internal Vector2 TranslateToRaderSpace(Vector2 pInWorld)
{
Vector2 result;
Vector2 V = pInWorld - pos;
float aziP;
if (V.Y == 0)
{
if (V.X == 0)
{
return(Vector2.Zero);
}
else if (V.X > 0)
{
aziP = MathHelper.PiOver2;
}
else
{
aziP = -MathHelper.PiOver2;
}
}
else if (V.Y < 0)
{
aziP = -(float)Math.Atan(V.X / V.Y);
}
else
{
aziP = MathHelper.Pi - (float)Math.Atan(V.X / V.Y);
}
result.X = MathTools.AngTransInPI(aziP - azi) / ang;
result.Y = V.Length() / r;
return(result);
}
public void Authorize()
{
if (enemyInfo == null)
{
return;
}
Vector2 selfToEnemyVec = orderServer.Pos - enemyInfo.Pos;
float selfToEnemyAzi = MathTools.AziFromRefPos(selfToEnemyVec);
float deltaAzi = MathTools.AngTransInPI(selfToEnemyAzi - enemyInfo.TurretAimAzi);
lastDeltaAngWise = deltaAzi > 0;
Vector2 aimDir = Vector2.Transform(selfToEnemyVec,
Matrix.CreateRotationZ((deltaAzi > 0 ? MathHelper.PiOver2 : -MathHelper.PiOver2) + deltaAzi));
Area curArea = FindArea();
if (curArea != Area.Middle)
{
Vector2 borderDir = FindBorderDir(curArea);
if (Vector2.Dot(aimDir, borderDir) < 0)
{
aimDir = -aimDir;
}
}
float aimAzi = MathTools.AziFromRefPos(aimDir);
Vector2 selfDir = orderServer.Direction;
if (Vector2.Dot(selfDir, aimDir) > 0)
{
action.AddOrder(new OrderRotaToAzi(aimAzi));
action.AddOrder(new OrderMove(100));
}
else
{
action.AddOrder(new OrderRotaToAzi(aimAzi + MathHelper.Pi));
action.AddOrder(new OrderMove(-100));
}
}
public void Observe()
{
List <IEyeableInfo> eyeableInfo = orderServer.GetEyeableInfo();
if (eyeableInfo.Count != 0)
{
IEyeableInfo first = eyeableInfo[0];
if (first is TankSinTur.TankCommonEyeableInfo)
{
enemyInfo = (TankSinTur.TankCommonEyeableInfo)first;
float selfToEnemyAzi = MathTools.AziFromRefPos(orderServer.Pos - enemyInfo.Pos);
float enemyTurretAzi = enemyInfo.TurretAimAzi;
if (Math.Abs(MathTools.AngTransInPI(enemyTurretAzi - selfToEnemyAzi)) < guardAng)
{
curPriority = ConsiderPriority.High;
return;
}
}
}
curPriority = ConsiderPriority.Vacancy;
}
public void Authorize()
{
float curTurretAzi = orderServer.TurretAimAzi;
float t = 0;
float maxt = 30;
Vector2 aimPos = Vector2.Zero;
bool canShoot = false;
while (t < maxt)
{
aimPos = enemyPos + enemyVel * t;
float timeRota = Math.Abs(MathTools.AngTransInPI(MathTools.AziFromRefPos(aimPos - orderServer.TurretAxePos) - curTurretAzi) / orderServer.MaxRotaTurretSpeed);
float timeShell = (Vector2.Distance(aimPos, orderServer.TurretAxePos) - orderServer.TurretLength) / orderServer.ShellSpeed;
if (MathTools.FloatEqual(timeRota + timeShell, t, 0.05f))
{
canShoot = true;
break;
}
t += 0.05f;
}
if (canShoot)
{
aimmingTime = t;
aimmingPos = aimPos;
aimming = true;
action.AddOrder(new OrderRotaTurretToPos(aimPos, 0,
delegate(IActionOrder order)
{
orderServer.Fire();
aimming = false;
}, true));
}
}
private void SearchPath()
{
Vector2 curPos = orderServer.Pos;
float curAzi = MathTools.AngTransInPI(orderServer.Azi);
float aimAzi = MathTools.AziFromRefPos(aimPos - curPos);
bool aimObstruct = false;
bool curObstruct = false;
bool crossPi = false;
bool crossZero = false;
float minAziMinus = 0;
float maxAziMinus = -MathHelper.Pi;
float minAziPlus = MathHelper.Pi;
float maxAziPlus = 0;
foreach (EyeableBorderObjInfo borderObjInfo in orderServer.EyeableBorderObjInfos)
{
//if (!((SceneCommonObjInfo)borderObjInfo.EyeableInfo.ObjInfo.SceneInfo).isTankObstacle)
// continue;
if (InputHandler.JustPressKey(Microsoft.Xna.Framework.Input.Keys.B))
{
//borderObjInfo.UpdateConvexHall();
foreach (BordPoint bordP in borderObjInfo.Border.VisiBorder)
{
Vector2 logicP = Vector2.Transform(ConvertHelper.PointToVector2(bordP.p), borderObjInfo.EyeableInfo.CurTransMatrix);
float azi = MathTools.AziFromRefPos(logicP - curPos);
if (azi < 0)
{
minAziMinus = Math.Min(minAziMinus, azi);
maxAziMinus = Math.Max(maxAziMinus, azi);
}
else
{
minAziPlus = Math.Min(minAziPlus, azi);
maxAziPlus = Math.Max(maxAziPlus, azi);
}
if (MathTools.FloatEqualZero(MathTools.AngTransInPI(azi - MathHelper.Pi), 0.1f))
{
