static void Main(string[] args)
{
string rawinputs;
CSBPod PodMyG = new CSBPod();
CSBPod PodMyH = new CSBPod();
CSBPod PodHisG = new CSBPod();
CSBPod PodHisH = new CSBPod();
// read Track
int laps = int.Parse(Console.ReadLine());
int checkpointCount = int.Parse(Console.ReadLine());
CSBTrack Track = new CSBTrack(laps, checkpointCount);
for (int i = 0; i < Track.CPNumber; i++)
{
rawinputs = Console.ReadLine();
Track.AddCheckPoint(i, rawinputs);
}
// game loop
while (true)
{
// read Pods
rawinputs = Console.ReadLine();
PodMyG.Update(rawinputs, Track);
rawinputs = Console.ReadLine();
PodMyH.Update(rawinputs, Track);
rawinputs = Console.ReadLine();
PodHisG.Update(rawinputs, Track);
rawinputs = Console.ReadLine();
PodHisH.Update(rawinputs, Track);
// Write an action using Console.WriteLine()
// To debug: Console.Error.WriteLine("Debug messages...");
// Console.Error.WriteLine("### FMCAS A");
PodMyG.FMCAS(PodMyH, PodHisG, PodHisH);
// PodMyG.Debug();
// Console.Error.WriteLine("### FMCAS B");
PodMyH.FMCAS(PodMyG, PodHisG, PodHisH);
// PodMyH.Debug();
// Console.Error.WriteLine("### AFCSMOVE A");
Console.WriteLine(PodMyG.AFCSMOVE());
// Console.Error.WriteLine("### AFCSMOVE B");
Console.WriteLine(PodMyH.AFCSMOVE());
}
}
public void Update(string rawinputs, CSBTrack Track)
{
string[] inputs = rawinputs.Split(' ');
if (p_PosPod.X == -1 && p_PosPod.Y == -1)
{
p_PrevPosMe.Update(int.Parse(inputs[0]), int.Parse(inputs[1]));
}
else
{
p_PrevPosMe.Update(p_PosPod);
}
p_PosPod.Update(int.Parse(inputs[0]), int.Parse(inputs[1]));
p_PosMySpeed.Update(int.Parse(inputs[2]), int.Parse(inputs[3]));
p_DegAngleOrgHead = int.Parse(inputs[4]);
p_PosEastAngleOrigin.Y = p_PosPod.Y;
// Next 3 CP from Track
p_nextTRACKCPID = int.Parse(inputs[5]);
Next3CPRoute.Update(Track.CPTable[p_nextTRACKCPID].Position, Track.CPTable[(p_nextTRACKCPID + 1) % Track.CPNumber].Position, Track.CPTable[(p_nextTRACKCPID + 2) % Track.CPNumber].Position);
// Speed
p_NextPosEstimated.X = p_PosPod.X + p_PosMySpeed.X;
p_NextPosEstimated.Y = p_PosPod.Y + p_PosMySpeed.Y;
p_DistMySpeed = CSBCompute.DistAB(p_PosPod, p_NextPosEstimated);
// Angles
p_RadAngleOrgTrack = CSBCompute.AngleOrienteVecteur(p_PosEastAngleOrigin, p_PosMySpeed, p_PosPod);
p_RadAngleOrgNextCP = CSBCompute.AngleOrientePos(p_PosEastAngleOrigin, Next3CPRoute.NextCP1, p_PosPod);
if (FirstExecCycle)
{
p_DegAngleOrgHead = (int)(p_RadAngleOrgNextCP / Math.PI * 180); FirstExecCycle = false;
}
p_DegAngleHeadNextCP = ((p_RadAngleOrgNextCP / Math.PI * 180) - p_DegAngleOrgHead);
// Drift Angles
p_DegAngleTrackNextCP = ((p_RadAngleOrgNextCP - p_RadAngleOrgTrack) / Math.PI * 180 + 360) % 360;
if (p_DegAngleTrackNextCP > 180)
{
p_DegAngleTrackNextCP -= 360;
}
// Distances
p_PrevDistNextCheckPoint = p_DistNextCheckpoint;
p_DistNextCheckpoint = CSBCompute.DistAB(p_PosPod, Next3CPRoute.NextCP1);
p_DistMissingNxtCP = CSBCompute.ClosestFromNxtCP(p_PrevPosMe, p_PosPod, Next3CPRoute.NextCP1, p_DistNextCheckpoint);
}