/// <summary>
/// Steers the robot according to a desired velocity vector
/// </summary>
/// <param name="robot"></param>
/// <param name="course"></param>
public static void Steer(Marcle15 robot, Vector2D course)
{
var correctedCourse = VectorCorrection(robot, course);
Vector2D coords = new Vector2D(robot.Position, robot.Position + correctedCourse);
double distance = coords.Length();
double steerBearing = Utils.NormalRelativeAngle(Math.Atan2(coords.X, coords.Y) - robot.HeadingRadians);
robot.SetTurnRightRadians(steerBearing);
if (Math.Abs(robot.TurnRemainingRadians) < Math.PI / 6)
{
robot.SetAhead(distance);
}
}
/// <summary>
/// return the argument vector with corrected components
/// for the tank not to run into walls
/// </summary>
/// <param name="robot"></param>
/// <param name="course"></param>
/// <returns></returns>
private static Vector2D VectorCorrection(Marcle15 robot, Vector2D course)
{
var safetyMarginX = robot.Width + 10;
var safetyMarginY = robot.Height + 10;
var futurePos = robot.Position + course;
var minPoint = new Point2D {
X = safetyMarginX,
Y = safetyMarginY
};
var maxPoint = new Point2D {
X = robot.BattleFieldWidth - safetyMarginX,
Y = robot.BattleFieldHeight - safetyMarginY
};
futurePos = futurePos.PositionClamp(minPoint, maxPoint);
var correctedVector = new Vector2D(robot.Position, futurePos);
correctedVector.Normalize();
correctedVector *= course.Length();
return(correctedVector);
}
public State_Drive_Chase(Marcle15 robot) : base(robot)
{
}
public State_Turret_Aim(Marcle15 robot) : base(robot)
{
}
public State_Drive_Ram(Marcle15 robot) : base(robot)
{
}
public State_Turret_Fire(Marcle15 robot, double firepower) : base(robot)
{
_firepower = firepower;
}
public FSM_Turret(Marcle15 robot) : base(robot)
{
CurrentState = new State_Turret_Scan(_Robot);
}
public State_Turret_Scan(Marcle15 robot) : base(robot)
{
}