public override void Tick(Events events)
{
if (Time==0) Partner = Center();
CheckPartnerMsgs();
if (ScannedEnemy()) Fire(FirePower);
AdjustGunAccordingTo(TurnRobot());
Broadcast("_PP" + X.ToString(CultureInfo.InvariantCulture) + "|" + Y.ToString(CultureInfo.InvariantCulture));
}
public override void Tick(Events events)
{
if(Time == 0) TurnRadar(1);
if (Time < 3) TurnGun(30);
Accelerate(1);
Turn(2);
if(RobotsScanned().Count > 0) Fire(3.0m);
}
public override void Tick(Events events)
{
if (Time == 0) TurnRadar(5) ;
if (RobotsScanned().Count>0) Fire(3.0m);
TurnGun(1);
Turn(2);
if (GotHit().Count>0) _lastHit = Time;
if (_lastHit > 0 && Time - _lastHit < 20)
Accelerate(1);
else
Stop();
}
public override void Tick(Events events)
{
if (Time == 0) _prev_health = Energy;
if (events.RobotsScanned.Count == 0)
_radar_scan = Math.Min(_radar_scan*1.5, _max_radar_scan);
else
_radar_scan = Math.Max(_radar_scan*0.5, _min_radar_scan);
if (Math.Abs(_radar_scan) < _max_radar_scan - 0.1)
_rt = (Time/2%2 < 1 ? -_radar_scan/2.0 : _radar_scan/2.0);
_wanted_radar_turn += _rt;
firing_solution(events);
if (events.GotHit.Count > 0)
{
_racc_dir = _racc_dir/Math.Abs(_racc_dir);
_hit = 20;
}
else
{
_hit--;
}
_hit = -1;
if (_hit < 0)
_racc_dir = (int) ((_min_distance.HasValue && _min_distance.Value < 450)
? DoubleMath.sign(_racc_dir)
: Math.Sin(Time*0.1 + rand()*0.2));
Accelerate((int) _racc_dir);
if (approaching_wall())
_wanted_turn = 60*_rturn_dir;
else if (_target_heading.HasValue && _wanted_turn <= 1)
_wanted_turn =
heading_distance(
((_min_distance.HasValue && _min_distance.Value < 450)
? (90 - DoubleMath.sign(_rturn_dir)*45)*-DoubleMath.sign(_racc_dir)
: 0) +
Heading, (double) (90 + _target_heading));
else if (rand() < 0.3)
_wanted_turn += rand()*10*DoubleMath.sign(_racc_dir)*_rturn_dir;
else if (rand() < 0.01)
_rturn_dir *= -1;
else if (rand() < 0.01)
_racc_dir *= -1;
turn_hull();
turn_turret();
turn_radar_dish();
_prev_health = Energy;
}
protected Robot()
{
Events = new Events();
Actions = new Actions();
State = new State();
}
public abstract void Tick(Events events);
private void firing_solution(Events events)
{
if (events.RobotsScanned.Count > 0)
{
var last = (_target_positions.Count > 0)
? _target_positions[_target_positions.Count - 1]
: new Vector(0, 0);
var robotsScanned = new List<Vector>();
foreach (var d in events.RobotsScanned)
{
var tx = X + Math.Cos(DoubleMath.deg2rad((RadarHeading - Math.Abs(_radar_scan)/2.0)))*d;
var ty = Y - Math.Sin(DoubleMath.deg2rad(RadarHeading - Math.Abs(_radar_scan)/2.0))*d;
robotsScanned.Add(new Vector(tx, ty));
}
var minRadius = double.MaxValue;
Vector position = null;
foreach (var pos in robotsScanned)
{
var radius = (pos - last).r();
if (radius < minRadius)
{
minRadius = radius;
position = pos;
}
}
_target_positions.Add(position);
_min_distance = null;
if (robotsScanned.Count > 0)
{
_min_distance = int.MaxValue;
