public override void OnHitByBullet(HitByBulletEvent e)
{
// If the _enemyWaves collection is empty, we must have missed the
// detection of this wave somehow.
BulletWave hitWave = null;
foreach (var ew in enemyBullets)
{
if (Math.Abs(ew.GetTraveledDistance(Time) - Helper.GetDistance(X, Y, ew.StartX, ew.StartY)) <= _radius &&
Math.Abs(Helper.GetBulletVelocity(e.Bullet.Power) - ew.Velocity) < 0.001)
{
hitWave = ew;
break;
}
}
if (hitWave != null)
{
LogHit(hitWave, e.Bullet.X, e.Bullet.Y);
enemyBullets.Remove(hitWave);
}
if (medKitLocked)
{
SetBackAsFront(HeadingRadians + Math.PI, rnd.Next(50, 100));
}
}
public override void OnBulletHitBullet(BulletHitBulletEvent e)
{
BulletWave hitWave = null;
foreach (var ew in enemyBullets)
{
if (Math.Abs(ew.GetTraveledDistance(Time) -
Helper.GetDistance(e.HitBullet.X, e.HitBullet.Y, ew.StartX, ew.StartY)) < 0.001 &&
Math.Abs(Helper.GetBulletVelocity(e.HitBullet.Power) - ew.Velocity) < 0.001)
{
hitWave = ew;
break;
}
}
if (hitWave != null)
{
LogHit(hitWave, e.HitBullet.X, e.HitBullet.Y);
enemyBullets.Remove(hitWave);
}
foreach (var bullet in myBullets)
{
if (Math.Abs(bullet.GetTraveledDistance(Time) - Helper.GetDistance(e.HitBullet.X, e.HitBullet.Y, bullet.StartX, bullet.StartY)) < 0.001 &&
Math.Abs(e.HitBullet.Power - bullet.Power) < 0.001 && Math.Abs(e.Bullet.HeadingRadians - bullet.Angle) < 0.001)
{
bullet.CheckHit(e.HitBullet.X, e.HitBullet.Y, Time); //maybe add more weight
break;
}
}
}
// Given the EnemyWave that the bullet was on, and the point where we
// were hit, calculate the index into our stat array for that factor.
private static int GetFactorIndex(BulletWave ew, double targetX, double targetY)
{
double offsetAngle = Helper.GetAbsBearingInRadian(ew.StartX, ew.StartY, targetX, targetY) - ew.TargetAngle;
double factor = Utils.NormalRelativeAngle(offsetAngle) / ew.MaxEscapeAngleRadian * ew.TargetDirection;
return((int)Helper.Limit(0, 0.5 * (1 + factor) * (StatsCount - 1), StatsCount - 1));
}
private double CheckDanger(BulletWave surfWave, int direction, out PointF predictPosition)
{
predictPosition = PredictPosition(surfWave, direction);
int index = GetFactorIndex(surfWave, predictPosition.X, predictPosition.Y);
return(_surfStats[index]);
}
private double CalculateDistanceToBullet(BulletWave ew)
{
var traveledDistance = ew.GetTraveledDistance(Time);
var curDistance = Helper.GetDistance(ew.StartX, ew.StartY, X, Y);
return(curDistance - traveledDistance);
}
private void DoSurfing()
{
BulletWave surfWave = GetClosestBullet();
if (surfWave == null)
{
if (!WalkAwayFromEnemy())
{
SetTurnAwayFromWall();
SetAhead(rnd.Next(50, 150));
}
return;
}
PointF predictPoint1, predictPoint2;
double dangerLeft = CheckDanger(surfWave, -1, out predictPoint1);
double dangerRight = CheckDanger(surfWave, 1, out predictPoint2);
double goAngle = Helper.GetAbsBearingInRadian(surfWave.StartX, surfWave.StartY, X, Y);
if (dangerLeft < dangerRight)
{
goAngle = WallSmoothing(X, Y, goAngle - (Math.PI * 0.5), -1);
_predictPoint = predictPoint2;
}
else
{
goAngle = WallSmoothing(X, Y, goAngle + (Math.PI * 0.5), 1);
_predictPoint = predictPoint1;
}
SetBackAsFront(goAngle, rnd.Next(50, 150));
}
// CREDIT: mini sized predictor from Apollon, by rozu
// http://robowiki.net?Apollon
private PointF PredictPosition(BulletWave surfWave, int direction)
{
PointF predictedPosition = new PointF((float)X, (float)Y);
double predictedVelocity = Velocity;
double predictedHeading = HeadingRadians;
double maxTurning, moveAngle, moveDir;
int counter = 0; // number of ticks in the future
bool intercepted = false;
do
{ // the rest of these code comments are rozu's
var angleInRadian = Helper.GetAbsBearingInRadian(surfWave.StartX, surfWave.StartY, predictedPosition.X, predictedPosition.Y) + (direction * (Math.PI / 2));
moveAngle = WallSmoothing(predictedPosition.X, predictedPosition.Y, angleInRadian, direction) - predictedHeading;
moveDir = 1;
if (Math.Cos(moveAngle) < 0)
{
moveAngle += Math.PI;
moveDir = -1;
}
moveAngle = Utils.NormalRelativeAngle(moveAngle);
// maxTurning is built in like this, you can't turn more then this in one tick
maxTurning = Math.PI / 720d * (40d - 3d * Math.Abs(predictedVelocity));
predictedHeading = Utils.NormalRelativeAngle(predictedHeading + Helper.Limit(-maxTurning, moveAngle, maxTurning));
