// FMCAS //
public void FMCAS(CSBPod MyFriend, CSBPod MyFoeG, CSBPod MyFoeH)
{
// etape 1 : calculer la difference entre mon vecteur vitesse et celui des autres pods //
// etape 2 : pour les pods pour lequels la difference de vecteur vitesse est importante, si un impact est probable, on utilise le SHIELD //
// if (CSBCompute.DistAB(p_PosMySpeed, MyFriend.p_PosMySpeed) > C_DeltaSpeedShieldTrigger && CSBCompute.DistAB(p_NextPosEstimated, MyFriend.p_NextPosEstimated) < C_DeltaDistShieldTrigger)
// { p_UseShieldCommand = true; }
if (CSBCompute.DistAB(p_PosMySpeed, MyFoeG.p_PosMySpeed) > C_DeltaSpeedShieldTrigger && CSBCompute.DistAB(p_NextPosEstimated, MyFoeG.p_NextPosEstimated) < C_DeltaDistShieldTrigger)
{
p_UseShieldCommand = true;
}
if (CSBCompute.DistAB(p_PosMySpeed, MyFoeH.p_PosMySpeed) > C_DeltaSpeedShieldTrigger && CSBCompute.DistAB(p_NextPosEstimated, MyFoeH.p_NextPosEstimated) < C_DeltaDistShieldTrigger)
{
p_UseShieldCommand = true;
}
}
public void Update(string rawinputs, CSBTrack Track)
{
string[] inputs = rawinputs.Split(' ');
if (p_PosPod.X == -1 && p_PosPod.Y == -1)
{
p_PrevPosMe.Update(int.Parse(inputs[0]), int.Parse(inputs[1]));
}
else
{
p_PrevPosMe.Update(p_PosPod);
}
p_PosPod.Update(int.Parse(inputs[0]), int.Parse(inputs[1]));
p_PosMySpeed.Update(int.Parse(inputs[2]), int.Parse(inputs[3]));
p_DegAngleOrgHead = int.Parse(inputs[4]);
p_PosEastAngleOrigin.Y = p_PosPod.Y;
// Next 3 CP from Track
p_nextTRACKCPID = int.Parse(inputs[5]);
Next3CPRoute.Update(Track.CPTable[p_nextTRACKCPID].Position, Track.CPTable[(p_nextTRACKCPID + 1) % Track.CPNumber].Position, Track.CPTable[(p_nextTRACKCPID + 2) % Track.CPNumber].Position);
// Speed
p_NextPosEstimated.X = p_PosPod.X + p_PosMySpeed.X;
p_NextPosEstimated.Y = p_PosPod.Y + p_PosMySpeed.Y;
p_DistMySpeed = CSBCompute.DistAB(p_PosPod, p_NextPosEstimated);
// Angles
p_RadAngleOrgTrack = CSBCompute.AngleOrienteVecteur(p_PosEastAngleOrigin, p_PosMySpeed, p_PosPod);
p_RadAngleOrgNextCP = CSBCompute.AngleOrientePos(p_PosEastAngleOrigin, Next3CPRoute.NextCP1, p_PosPod);
if (FirstExecCycle)
{
p_DegAngleOrgHead = (int)(p_RadAngleOrgNextCP / Math.PI * 180); FirstExecCycle = false;
}
p_DegAngleHeadNextCP = ((p_RadAngleOrgNextCP / Math.PI * 180) - p_DegAngleOrgHead);
// Drift Angles
p_DegAngleTrackNextCP = ((p_RadAngleOrgNextCP - p_RadAngleOrgTrack) / Math.PI * 180 + 360) % 360;
if (p_DegAngleTrackNextCP > 180)
{
p_DegAngleTrackNextCP -= 360;
}
// Distances
p_PrevDistNextCheckPoint = p_DistNextCheckpoint;
p_DistNextCheckpoint = CSBCompute.DistAB(p_PosPod, Next3CPRoute.NextCP1);
p_DistMissingNxtCP = CSBCompute.ClosestFromNxtCP(p_PrevPosMe, p_PosPod, Next3CPRoute.NextCP1, p_DistNextCheckpoint);
}
// AFCS //
public String AFCSMOVE()
{
if ((p_DistNextCheckpoint - 600) < (4 * p_DistMySpeed) && p_DistMissingNxtCP < 555)
{
p_PosForMyNextMove = Next3CPRoute.NextCP2;
Console.Error.WriteLine("going to CP N+1");
// probleme ; dans les faits, ça devrait impacter tout le reste de la méthode
}
else
{
p_PosForMyNextMove = Next3CPRoute.NextCP1;
Console.Error.WriteLine("going to CP N");
}
// selon le relevement du prochain WP, on régule les gaz :
if (Math.Abs(p_DegAngleHeadNextCP) < 70)
{
p_ThrustForMyNextMove = 100;
}
else if (Math.Abs(p_DegAngleHeadNextCP) < 80)
{
p_ThrustForMyNextMove = 50;
}
else
{
p_ThrustForMyNextMove = 0;
}
// selon la vitesse et la dérive, on corrige le cap :
if (p_DistMissingNxtCP > 555 && p_DistNextCheckpoint < 6666)
{
if ((p_DistNextCheckpoint - 600) < (4 * p_DistMySpeed))
{
Console.Error.WriteLine("Big Drift Correction"); p_DistTrajCorrection = 1111;
}
else
{
Console.Error.WriteLine("Small Drift Correction"); p_DistTrajCorrection = 500;
}
if (p_DegAngleTrackNextCP > 0)
{
p_PosForMyNextMove = CSBCompute.TranslateCoordinates(p_PosForMyNextMove, (p_RadAngleOrgNextCP + Math.PI / 2), p_DistTrajCorrection);
}
else
{
p_PosForMyNextMove = CSBCompute.TranslateCoordinates(p_PosForMyNextMove, (p_RadAngleOrgNextCP - Math.PI / 2), p_DistTrajCorrection);
}
}
// selon la proximité avec le prochain WP, on réduit les gaz :
if ((p_DistNextCheckpoint - 600) < (3 * p_DistMySpeed))
{
p_ThrustForMyNextMove = p_ThrustForMyNextMove / 5;
Console.Error.WriteLine("Reduce Gaz ; close to next CP");
}
// selon les conditions, on décide si on va utiliser le boost ou pas :
if (p_BoostUsed == false && Math.Abs(p_DegAngleHeadNextCP) < 20 && Math.Abs(p_DistMissingNxtCP) < 555 && p_DistNextCheckpoint > 5555 && p_DistMySpeed > 111)
{
p_UseBoostCommand = true;
}
// LET'S MOVE
if (p_UseShieldCommand)
{
p_UseShieldCommand = false;
return(p_PosForMyNextMove.X + " " + p_PosForMyNextMove.Y + " SHIELD boom");
}
else if (p_UseBoostCommand)
{
p_BoostUsed = true;
p_UseBoostCommand = false;
return(p_PosForMyNextMove.X + " " + p_PosForMyNextMove.Y + " BOOST gooooo");
}
else
{
return(p_PosForMyNextMove.X + " " + p_PosForMyNextMove.Y + " " + p_ThrustForMyNextMove);
}
}
