// Lock the scanner on the enemy based on the lockFactor.
public override TaskStatus Tick(Blackboard blackboard)
{
try
{
var robot = blackboard.GetValue <AdvancedRobot>(BB.robotKey);
robot.Scan(); // If this function isn't called inside the Lock, it will not work.
robot.RadarColor = robot.ScanColor = Color.White;
if (blackboard.GetValue <int?>(BB.framesSinceLastScanKey) > tickMissMargin)
{
return(TaskStatus.Failed);
}
// Turn the scanner in the direction where it will pass the scanned robot.
var lastScannedRobot = blackboard.GetValue <ScannedRobotEvent>(BB.lastScannedEventKey);
double absoluteBearing = lastScannedRobot.BearingRadians + robot.HeadingRadians;
double radarTurn = absoluteBearing - robot.RadarHeadingRadians;
robot.SetTurnRadarRightRadians(lockFactor * Utils.NormalRelativeAngle(radarTurn));
}
catch (NullReferenceException)
{
return(TaskStatus.Failed);
}
return(TaskStatus.Running);
}
// Handles additional firing behavior that can be called by inherited gun nodes.
protected static double Fire(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
robot.GunHeat > double.Epsilon ||
!blackboard.TryGetValue(BB.lastScannedEventKey, out ScannedRobotEvent evnt))
{
return(0);
}
// Decide upon the bullet power based on the distance from the enemy.
var bulletPowerT = Utility.Map(evnt.Distance, minPowerDistance, maxPowerDistance, 0, 1);
double bulletPower = Utility.Lerp(Rules.MIN_BULLET_POWER, Rules.MAX_BULLET_POWER, bulletPowerT);
// Never make the bulletPower higher than the remaining victims energy
bulletPower = Math.Min(bulletPower, evnt.Energy);
var bullet = robot.SetFireBullet(bulletPower);
// Add the bullet to the fired bullets list.
var bullets = blackboard.GetValue <List <Bullet> >(BB.bulletsKey);
bullets.Add(bullet);
blackboard.SetValue(BB.bulletsKey, bullets);
return(bullet.Power);
}
// Turn the gun towards the enemy as fast as possible without shooting.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.lastEnemyPositionKey, out Vector lastEnemyPosition) ||
blackboard.GetValue <int?>(BB.framesSinceLastScanKey) == null)
{
return(TaskStatus.Failed);
}
robot.GunColor = robot.BulletColor = Color.Red;
// Return success if the angle left to turn is less than the angleMargin
var gunToEnemyAngle = GunToEnemyAngle(blackboard);
if (Math.Abs(gunToEnemyAngle) < angleMargin)
{
robot.SetTurnGunRight(gunToEnemyAngle);
return(TaskStatus.Success);
}
var gunTurnDirection = ((gunToEnemyAngle >= 0) ? Direction.Right : Direction.Left);
robot.SetTurnGunRight(Rules.GUN_TURN_RATE * (int)gunTurnDirection);
return(TaskStatus.Running);
}
public override void OnBulletHit(BulletHitEvent evnt)
{
var bullets = blackboard.GetValue <List <Bullet> >(BB.bulletsKey);
bullets.Remove(evnt.Bullet);
blackboard.SetValue(BB.bulletsKey, bullets);
}
// Turns as fast as possible in the turnDirection.
public override TaskStatus Tick(Blackboard blackboard)
{
if (blackboard.GetValue <int?>(BB.framesSinceLastScanKey) == 0)
{
return(TaskStatus.Success);
}
try
{
var robot = blackboard.GetValue <AdvancedRobot>(BB.robotKey);
robot.RadarColor = robot.ScanColor = Color.Red;
robot.SetTurnRadarRightRadians(Rules.RADAR_TURN_RATE_RADIANS * (int)turnDirection);
}
catch (NullReferenceException)
{
return(TaskStatus.Failed);
}
return(TaskStatus.Running);
}
// Turn the gun together with the direction the scanner is turning.
public override TaskStatus Tick(Blackboard blackboard)
{
if (blackboard.GetValue <int?>(BB.framesSinceLastScanKey) == 0)
{
return(TaskStatus.Success);
}
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.lastRadarTurnDirectionKey, out int direction))
{
return(TaskStatus.Failed);
}
robot.GunColor = robot.BulletColor = Color.Green;
robot.SetTurnGunRight(Rules.GUN_TURN_RATE * direction);
return(TaskStatus.Running);
}
public override void Initialize(Blackboard blackboard)
{
try
{
// Figure out the direction to turn to scan the center the quickest. This ensures that the biggest area from this position is scanned first.
var robot = blackboard.GetValue <AdvancedRobot>(BB.robotKey);
var center = new Vector
{
X = robot.BattleFieldWidth / 2
, Y = robot.BattleFieldHeight / 2
};
// Get the degrees from the robot towards the center of the stage in robocode angles.
var robotToCenterAngle = Utility.Angle(robot.X, robot.Y, center.X, center.Y);
// Compare the previous angle with the radar heading.
var radarToCenterAngle = robotToCenterAngle - robot.RadarHeading;
radarToCenterAngle += (radarToCenterAngle > 180) ? -360 : (radarToCenterAngle < -180) ? 360 : 0;
turnDirection = ((radarToCenterAngle >= 0) ? Direction.Right : Direction.Left);
}
catch (NullReferenceException) { }
}