public override void DoStateAction()
{
// Console.WriteLine(" - Charging!");
// Console.WriteLine("Distance: " + OurRobot.Enemy.Distance);
var target = new Point((int)(OurRobot.Enemy.Position.X - ((OurRobot.InnerCircleDiameter + OurRobot.OuterCircleDiameter) / 4) * Math.Cos(OurRobot.Enemy.BearingRadians)),
(int)(OurRobot.Enemy.Position.Y - ((OurRobot.InnerCircleDiameter + OurRobot.OuterCircleDiameter) / 4) * Math.Sin(OurRobot.Enemy.BearingRadians)));
// switch directions if we've stopped
if (Math.Abs(OurRobot.Velocity) < 0.001)
{
_moveDirection *= -1;
}
// circle our enemy
OurRobot.SetTurnRight(OurRobot.Enemy.BearingDegrees + 90);
OurRobot.SetAhead(80 * _moveDirection);
/*
* var e = new Vector2D(OurRobot.Enemy.Position.X - OurRobot.X, OurRobot.Enemy.Position.Y - OurRobot.Y);
* var distance = OurRobot.Enemy.Distance;
* if (distance > 0)
* {
* e.Normalize();
* if (distance < OurRobot.OuterCircleDiameter/2)
* {
* e *= 100 * (distance / (OurRobot.OuterCircleDiameter / 2));
* } else {
* e = e * 100; //Using 100 as maxSpeed for now
* }
* var steer = new Vector2D(e.X - OurRobot.Velocity, e.Y - OurRobot.Velocity);
* }
*
* // OurRobot.TurnRightRadians(Math.Acos(OurRobot.Enemy.Distance /
* // (Math.Sqrt(Math.Pow(OurRobot.Enemy.Distance, 2) +
* // Math.Pow(new Vector2D(OurRobot.X, OurRobot.Y).Distance(new Vector2D(OurRobot.Enemy.Position.X,
* // /*Replace enemy with intended pos// OurRobot.Enemy.Position.Y)),
* // 2)))));
*
* // OurRobot.SetAhead(e.Length());
*
*/
}
public override void DoStateAction()
{
// Console.WriteLine(" - Seeking");
OurRobot.TurnRadarRightRadians(Math.PI * 2);
KeepRadarLock(OurRobot.HeadingRadians + OurRobot.Enemy.BearingRadians);
}
