.Velocity;
predictedY += Math.Cos(enemyHeading) * e.Velocity;
//Find our enemy's heading changes.
enemyHeading += enemyHeadingChange;
//If our predicted coordinates are outside the walls, put them 18 distance units away from the walls as we know
//that that is the closest they can get to the wall (Bots are non-rotating 36*36 squares).
predictedX = Math.Max(Math.Min(predictedX, robot.BattleFieldWidth - 18), 18);
predictedY = Math.Max(Math.Min(predictedY, robot.BattleFieldHeight - 18), 18);
}
//Find the bearing of our predicted coordinates from us.
return(Utils.NormalAbsoluteAngle(Math.Atan2(predictedX - robot.X, predictedY - robot.Y)));
}
