/// <summary>
/// Creates a new MoveCompleteCondition with default priority.
/// The default priority is 80.
/// </summary>
/// <param name="robot">Your robot, which must be a <see cref="AdvancedRobot"/></param>
public MoveCompleteCondition(AdvancedRobot robot)
{
this.robot = robot;
}
/// <summary>
/// Creates a new MoveCompleteCondition with the specified priority.
/// A condition priority is a value from 0 - 99. The higher value, the
/// higher priority. The default priority is 80.
/// <seealso cref="Condition.Priority"/>
/// </summary>
/// <param name="robot">Your robot, which must be a <see cref="AdvancedRobot"/></param>
/// <param name="priority">The priority of this condition</param>
public MoveCompleteCondition(AdvancedRobot robot, int priority)
{
this.robot = robot;
this.priority = priority;
}
/// <summary>
/// Creates a new MoveCompleteCondition with the specified priority.
/// A condition priority is a value from 0 - 99. The higher value, the
/// higher priority. The default priority is 80.
/// <seealso cref="Condition.Priority"/>
/// </summary>
/// <param name="robot">Your robot, which must be a <see cref="AdvancedRobot"/></param>
/// <param name="priority">The priority of this condition</param>
public MoveCompleteCondition(AdvancedRobot robot, int priority)
{
this.robot = robot;
this.priority = priority;
}
/// <summary>
/// Creates a new GunTurnCompleteCondition with default priority.
/// The default priority is 80.
/// </summary>
/// <param name="robot">Your robot, which must be an <see cref="AdvancedRobot"/></param>
public GunTurnCompleteCondition(AdvancedRobot robot)
{
this.robot = robot;
}
public BlackBoard(AdvancedRobot _robot)
{
robot = _robot;
}
/// <summary>
/// Creates a new MoveCompleteCondition with default priority.
/// The default priority is 80.
/// </summary>
/// <param name="robot">Your robot, which must be a <see cref="AdvancedRobot"/></param>
public MoveCompleteCondition(AdvancedRobot robot)
{
this.robot = robot;
}
public override BehaviourTreeStatus Tick()
{
AdvancedRobot tmpBot = this.bb.Robot;
ScannedRobotEvent e = this.bb.CurrentEnemy.E;
if (e == null)
{
return(BehaviourTreeStatus.Failure);
}
// Stay at right angles to the opponent
tmpBot.SetTurnRight(e.Bearing + 90 -
30 * this.bb.MovementDirection);
// If the bot has small energy drop,
// assume it fired
double changeInEnergy = this.bb.PreviousEnergy - e.Energy;
if (changeInEnergy >= -3 && changeInEnergy <= 3)
{
// Dodge!
this.bb.MovementDirection =
-this.bb.MovementDirection;
tmpBot.SetAhead((e.Distance / 4 + 25) * this.bb.MovementDirection);
}
// When a bot is spotted,
// sweep the gun and radar
this.bb.GunDirection = -this.bb.GunDirection;
//tmpBot.TurnGunRight(360 * this.bb.GunDirection);
// Track the energy level
this.bb.PreviousEnergy = e.Energy;
double xforce = 0;
double yforce = 0;
double force;
double ang;
/**The following four lines add wall avoidance. They will only
* affect us if the bot is close to the walls due to the
* force from the walls decreasing at a power 3.**/
xforce += 5000 / Math.Pow(getRange(tmpBot.X,
tmpBot.Y, tmpBot.BattleFieldWidth, tmpBot.Y), 3);
xforce -= 5000 / Math.Pow(getRange(tmpBot.X,
tmpBot.Y, 0, tmpBot.X), 3);
yforce += 5000 / Math.Pow(getRange(tmpBot.X,
tmpBot.Y, tmpBot.X, tmpBot.BattleFieldHeight), 3);
yforce -= 5000 / Math.Pow(getRange(tmpBot.X,
tmpBot.Y, tmpBot.X, 0), 3);
double angle = Utils.ToDegrees(absbearing(tmpBot.X, tmpBot.Y, tmpBot.X - xforce, tmpBot.Y - yforce));
double r = turnTo(angle);
//distance = RandomNumber(80, 300);
tmpBot.SetAhead(distance * r);
//this.bb.Robot.Ahead(distance * angle);
return(BehaviourTreeStatus.Success);
}
/// <summary>
/// Creates a new RadarTurnCompleteCondition with default priority.
/// The default priority is 80.
/// </summary>
/// <param name="robot">Your robot, which must be a <see cref="AdvancedRobot"/></param>
public RadarTurnCompleteCondition(AdvancedRobot robot)
{
this.robot = robot;
}
public AbstractRobot(AdvancedRobot robot)
{
_dodgeGenerator = new Random();
MovingDirection = 1d;
_robot = robot;
}
protected Steering(AdvancedRobot robot, ScannedRobotEvent evnt)
{
Robot = robot;
Event = evnt;
}
public Algorithm(AdvancedRobot robot)
{
_self = robot;
}
public CalculatedParams(AdvancedRobot robot, ScannedRobotEvent e)
{
AbsoluteBearing = e.BearingRadians + robot.HeadingRadians;
LaterVelocity = e.Velocity * Math.Sin(e.HeadingRadians - AbsoluteBearing);
}
public virtual void Init(AdvancedRobot ourRobot)
{
Robot = ourRobot;
}
public static double TurnRobotToPoint(AdvancedRobot myRobot, PointF dest)
{
var absDeg = AbsoluteBearingDegrees(myRobot.X, myRobot.Y, dest.X, dest.Y);
return(TurnRightOptimalAngle(myRobot.Heading, absDeg));
}
/// <summary>
/// Gets the bearing in degrees
/// </summary>
/// <param name="point"></param>
/// <param name="robot"></param>
/// <returns>Bearing in degrees to target</returns>
public static double GetBearing(PointF point, AdvancedRobot robot)
{
var bearing = Math.PI / 2 - Math.Atan2(point.Y - robot.Y, point.X - robot.X);
return(NormalizeBearing((180 / Math.PI) * (bearing - robot.HeadingRadians)));
}