// this one is nice ;). if predictedVelocity and moveDir have
// different signs you want to breack down
// otherwise you want to accelerate (look at the factor "2")
predictedVelocity += (predictedVelocity * moveDir < 0 ? 2 * moveDir : moveDir);
predictedVelocity = Helper.Limit(-8, predictedVelocity, 8);
// calculate the new predicted position
predictedPosition = Helper.GetProjection(predictedPosition.X, predictedPosition.Y, predictedHeading, predictedVelocity);
counter++;
//todo: check if we can add _radius
if (Helper.GetDistance(predictedPosition.X, predictedPosition.Y, surfWave.StartX, surfWave.StartY) + _radius <
surfWave.GetTraveledDistance(Time) + (counter + 1) * surfWave.Velocity)
{
intercepted = true;
}
} while (!intercepted && counter < 500);
return(predictedPosition);
}
//todo: get most dangerous wave
private BulletWave GetClosestBullet()
{
double closestDistance = double.MaxValue;
BulletWave surfWave = null;
foreach (var ew in enemyBullets)
{
var distance = CalculateDistanceToBullet(ew);
if (distance > ew.Velocity && distance < closestDistance)
{
surfWave = ew;
closestDistance = distance;
}
}
return(surfWave);
}
private void UpdateEnemyWave(ScannedRobotEvent e)
{
var lateralVelocity = Velocity * Math.Sin(e.BearingRadians);
var absBearing = e.BearingRadians + HeadingRadians;
_surfDirections.Insert(0, lateralVelocity >= 0 ? 1 : -1);
_surfAbsBearings.Insert(0, absBearing + Math.PI);
double energyDrop = _lastEnemyEnergy - e.Energy;
if (energyDrop < Rules.MAX_BULLET_POWER + 0.0001 && energyDrop > Rules.MIN_BULLET_POWER - 0.0001 && _surfDirections.Count > 2)
{
BulletWave ew = new BulletWave()
{
StartX = _lastEnemyLocation.X,
StartY = _lastEnemyLocation.Y,
FireTime = Time - 1,
Power = energyDrop,
TargetAngle = _surfAbsBearings[2],
TargetDirection = _surfDirections[2],
};
enemyBullets.Add(ew);
}
_lastEnemyEnergy = e.Energy;
_lastEnemyLocation = Helper.GetProjection(X, Y, absBearing, e.Distance);
//update enemy waves
for (var i = 0; i < enemyBullets.Count; i++)
{
if (enemyBullets[i].CheckHit(X, Y, Time, 2 * _radius))
{
enemyBullets.RemoveAt(i);
i--;
}
}
}
// Given the EnemyWave that the bullet was on, and the point where we
// were hit, update our stat array to reflect the danger in that area.
private void LogHit(BulletWave ew, double targetX, double targetY)
{
int index = GetFactorIndex(ew, targetX, targetY);
Helper.UpdateStats(index, _surfStats);
}
private void Fire(ScannedRobotEvent e)
{
// Enemy absolute bearing
double absBearing = HeadingRadians + e.BearingRadians;
// enemy's location:
double ex = X + Math.Sin(absBearing) * e.Distance;
double ey = Y + Math.Cos(absBearing) * e.Distance;
//update bullet waves
for (int i = 0; i < myBullets.Count; i++)
{
var currentWave = myBullets[i];
if (currentWave.CheckHit(ex, ey, Time))
{
myBullets.Remove(currentWave);
i--;
}
}
//update virtual bullet waves
for (int i = 0; i < virtualBullets.Count; i++)
{
var currentWave = virtualBullets[i];
if (currentWave.CheckHit(ex, ey, Time))
{
virtualBullets.Remove(currentWave);
i--;
}
}
double power = GetBulletPower(e);
var enemyDirection = 1;
// don't try to figure out the direction they're moving
// they're not moving, just use the direction we had before
if (Math.Abs(e.Velocity) > 0)
{
if (Math.Sin(e.HeadingRadians - absBearing) * e.Velocity < 0)
{
enemyDirection = -1;
}
else
{
enemyDirection = 1;
}
}
var distanceIndex = (int)(e.Distance / 100);
double[] currentStats = _fireStats[distanceIndex];
var newWave = new BulletWave()
{
StartX = X,
StartY = Y,
FireTime = Time,
Power = power,
TargetAngle = absBearing,
TargetDirection = enemyDirection,
Stats = currentStats
};
double angleOffset = enemyDirection * newWave.MaxEscapeAngleRadian * GetGuessfactor(currentStats);
//handle easy case
if (e.Energy < 0.1)
{
angleOffset = 0;
power = Math.Min(3, 0.5 * Energy);
}
double gunAdjust = Utils.NormalRelativeAngle(absBearing - GunHeadingRadians + angleOffset);
SetTurnGunRightRadians(gunAdjust);
Bullet fireBullet = null;
if (GunHeat <= 0 && gunAdjust < Math.Atan2(0.5 * _radius, e.Distance))
{
fireBullet = SetFireBullet(power);
if (fireBullet != null)
{
myBullets.Add(newWave);
newWave.Power = power;
newWave.Angle = fireBullet.HeadingRadians;
}
}
//virtual bullet
if (fireBullet == null)
{
virtualBullets.Add(newWave);
newWave.Power = power;
newWave.Angle = absBearing;
}
}