private void CalculateEnemiesBehind(Car self, Game game)
{
foreach (var car in this.enemiesCars)
{
if (!car.IsFinishedTrack && car.Durability > 0.0)
{
var currentPosition = new PointF((float)car.X, (float)car.Y);
var nextPosition = new PointF((float)car.X + (float)car.SpeedX, (float)car.Y + (float)car.SpeedY);
var futurePosition = new PointF(
(float)car.X + PredictionCount * (float)car.SpeedX,
(float)car.Y + PredictionCount * (float)car.SpeedY);
var xOffset =
(float)
(Math.Cos(self.Angle) * (game.CarHeight + game.OilSlickInitialRange + game.OilSlickRadius));
var yOffset =
(float)
(Math.Sin(self.Angle) * (game.CarHeight + game.OilSlickInitialRange + game.OilSlickRadius));
var oilPosition = new PointF((float)self.X + xOffset, (float)self.Y - yOffset);
float distance = MathHelper.DistanceToLine(oilPosition, currentPosition, futurePosition);
if (distance < game.OilSlickRadius + game.CarWidth / 2
&& MathHelper.Distance(currentPosition, oilPosition)
< game.OilSlickRadius + PredictionCount * car.GetSpeed()
&& MathHelper.Distance(currentPosition, oilPosition)
> MathHelper.Distance(nextPosition, oilPosition))
{
this.enemyBehind = true;
break;
}
}
}
}
public static float DistanceToLine(PointF targetPoint, PointF linePoint1, PointF linePoint2)
{
return
(float)
Math.Abs(
((linePoint1.Y - linePoint2.Y) * targetPoint.X + (linePoint2.X - linePoint1.X) * targetPoint.Y
+ linePoint1.X * linePoint2.Y - linePoint2.X * linePoint2.Y) / Distance(linePoint1, linePoint2));
}
public static PointF? PointOfIntersection(
PointF line1Point1,
PointF line1Point2,
PointF line2Point1,
PointF line2Point2)
{
float a1 = line1Point2.Y - line1Point1.Y;
float b1 = line1Point1.X - line1Point2.X;
float c1 =
-((line1Point2.X - line1Point1.X) * line1Point1.Y - (line1Point2.Y - line1Point1.Y) * line1Point1.X);
float a2 = line2Point2.Y - line2Point1.Y;
float b2 = line2Point1.X - line2Point2.X;
float c2 =
-((line2Point2.X - line2Point1.X) * line2Point1.Y - (line2Point2.Y - line2Point1.Y) * line2Point1.X);
float det = a1 * b2 - b1 * a2;
if (Math.Abs(det) < 1e-5)
{
return null;
}
float d1 = c1 * b2 - b1 * c2;
float d2 = a1 * c2 - c1 * a2;
return new PointF(d1 / det, d2 / det);
}
private void BuildRealPath()
{
int horLength = map.GetLength(0);
int vertLength = map.GetLength(1);
Point currentPosition = Point.Empty;
Point destination = Point.Empty;
for (int i = 0; i < horLength; i++)
{
for (int j = 0; j < vertLength; j++)
{
if (this.mapWithIdealPath[i, j] == MyRoadType.CurrentPosition)
{
currentPosition = new Point(i, j);
}
if (this.mapWithIdealPath[i, j] == MyRoadType.Destination)
{
destination = new Point(i, j);
}
}
}
HashSet<Point> usedPoints = new HashSet<Point>();
List<Point> currentLevel = new List<Point> { destination };
List<Point> nextLevel = new List<Point>();
Action<Point> addIfIdeal = p =>
{
if (p.X >= 0 && p.X < horLength && p.Y >= 0 && p.Y < vertLength
&& this.mapWithIdealPath[p.X, p.Y] == MyRoadType.IdealPath)
{
nextLevel.Add(p);
}
};
while (true)
{
foreach (var point in currentLevel)
{
if (!usedPoints.Contains(point))
{
if (CanDriveFromTo(currentPosition, point))
{
this.nextPoint = new PointF((point.X + 0.5f) * MyTileSize, (point.Y + 0.5f) * MyTileSize);
return;
}
usedPoints.Add(point);
addIfIdeal(new Point(point.X - 1, point.Y - 1));
addIfIdeal(new Point(point.X, point.Y - 1));
addIfIdeal(new Point(point.X + 1, point.Y - 1));
addIfIdeal(new Point(point.X - 1, point.Y));
addIfIdeal(new Point(point.X + 1, point.Y));
addIfIdeal(new Point(point.X - 1, point.Y + 1));
addIfIdeal(new Point(point.X, point.Y + 1));
addIfIdeal(new Point(point.X + 1, point.Y + 1));
}
}
if (nextLevel.Count == 0)
{
break;
}
currentLevel.Clear();
currentLevel.AddRange(nextLevel);
nextLevel.Clear();
}
// TODO: We should not be here but we are. Fix this!!!
