// 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);
}
// Move towards the other robot and try to ram him.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.lastScannedEventKey, out ScannedRobotEvent evnt) ||
robot.Energy - evnt.Energy < energyDifference ||
!blackboard.TryGetValue(BB.lastEnemyPositionKey, out Vector lastEnemyPosition))
{
return(TaskStatus.Failed);
}
robot.BodyColor = Color.Gold;
var robotToEnemyAngle = Utility.Angle(robot.X, robot.Y, lastEnemyPosition.X, lastEnemyPosition.Y);
var headingToEnemyAngle = robotToEnemyAngle - robot.Heading;
var turnRate = headingToEnemyAngle + (headingToEnemyAngle > 180 ? -360 : (headingToEnemyAngle < -180 ? 360 : 0));
turnRate = Math.Min(turnRate, Rules.MAX_TURN_RATE);
robot.SetTurnRight(turnRate);
if (Math.Abs(headingToEnemyAngle) < moveAngleMargin)
{
robot.SetAhead(Rules.MAX_VELOCITY);
}
return(TaskStatus.Running);
}
// 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 Initialize(Blackboard blackboard)
{
if (blackboard.TryGetValue <Direction>(BB.lastRadarTurnDirectionKey, out Direction direction))
{
turnDirection = (Direction)((int)direction * -1);
}
}
// 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);
}
protected static bool TooCloseToWall(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot))
{
return(false);
}
return(robot.X < wallMargin || robot.X > robot.BattleFieldWidth - wallMargin ||
robot.Y < wallMargin || robot.Y > robot.BattleFieldHeight - wallMargin);
}
public override TaskStatus Tick(Blackboard blackboard)
{
var tick = base.Tick(blackboard);
if (blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot))
{
robot.RadarColor = robot.ScanColor = Color.Green;
}
return(tick);
}
// Predict where the enemy is going to move and shoot there.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.framesSinceLastScanKey, out int framesSinceLastScan))
{
return(TaskStatus.Failed);
}
//var gunToEnemyAngle = GunToEnemyAngle(blackboard);
//robot.SetTurnGunRight(gunToEnemyAngle);
// Predictive Shooting
if (framesSinceLastScan == 0 && Math.Abs(robot.GunHeading - robot.RadarHeading) < headingMargin)
{
Fire(blackboard);
}
return(TaskStatus.Running);
}
// Turn the gun towards the enemy and fire when appropriate.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.framesSinceLastScanKey, out int framesSinceLastScan))
{
return(TaskStatus.Failed);
}
robot.GunColor = robot.BulletColor = Color.Gold;
var gunToEnemyAngle = Math.Min(GunToEnemyAngle(blackboard), Rules.GUN_TURN_RATE);
robot.SetTurnGunRight(gunToEnemyAngle);
if (framesSinceLastScan == 0 && Math.Abs(robot.GunHeading - robot.RadarHeading) < headingMargin)
{
Fire(blackboard);
}
return(TaskStatus.Running);
}
// Moves the robot forward.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot))
{
return(TaskStatus.Failed);
}
robot.BodyColor = Color.Gray;
robot.SetAhead(Rules.MAX_VELOCITY);
return(TaskStatus.Running);
}
// Shoot as fast as possible wherever the gun is pointing.
public override TaskStatus Tick(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.framesSinceLastScanKey, out int framesSinceLastScan) ||
!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot))
{
return(TaskStatus.Failed);
}
robot.GunColor = robot.BulletColor = Color.Silver;
if (framesSinceLastScan > 0)
{
return(TaskStatus.Running);
}
robot.SetFireBullet(1);
if (!blackboard.TryGetValue(BB.lastEnemyPositionKey, out Vector lastEnemyPosition))
{
return(TaskStatus.Failed);
}
return(TaskStatus.Running);
}
// When too close to the wall, move towards the center until the robot is far enough from the wall.
public override TaskStatus Tick(Blackboard blackboard)
{
if ((!movingAway && !TooCloseToWall(blackboard)) ||
!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot))
{
return(TaskStatus.Failed);
}
robot.BodyColor = Color.White;
movingAway = true;
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);
// Figure out the turn rate for the robot.
var headingToCenterAngle = robotToCenterAngle - robot.Heading;
var turnRate = headingToCenterAngle + (headingToCenterAngle > 180 ? -360 : (headingToCenterAngle < -180 ? 360 : 0));
turnRate = Math.Min(turnRate, Rules.MAX_TURN_RATE);
robot.SetTurnRight(turnRate);
// If the remaining turn angle is less than the moveAngle, start moving.
if (Math.Abs(headingToCenterAngle) < moveAngleMargin)
{
robot.SetAhead(Rules.MAX_VELOCITY);
}
// Check if the robot is close enough to the center to stop moving away from the wall.
var robotToCenterDistanceSquared = Utility.DistanceSquared(robot.X, robot.Y, center.X, center.Y);
if (robotToCenterDistanceSquared < Math.Pow(distanceFromCenterMargin, 2))
{
movingAway = false;
}
return(TaskStatus.Running);
}
// Calculate the angle from the gun to the enemy.
protected static double GunToEnemyAngle(Blackboard blackboard)
{
if (!blackboard.TryGetValue(BB.robotKey, out AdvancedRobot robot) ||
!blackboard.TryGetValue(BB.lastEnemyPositionKey, out Vector lastEnemyPosition))
{
return(default);