crossPi = true;
}
if (MathTools.FloatEqualZero(azi, 0.1f))
{
crossZero = true;
}
if (MathTools.FloatEqual(azi, aimAzi, 0.1f) && Vector2.Distance(logicP, curPos) < Vector2.Distance(aimPos, curPos))
{
aimObstruct = true;
}
if (MathTools.FloatEqual(curAzi, azi, 0.1f) && Vector2.Distance(logicP, curPos) < Vector2.Distance(aimPos, curPos))
{
curObstruct = true;
}
}
}
}
if (!aimObstruct)
{
if (!MathTools.FloatEqual(curAzi, aimAzi, 0.1f))
{
action.AddOrder(new OrderMoveToPosDirect(aimPos));
}
else
{
orderServer.ForwardSpeed = orderServer.MaxForwardSpeed;
}
}
else if (!curObstruct)
{
orderServer.ForwardSpeed = orderServer.MaxForwardSpeed;
}
else
{
orderServer.ForwardSpeed = 0;
float aziEage1 = 0;
float aziEage2 = 0;
if (!crossZero && !crossPi)
{
if (minAziMinus == 0)
{
aziEage1 = minAziPlus;
aziEage2 = maxAziPlus;
}
else
{
aziEage1 = minAziMinus;
aziEage2 = maxAziMinus;
}
}
else if (crossZero)
{
aziEage1 = minAziMinus;
aziEage2 = maxAziPlus;
}
else if (crossPi)
{
aziEage1 = minAziPlus;
aziEage2 = maxAziMinus;
}
else
{
}
float curAimAzi = 0;
if (Math.Abs(MathTools.AngTransInPI(curAzi - aziEage1)) < Math.Abs(MathTools.AngTransInPI(curAzi - aziEage2)))
{
curAimAzi = aziEage1 - 0.1f;
}
else
{
curAimAzi = aziEage2 + 0.1f;
}
rotaing = true;
action.AddOrder(new OrderRotaToAzi(curAimAzi, 0,
delegate(IActionOrder order)
{
rotaing = false;
orderServer.ForwardSpeed = orderServer.MaxForwardSpeed;
}, false));
}
}
public void Update(float seconds)
{
#region OLDCODE
//if (InputHandler.IsKeyDown( Keys.W ))
//{
// orderServer.ForwardSpeed = 1000;
//}
//else if (InputHandler.IsKeyDown( Keys.S ))
//{
// orderServer.ForwardSpeed = -1000;
//}
//else
//{
// orderServer.ForwardSpeed = 0;
//}
//if (InputHandler.IsKeyDown( Keys.D ))
//{
// orderServer.TurnRightSpeed = 20;
//}
//else if (InputHandler.IsKeyDown( Keys.A ))
//{
// orderServer.TurnRightSpeed = -20;
//}
//else
//{
// orderServer.TurnRightSpeed = 0;
//}
#endregion
aimmingTime -= seconds;
List <IEyeableInfo> eyeableInfos = orderServer.GetEyeableInfo();
if (eyeableInfos.Count != 0)
{
orderServer.TurnRaderWiseSpeed = 0;
if (eyeableInfos[0] is ItemEyeableInfo)
{
lastRaderRotaWise = MathTools.AziFromRefPos(((ItemEyeableInfo)eyeableInfos[0]).Pos - orderServer.Pos) > 0;
action.AddOrder(new OrderRotaRaderToPos(((ItemEyeableInfo)eyeableInfos[0]).Pos));
}
else if (eyeableInfos[0] is TankSinTur.TankCommonEyeableInfo)
{
lastRaderRotaWise = MathTools.AziFromRefPos(((TankSinTur.TankCommonEyeableInfo)eyeableInfos[0]).Pos - orderServer.Pos) > 0;
action.AddOrder(new OrderRotaRaderToPos(((TankSinTur.TankCommonEyeableInfo)eyeableInfos[0]).Pos));
}
if (eyeableInfos[0] is ItemEyeableInfo)
{
lastItemPos = ((ItemEyeableInfo)eyeableInfos[0]).Pos;
vel = ((ItemEyeableInfo)eyeableInfos[0]).Vel;
}
else if (eyeableInfos[0] is TankSinTur.TankCommonEyeableInfo)
{
lastItemPos = ((TankSinTur.TankCommonEyeableInfo)eyeableInfos[0]).Pos;
vel = ((TankSinTur.TankCommonEyeableInfo)eyeableInfos[0]).Vel;
}
if (!aimming)
{
float curTurretAzi = orderServer.TurretAimAzi;
float t = 0;
float maxt = 30;
bool canShoot = false;
while (t < maxt)
{
aimPos = lastItemPos + vel * t;
float timeRota = Math.Abs(MathTools.AngTransInPI(MathTools.AziFromRefPos(aimPos - orderServer.TurretAxePos) - curTurretAzi) / orderServer.MaxRotaTurretSpeed);
float timeShell = (Vector2.Distance(aimPos, orderServer.TurretAxePos) - orderServer.TurretLength) / orderServer.ShellSpeed;
if (MathTools.FloatEqual(timeRota + timeShell, t, 0.03f))
{
canShoot = true;
break;
}
t += 0.03f;
}
if (canShoot)
{
aimming = true;
aimmingTime = t;
action.AddOrder(new OrderRotaTurretToPos(aimPos, 0,
delegate(IActionOrder order)
{
orderServer.Fire();
aimming = false;
}, false));
}
else
{
action.AddOrder(new OrderRotaTurretToPos(lastItemPos));
}
}
else
{
if ((lastItemPos + aimmingTime * vel - aimPos).Length() > 4)
{
aimming = false;
}
}
}
else
{
orderServer.TurnRaderWiseSpeed = orderServer.MaxRotaRaderSpeed * (lastRaderRotaWise ? 1 : -1);
}
action.Update(seconds);
}
