private Controller KickOffFrontCorner(float dt)
{
float distance = (new Vector2(car.Position.X, car.Position.Y) - new Vector2(0, 0)).Length();
Controller controller = new Controller();
if (car.Velocity.Length() < 1000)
{
controller.Boost = true;
Vector3 local = Vector3.Transform(-car.Position, Quaternion.Inverse(car.Rotation));
controller.Steer = MathUtility.Clip((float)Math.Atan2(local.Y, local.X) * 0.5f, -1, 1);
}
else if (distance > 2400)
{
if (dodge == null)
{
dodge = new Dodge(car, 0.13f, new Vector2(-1, 0));
}
controller = dodge.Step(dt);
controller.Boost = true;
}
else if (distance > 500)
{
Vector3 local = Vector3.Transform(-car.Position, Quaternion.Inverse(car.Rotation));
controller.Steer = MathUtility.Clip((float)Math.Atan2(local.Y, local.X) * 10, -1, 1);
controller.Boost = distance < 2000 && car.HasWheelContact;
dodge = null;
}
else
{
if (dodge == null)
{
Vector3 local = Vector3.Normalize(Vector3.Transform(-car.Position, Quaternion.Inverse(car.Rotation)));
dodge = new Dodge(car, 0.2f, new Vector2(-local.X, local.Y));
}
controller = dodge.Step(dt);
}
controller.Throttle = 1; // No reason not to hold throttle.
return(controller);
}
private Controller KickOffBackCorner(float dt)
{
Controller c = new Controller();
if (Math.Abs(car.Position.Y) > 3200)
{
c.Boost = true;
Vector3 local = Vector3.Transform(new Vector3(0, Math.Sign(car.Position.Y) * 3000, 0) - car.Position, Quaternion.Inverse(car.Rotation));
c.Steer = MathUtility.Clip((float)Math.Atan2(local.Y, local.X), -1f, 1f);
}
else if (Math.Abs(car.Position.Y) > 1500)
{
Vector3 local = Vector3.Transform(new Vector3(Math.Sign(car.Position.X) * 3500, 0, 0) - car.Position, Quaternion.Inverse(car.Rotation));
local.Z = 0;
local = Vector3.Normalize(local);
if (dodge == null)
{
dodge = new Dodge(car, 0.15f, new Vector2(-local.X, local.Y));
}
c = dodge.Step(dt);
c.Boost = Math.Abs(car.Position.Y) > 2600;
}
else if (Math.Abs(car.Position.Y) > 500)
{
dodge = null;
}
else
{
Vector3 local = Vector3.Transform(-car.Position, Quaternion.Inverse(car.Rotation));
if (dodge == null)
{
dodge = new Dodge(car, 0.15f, new Vector2(-1, 0));
}
c = dodge.Step(dt);
}
c.Throttle = 1.0f; // No reason not to hold throttle.
return(c);
}
private Controller KickOffCenter(float dt)
{
Controller controller = new Controller();
if (Math.Abs(car.Position.Y) > 3700) // Boost in a straight line.
{
controller.Boost = true;
}
else if (Math.Abs(car.Position.Y) > 1000) // Dodge forward.
{
if (dodge == null)
{
dodge = new Dodge(car, 0.2f, new Vector2(-1, 0));
}
controller = dodge.Step(dt);
controller.Boost = Math.Abs(car.Position.Y) > 3000; // Make sure we keep boosting during the first part of the dodge.
}
else if (Math.Abs(car.Position.Y) > 700)
{
dodge = null;
}
else // Final dodge when we are close to the ball.
{
if (dodge == null)
{
dodge = new Dodge(car, 0.2f, new Vector2(-1, 0));
}
controller = dodge.Step(dt);
}
controller.Throttle = 1; // No reason not to hold throttle.
return(controller);
}