public void OnScannedRobotHandler(ScannedRobotEvent e)
{
// Ignore our teammates if scanned
if (e.Name == "CAP4053.Benchmark.WreckItRalph (1)" || e.Name == "CAP4053.Benchmark.WreckItRalph (2)" || e.Name == "CAP4053.Benchmark.TrevBot (1)" || e.Name == "CAP4053.Benchmark.TrevBot (2)")
{
return;
}
lastKnownLocation = e;
enemyFound = true;
finalCountdown = initCountdown;
double radarHeading = 1.9 * Utils.NormalRelativeAngle(r.HeadingRadians - r.RadarHeadingRadians + e.BearingRadians);
double bodyHeading = smallestAngle(r.RadarHeadingRadians - r.HeadingRadians);
double gunHeading = smallestAngle(r.HeadingRadians - r.GunHeadingRadians + e.BearingRadians);
// Calculate firing angle using Linear Targeting
if (fireAtEnemy && r.GunHeat == 0 && System.Math.Abs(r.GunTurnRemaining) < 10)
{
gunHeading = Utils.NormalRelativeAngle(((r.HeadingRadians + e.BearingRadians)
+ Math.Asin(e.Velocity / (20 - firePower * 3)
* Math.Sin(e.HeadingRadians - (r.HeadingRadians + e.BearingRadians)))
- r.GunHeadingRadians));
r.SetFire(firePower);
}
r.SetTurnRightRadians(direction * (bodyHeading + Math.PI / 2)); // Circle the opponent
r.SetTurnRadarRightRadians(radarHeading);
r.SetTurnGunRightRadians(gunHeading);
// Employ Stop and GO movement to confuse enemy tracking
if (enemyEnergy > (enemyEnergy = e.Energy))
{
r.SetAhead(movementDistance);
}
}
