private void CoverTeammate(RobotControls controls, SubjectiveRobot teammate)
{
Vector3 reltiveEnemyDir = _closestEnemy.currentPosition - teammate.currentPosition;
_MoveVector = reltiveEnemyDir.normalized * 2 + teammate.currentPosition;
_canMove = true;
}
private void ShootBallOwner(RobotControls controls)
{
StopMovement(controls);
currentTarget = _ballOwner;
_ShootVector = TargetPrediction(currentTarget, controls);
_canShoot = true;
}
/// <summary>
/// This method calculates Vector3 where projectile should be launced in order to hit the intended target;
/// </summary>
private Vector3 TargetPrediction(SubjectiveRobot target, RobotControls controls)
{
float coolDown = 0.5f;
float coolDownVar = coolDown;
Vector3 predictionPoint;
Vector3 startPoint = target.currentPosition;
if (coolDownVar > 0)
{
coolDown -= Time.deltaTime;
return(new Vector3(0, 0, 0));
}
else
{
Vector3 endPoint = target.currentPosition;
Vector3 targetMovementVector = endPoint - startPoint;
targetSpeed = targetMovementVector.magnitude / coolDown;
Vector3 distanceVector = endPoint - controls.myself.currentPosition;
float distance = distanceVector.magnitude;
float projection = Vector3.Project(targetMovementVector, distanceVector).magnitude;
float timeToReach;
timeToReach = (float)Math.Sqrt((Math.Pow(distance + projection, 2) + (Math.Pow(targetSpeed, 2) - Math.Pow(projection, 2))) / Math.Pow(projectileSpeed, 2));
predictionPoint = targetMovementVector / (coolDown * timeToReach);
return(new Vector3(predictionPoint.x, controls.myself.currentPosition.y, predictionPoint.z));
}
}
//Shooting States
private void ShootClosestTarget(RobotControls controls)
{
StopMovement(controls);
currentTarget = _closestEnemy;
_ShootVector = TargetPrediction(currentTarget, controls);
_canShoot = true;
}
private void GoFromRobot(RobotControls controls, SubjectiveRobot robot)
{
Vector3 moveDir = controls.myself.currentPosition - robot.currentPosition;
//_MoveVector = moveDir.normalized + controls.myself.currentPosition;
_MoveVector = moveDir;
_canMove = true;
}
//Checks who owns the ball
private void CheckBallOwnership(RobotControls controls)
{
_currentBallPosition = controls.updateBall;
_iHaveBall = false;
_ballCaptured = false;
_ballOwnerUnknown = false;
foreach (SubjectiveRobot robot in controls.archiveRobots)
{
if (robot.team == controls.myself.team)
{
if (Vector3.Distance(robot.currentPosition, _currentBallPosition) < 1.3f)
{
_ballCaptured = true;
_ballOwner = robot;
_enemyTeamHasTheBall = false;
if (robot.id == controls.myself.id)
{
Debug.Log("I Have the ball");
_iHaveBall = true;
}
else
{
Debug.Log($"My teammate, {_ballOwner} has the ball");
_iHaveBall = false;
}
}
}
else
{
if (robot.isSeen)
{
if (Vector3.Distance(robot.currentPosition, _currentBallPosition) < 1.3f)
{
_ballCaptured = true;
_ballOwner = robot;
_enemyTeamHasTheBall = true;
Debug.Log($"My enemy, {_ballOwner} has the ball");
}
}
else
{
if (_currentBallPosition != _lastBallPosition)
{
_ballCaptured = true;
_enemyTeamHasTheBall = true;
_ballOwnerUnknown = true;
Debug.Log($"Unknown enemy has the ball");
}
}
}
}
_lastBallPosition = _currentBallPosition;
}
private void GoForRobot(RobotControls controls, SubjectiveRobot robot)
{
_MoveVector = robot.currentPosition;
_canMove = true;
}
void Attack(SubjectiveRobot target, RobotControls controls)
{
controls.attack(target.currentPosition);
}
