/**
* onScannedRobot: Here's the good stuff
*/
protected override void OnScannedRobot(ScannedRobotEvent e) {
// If we have a target, and this isn't it, return immediately
// so we can get more ScannedRobotEvents.
if (trackName != null && e.Name != trackName)
return;
// If we don't have a target, well, now we do!
if (trackName == null) {
trackName = e.Name;
}
// This is our target. Reset count (see the run method)
count = 0;
// If our target is too far away, turn and move torward it.
if (e.Distance > 150)
{
gunTurnAmt = normalRelativeAngle((int) e.Bearing + Heading);
TurnRight(gunTurnAmt); // and see how much Tracker improves...
Ahead(e.Distance - 140);
return;
}
// Our target is close.
gunTurnAmt = normalRelativeAngle((int) e.Bearing + Heading);
TurnRight(gunTurnAmt);
Fire(3);
// Our target is too close! Back up.
if (e.Distance < 100)
{
if (e.Bearing > -90 && e.Bearing <= 90)
Back(40);
else
Ahead(40);
}
}
protected override void OnScannedRobot(ScannedRobotEvent e)
{
Fire(1);
}
protected virtual void OnScannedRobot(ScannedRobotEvent e) {}
internal void ProcessMovement()
{
// update robot position
PointD tOldPosition = m_tPosition;
m_tPosition += m_tMovement;
m_tMovement = PointD.Empty;
// check if we have hit a wall
bool bHitWall = false;
if (m_tPosition.X - Size.Width / 2.0 < 0)
{
m_tPosition.X = Size.Width / 2.0;
bHitWall = true;
}
else if (m_tPosition.X + Size.Width / 2.0 > m_pBattle.BattleFieldSize.Width)
{
m_tPosition.X = m_pBattle.BattleFieldSize.Width - Size.Width / 2.0;
bHitWall = true;
}
if (m_tPosition.Y - Size.Height / 2.0 < 0)
{
m_tPosition.Y = Size.Height / 2.0;
bHitWall = true;
}
else if (m_tPosition.Y + Size.Height / 2.0 > m_pBattle.BattleFieldSize.Height)
{
m_tPosition.Y = m_pBattle.BattleFieldSize.Height - Size.Height / 2.0;
bHitWall = true;
}
if (bHitWall)
{
m_pEvents.Add(new HitWallEvent());
m_dEnergy -= 3.0;
}
// rotate robot
m_nHeading += m_nRotation;
if (m_nHeading < 0) m_nHeading = 360 + m_nHeading;
if (m_nHeading > 359) m_nHeading -= 360;
m_nRotation = 0;
PointF tEndPoint = new PointF((float) (Position.X + Math.Sin(HeadingRadians) * BattleFieldSize.Width),
(float) (Position.Y + Math.Cos(HeadingRadians) * BattleFieldSize.Width));
// check if we can see another robot
for (int i = 0; i < m_pBattle.Robots.Length; i++)
{
Robot pRobot = m_pBattle.Robots[i];
// make sure we're not testing against ourselves
if (pRobot != this)
{
GraphicsPath pPath = new GraphicsPath();
pPath.AddLine(Position, tEndPoint);
pPath.CloseFigure();
pPath.Widen(new Pen(Color.Black, 1));
Region pRegion = new Region(pPath);
pRegion.Intersect(pRobot.Bounds);
if (!pRegion.IsEmpty(m_pGraphics))
{
// we can see this robot
PointD tDistance = pRobot.Position - Position;
double dDistance = Math.Sqrt(tDistance.X * tDistance.X + tDistance.Y * tDistance.Y);
ScannedRobotEvent pEvent = new ScannedRobotEvent(
pRobot.Name, pRobot.Energy, pRobot.Heading - Heading,
dDistance, pRobot.Heading, pRobot.Velocity);
m_pEvents.Add(pEvent);
}
}
}
// check if we have collided with another robot
for (int i = 0; i < m_pBattle.Robots.Length; i++)
{
Robot pRobot = m_pBattle.Robots[i];
// make sure we're not testing against ourselves
if (pRobot != this)
{
if (pRobot.Bounds.IntersectsWith(Bounds))
{
// send message to ourselves
bool bAtFault = true;
HitRobotEvent pEvent = new HitRobotEvent(pRobot.Name,
Math.Abs(pRobot.Heading - Heading),
pRobot.Energy, bAtFault);
m_pEvents.Add(pEvent);
m_tPosition = tOldPosition;
m_dEnergy -= 3.0;
}
}
}
}