this.nextPoint = new PointF((destination.X + 0.5f) * MyTileSize, (destination.Y + 0.5f) * MyTileSize);
}
private Point GetNextWaypoint(Car self, Game game, World world)
{
var nextWayPoint = new PointF(
(self.NextWaypointX + 0.5f) * (float)game.TrackTileSize,
(self.NextWaypointY + 0.5f) * (float)game.TrackTileSize);
float cornerTileOffset = 0.225f * (float)game.TrackTileSize;
switch (world.TilesXY[self.NextWaypointX][self.NextWaypointY])
{
case TileType.LeftBottomCorner:
nextWayPoint.X += cornerTileOffset;
nextWayPoint.Y -= cornerTileOffset;
break;
case TileType.LeftTopCorner:
nextWayPoint.X += cornerTileOffset;
nextWayPoint.Y += cornerTileOffset;
break;
case TileType.RightBottomCorner:
nextWayPoint.X -= cornerTileOffset;
nextWayPoint.Y -= cornerTileOffset;
break;
case TileType.RightTopCorner:
nextWayPoint.X -= cornerTileOffset;
nextWayPoint.Y += cornerTileOffset;
break;
case TileType.BottomHeadedT:
nextWayPoint.Y += cornerTileOffset;
break;
case TileType.TopHeadedT:
nextWayPoint.Y -= cornerTileOffset;
break;
case TileType.LeftHeadedT:
nextWayPoint.X -= cornerTileOffset;
break;
case TileType.RightHeadedT:
nextWayPoint.X += cornerTileOffset;
break;
}
return new Point((int)nextWayPoint.X / MyTileSize, (int)nextWayPoint.Y / MyTileSize);
}
private void FindPath(Car self, World world, Game game)
{
this.BuildMap(world, game);
this.BuildIdealPath(self, game, world);
int horLength = map.GetLength(0);
int vertLength = map.GetLength(1);
bool step34AreNecessary = false;
for (int i = 0; i < horLength && !step34AreNecessary; i++)
{
for (int j = 0; j < vertLength; j++)
{
if (this.mapWithIdealPath[i, j] == MyRoadType.IdealPath && map[i, j] == MyTileType.Red)
{
step34AreNecessary = true;
break;
}
}
}
if (step34AreNecessary)
{
AvoidObstacles();
BuildRealPath();
}
else
{
this.nextPoint = new PointF(
(self.NextWaypointX + 0.5f) * (float)game.TrackTileSize,
(self.NextWaypointY + 0.5f) * (float)game.TrackTileSize);
bool nextPointFound = false;
for (int i = 0; i < horLength && !nextPointFound; i++)
{
for (int j = 0; j < vertLength; j++)
{
if (this.mapWithIdealPath[i, j] == MyRoadType.Destination)
{
this.nextPoint = new PointF((i + 0.5f) * MyTileSize, (j + 0.5f) * MyTileSize);
nextPointFound = true;
break;
}
}
}
}
}
public static Point Truncate(PointF value)
{
return new Point((int)value.X, (int)value.Y);
}
public static Point Round(PointF value)
{
return new Point((int)Math.Round(value.X), (int)Math.Round(value.Y));
}
public static Point Ceiling(PointF value)
{
return new Point((int)Math.Ceiling(value.X), (int)Math.Ceiling(value.Y));
}
private void CalculateEnemiesInFront(Car self, Game game)
{
foreach (var car in this.enemiesCars)
{
if (car.Type == CarType.Buggy)
{
if (!car.IsFinishedTrack && car.Durability > 0.0)
{
var currentEnemyPosition = new PointF((float)car.X, (float)car.Y);
var nextEnemyPosition = new PointF(
(float)car.X + (float)car.SpeedX,
(float)car.Y + (float)car.SpeedY);
var futureEnemyPosition = new PointF(
(float)car.X + PredictionCount * (float)car.SpeedX,
(float)car.Y + PredictionCount * (float)car.SpeedY);
var currentWasherPosition = new PointF((float)self.X, (float)self.Y);
var nextWasherPosition =
new PointF(
(float)self.X + (float)self.SpeedX / self.GetSpeed() * (float)game.WasherInitialSpeed,
(float)self.Y + (float)self.SpeedY / self.GetSpeed() * (float)game.WasherInitialSpeed);
var futureWasherPosition =
new PointF(
(float)self.X
+ PredictionCount * (float)self.SpeedX / self.GetSpeed()
* (float)game.WasherInitialSpeed,
(float)self.Y
+ PredictionCount * (float)self.SpeedY / self.GetSpeed()
* (float)game.WasherInitialSpeed);
PointF? intersectsPoint = MathHelper.PointOfIntersection(
currentWasherPosition,
futureWasherPosition,
currentEnemyPosition,
futureEnemyPosition);
if (intersectsPoint.HasValue
&& MathHelper.Distance(intersectsPoint.Value, currentWasherPosition)
/ (float)game.WasherInitialSpeed <= PredictionCount
&& MathHelper.Distance(currentWasherPosition, currentEnemyPosition)
> MathHelper.Distance(nextWasherPosition, nextEnemyPosition)
&& Math.Abs(
MathHelper.Distance(intersectsPoint.Value, currentWasherPosition)
/ (float)game.WasherInitialSpeed
- MathHelper.Distance(intersectsPoint.Value, currentEnemyPosition) / car.GetSpeed())
< WasherPredictionError)
{
this.enemyInFront = true;
break;
}
}
}
}
}
public static float Distance(PointF point1, PointF point2)
{
return
(float)
Math.Sqrt((point1.X - point2.X) * (point1.X - point2.X) + (point1.Y - point2.Y) * (point1.Y - point2.Y));
}
public static PointF Add(PointF pt, Size sz)
{
return new PointF(pt.X + (float)sz.Width, pt.Y + (float)sz.Height);
}
public static PointF Subtract(PointF pt, SizeF sz)
{
return new PointF(pt.X - sz.Width, pt.Y - sz.Height);
}
public static PointF Add(PointF pt, SizeF sz)
{
return new PointF(pt.X + sz.Width, pt.Y + sz.Height);
}
public SizeF(PointF pt)
{
width = pt.X;
height = pt.Y;
}