foreach (var distance in events.RobotsScanned)
if (distance < _min_distance) _min_distance = distance;
}
}
if (_target_positions.Count > 10) Shift(_target_positions);
if (_target_positions.Count == 0) _min_distance = null;
_target_heading = target_heading();
double? gtd = null;
if (_target_heading.HasValue) gtd = heading_distance(GunHeading, (double) _target_heading);
_firepower = 100.0m/(_vsd.HasValue ? (decimal) _vsd.Value : 1500m)/7.0m;
Fire(_firepower*0.2m);
if (_on_target) Fire(_firepower);
if (gtd.HasValue && Math.Abs(gtd.Value) < _firing_threshold)
{
_wanted_gun_turn = gtd.Value;
_on_target = true;
}
else
{
_wanted_gun_turn = gtd.HasValue ? gtd.Value : (gun_radar_distance()/3.0);
_on_target = false;
}
}
public override void Tick(Events events)
{
Fire(0.1m);
//event processing
if (events.RobotsScanned.Count > 0)
{
var dist = events.RobotsScanned[0];
var data = RadToXy(MidRadarHeading(), dist);
_points.Add(new PointTime(data.X, data.Y, Time));
if (_points.Count > HistorySize || Time - _points[0].ktime >= HistoryTimeout)
ShiftPoints();
_lastSeenTime = Time;
_radarSpeed = 1;
_trackMul = 1;
HeadRadarTo(MidRadarHeading());
_direction = 1;
}
//moving
Predx = null;
Predy = null;
if (events.GotHit.Count > 0)
{
_lasthitcount += 1;
}
else if (_lasthitcount2)
{
_lasthitcount2 = false;
_lasthitcount = 0;
}
else
{
_lasthitcount2 = true;
}
if (((OnWall() || (_lasthitcount >= Hitaway) || Rand(1) < Randturn) && Time - _lastchange > Timeout) ||
_lasthitcount >= Hitaway*4)
{
_lasthitcount2 = false;
_lasthitcount = 0;
_lastchange = Time;
_moveDirection *= -1;
}
Halt();
Accelerate(8);
Predcurrent();
var yc = Predy.HasValue? Y - Predy.Value : 0.0;
var xc = Predx.HasValue ? Predx.Value - X : 0.0;
var deg = RobotMath.ToDeg(Math.Atan2(yc, xc)) + 90*_moveDirection;
var hyp = Math.Sqrt(yc*yc + xc*xc);
if (hyp < Sdiff)
deg += Outfactor*_moveDirection;
else if (hyp > Sdiff + Size)
deg -= Infactor*_moveDirection;
deg += Rand(Randomize);
deg -= Rand(Randomize);
HeadTo(deg);
//aiming
if (_points.Count >= MinPoints)
{
Predcurrent();
hyp = hypot(Predx.HasValue?Predx.Value:0 - X,Predy.HasValue?Predy.Value:0 - Y);
var steps = (hyp - 20)/BulletSpeed;
var f = Predict(Time + steps + 1);
var gh = RobotMath.ToDeg(Math.Atan2(Y - f.Y, f.X - X)) + Rand(7) - 3;
HeadGunTo(gh);
}
//#scanning
if (Time - _lastSeenTime >= TrackTimeout || _points.Count < MinPoints)
{
Say("Searching,");
if (RadarReady())
{
turn_radar(_radarSpeed);
_radarSpeed *= -ScanSwitch;
}
}
else
{
Say("Seek and Destroy!");
if (RadarReady())
{
Predcurrent();
yc = Predy.HasValue ? Y - Predy.Value : 0;
xc = Predx.HasValue ? Predx.Value - X : 0;
deg = RobotMath.ToDeg(Math.Atan2(yc, xc));
var dist = hypot(yc, xc);
var signs = new[] {-0.5, -1.5, -0.5, 0.5, 1.5, 0.5};
var sign = signs[_direction%6];
_direction += 1;
deg += (TrackRange*_trackMul*sign)/dist;
_trackMul *= ScanSwitch2;
HeadRadarTo(deg);
}
}
FinalPoint();
FinalTurn();
}
