/// <summary>
/// Calculate the value of total force exherted at the location by the gravity points.
/// </summary>
/// <param name="location">The current location.</param>
/// <param name="gravityPoints">Points representing gravity/anti-gravity sources</param>
/// <returns></returns>
private Force GetNetForce(Point location, List<GravityPoint> gravityPoints)
{
var netForce = new Force() { X = 0.0, Y = 0.0 };
foreach (var gravityPoint in gravityPoints)
{
var distance = Point.Distance(gravityPoint.Location, location);
var force = gravityPoint.Power / Math.Pow(distance, gravityPoint.DistanceDecay);
var angle = Utils.NormalAbsoluteAngle(Math.Atan2(gravityPoint.Location.X - location.X, gravityPoint.Location.Y - location.Y));
netForce.X += Math.Sin(angle) * force;
netForce.Y += Math.Cos(angle) * force;
}
return netForce;
}
/// <summary>
/// Gets the gravity/anti-gravity force working on the robot.
/// For more information, see Anti-Gravity Movement.
/// </summary>
/// <param name="currentLocation">The current location.</param>
/// <param name="enemyLocations">Enemy locations.</param>
/// <param name="enemyBullets">Predicted enemy bullets.</param>
/// <param name="time">The time.</param>
/// <param name="fieldWidth">Width of the field.</param>
/// <param name="fieldHeight">Height of the field.</param>
/// <returns></returns>
private Force GetAntiGravityForce(Point currentLocation, List<Point> enemyLocations, List<WaveBullet> enemyBullets, long time, double fieldWidth, double fieldHeight)
{
var enemyGravityPoints = new List<GravityPoint>();
var fieldGravityPoints = new List<GravityPoint>();
var powerPerEnemy = -3000 / this.Others;
// gravity points from enemies
enemyGravityPoints.AddRange(enemyLocations.Select(point =>
new GravityPoint()
{
Location = point,
Power = powerPerEnemy,
DistanceDecay = 2
}));
// gravity points from walls (should minimise the risk of hitting them under normal circumstances)
fieldGravityPoints.AddRange(new List<GravityPoint>()
{
new GravityPoint()
{
Location = new Point() { X = 0, Y = currentLocation.Y },
Power = -5000,
DistanceDecay = 3
},
new GravityPoint() {
Location = new Point() { X = fieldWidth, Y = currentLocation.Y },
Power = -5000,
DistanceDecay = 3
},
new GravityPoint() {
Location = new Point() { X = currentLocation.X, Y = 0 },
Power = -5000,
DistanceDecay = 3
},
new GravityPoint() {
Location = new Point() { X =currentLocation.X, Y = fieldHeight },
Power = -5000,
DistanceDecay = 3
},
});
// meant to add a perpendicular force from predicted enemy bullets that would push the robot aside, allowing to dodge them
// never got around to get it to work though
var enemyBulletGravityPoints = new List<GravityPoint>();
if (this.Others <= 2)
{
var bulletsToTerminate = new List<WaveBullet>();
foreach (var bullet in enemyBullets)
{
double guessFactor = 0;
if (bullet.CheckHit(this.Name, currentLocation, this.Time + 10, out guessFactor))
{
enemyBulletGravityPoints.Add(new GravityPoint()
{
Power = 3000,
DistanceDecay = 0,
Location = bullet.StartPoint
});
bulletsToTerminate.Add(bullet);
}
if (this.Time - bullet.Time > 100)
{
bulletsToTerminate.Add(bullet);
}
}
foreach (var bullet in bulletsToTerminate)
{
enemyBullets.Remove(bullet);
}
}
var forceFromEnemies = GetNetForce(currentLocation, enemyGravityPoints);
var forceFromField = GetNetForce(currentLocation, fieldGravityPoints);
var forceFromEnemyBullets = GetNetForce(currentLocation, enemyBulletGravityPoints);
// a dodge direction that would fluctuate with time
var perpendicularDirection = ((this.Time / 20) % 2 == 0) ? 1 : -1;
forceFromEnemyBullets = new Force()
{
X = perpendicularDirection * forceFromEnemyBullets.X,
Y = -perpendicularDirection * forceFromEnemyBullets.Y
};
return new Force()
{
X = forceFromEnemies.X + forceFromField.X + forceFromEnemyBullets.X,
Y = forceFromEnemies.Y + forceFromField.Y + forceFromEnemyBullets.Y
};
}