public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move) { if (tilePath.Count < 2) return false; var current = MyStrategy.map.tileAt(vehicle.position); var currentToFirst = current.directionForTile(tilePath[0]).Value; var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value; var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value; if (currentToFirst.isSameAxis(firstToSecond)) return false; if (currentToFirst.back() != secondToThird) return false; var turningFrom = new Vector(currentToFirst); var turningTo = new Vector(firstToSecond); if (vehicle.speed.length > 10) { var steering = Math.Sign(turningFrom.angleTo(turningTo)); var backWall = new Ray( tilePath[0].center + turningFrom * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningTo * Constants.tileSize * 0.5, turningTo * Constants.tileSize * 2 ); var backSideWall = new Ray( backWall.p2 - turningTo * Constants.roadMargin, -turningFrom * (Constants.tileSize - Constants.roadMargin) ); var innerWall = new Ray(current.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5, turningFrom * Constants.tileSize); var innerCircle = new Circle(current.center + (new Vector(currentToFirst) + new Vector(firstToSecond)) * Constants.tileSize * 0.5, Constants.roadMargin); backWall.draw(0x00FF00); backSideWall.draw(0x00FF00); innerWall.draw(0x00FF00); innerCircle.draw(0x00FF00); var vv = new VirtualVehicle(vehicle); for (int i = 0; i < 100; ++i) { vv.simulateTick(0.5, steering); var rect = vv.rect; if (rect.isIntersect(innerWall) || rect.isIntersect(innerCircle)) { move.EnginePower = 1; move.WheelTurn = -steering; move.IsBrake = false; return true; } if (rect.isIntersect(backWall) || rect.isIntersect(backSideWall)) { move.IsBrake = false; move.EnginePower = -1; //move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize)); move.WheelTurn = steering; return true; } vv.position.draw(0xFF0000); vv.rect.draw(0x0000FF); } } move.EnginePower = 0.5; move.WheelTurn = vehicle.steeringAngleForDirection(vehicle.stabilizationDir(turningFrom, current.center, turningTo, -0.25 * Constants.tileSize)); move.IsBrake = false; return true; }
public override bool tryDrive(Vehicle vehicle, List<Tile> tilePath, Move move) { if (tilePath.Count < 3) return false; var currentTile = MyStrategy.map.tileAt(vehicle.position); Vector target; Vector turningFrom; Vector turningTo; { var currentToFirst = currentTile.directionForTile(tilePath[0]).Value; var firstToSecond = tilePath[0].directionForTile(tilePath[1]).Value; var secondToThird = tilePath[1].directionForTile(tilePath[2]).Value; if (currentToFirst != secondToThird) { return false; } if (firstToSecond.isSameAxis(currentToFirst)) { return false; } turningFrom = new Vector(currentToFirst); turningTo = new Vector(firstToSecond); target = tilePath[2].center - turningFrom * 0.5 * Constants.tileSize; } var vehicleToTarget = target - vehicle.position; if (vehicle.speed.length > 10 && vehicle.forward * (turningFrom + turningTo) > 0) { var steering = Math.Sign(turningFrom.angleTo(turningTo)); Ray side = new Ray( tilePath[0].center - turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5, turningFrom * (Constants.tileSize - Constants.roadMargin) ); Ray back = new Ray(side.p2, turningTo * (Constants.tileSize - Constants.roadMargin)); Circle backCircle = new Circle(back.p2 + turningFrom * Constants.roadMargin, Constants.roadMargin); Ray innerSide = new Ray( currentTile.center + turningTo * (Constants.tileSize * 0.5 - Constants.roadMargin) - turningFrom * Constants.tileSize * 0.5, turningFrom * Constants.tileSize ); Circle innerCircle = new Circle(innerSide.p2 + turningTo * Constants.roadMargin, Constants.roadMargin); side.draw(0x00FF00); back.draw(0x00FF00); backCircle.draw(0x00FF00); innerSide.draw(0x00FF00); innerCircle.draw(0x00FF00); var vv = new VirtualVehicle(vehicle); for (int i = 0; i < 100; ++i) { vv.simulateTick(1.0, 0.0); var rect = vv.rect; if (rect.isIntersect(side) || rect.isIntersect(back) || rect.isIntersect(backCircle)) { vv = new VirtualVehicle(vehicle); for (int j = 0; j < 100; ++j) { vv.simulateTick(1, steering); if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) { move.EnginePower = 1; move.IsBrake = true; move.WheelTurn = steering; return true; } } move.EnginePower = 1; move.IsBrake = false; move.WheelTurn = steering; return true; } else if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) { vv = new VirtualVehicle(vehicle); for (int j = 0; j < 100; ++j) { vv.simulateTick(1, -steering); if (rect.isIntersect(innerSide) || rect.isIntersect(innerCircle)) { move.EnginePower = 1; move.IsBrake = true; move.WheelTurn = -steering; return true; } } move.EnginePower = 1; move.IsBrake = false; move.WheelTurn = -steering; return true; } if (tilePath[2].rect.contains(vv.position)) { move.EnginePower = 1; move.IsBrake = false; move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget); return true; } rect.draw(0x0000FF); vv.position.draw(0xFF0000); } move.EnginePower = 1; move.IsBrake = false; move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget); //new Ray(vehicle.position, vehicleToTarget).draw(0x00FFFF); return true; } if (vehicle.forward * vehicleToTarget < 0.5) { if (vehicle.speed.length > 10) { move.IsBrake = true; } move.EnginePower = 0.3; } else { move.EnginePower = 1; } move.WheelTurn = vehicle.steeringAngleForDirection(vehicleToTarget); move.IsBrake = false; return true; }