public override BehaviourTreeStatus Tick()
{
if (this.bb.CurrentEnemy == null || this.bb.Robot == null)
{
return(BehaviourTreeStatus.Failure);
}
ScannedRobotEvent e = this.bb.CurrentEnemy.E;
AdvancedRobot r = this.bb.Robot;
if (r.Time % RandomNumber(70, 110) == 0)
{
this.bb.MovementDirection *= -1;
}
// Calculate exact location of the robot
double absoluteBearing = r.Heading + e.Bearing;
double bearingFromGun = Utils.NormalRelativeAngleDegrees(absoluteBearing - r.GunHeading);
double bearingFromRadar = Utils.NormalRelativeAngleDegrees(absoluteBearing - r.RadarHeading);
//Spiral around our enemy. 90 degrees would be circling it (parallel at all times)
double goalDirection = absoluteBearing - Math.PI / 2 * this.bb.MovementDirection;
RectangleF fieldRect = new RectangleF(18, 18, (float)r.BattleFieldWidth - 36,
(float)r.BattleFieldHeight - 36);
while (!fieldRect.Contains((float)r.X + (float)Math.Sin(goalDirection) * 120, (float)r.Y +
(float)Math.Cos(goalDirection) * 120))
{
goalDirection += this.bb.MovementDirection * .1; //turn a little toward enemy and try again
}
double turn =
Utils.NormalRelativeAngle(goalDirection - r.HeadingRadians);
if (Math.Abs(turn) > Math.PI / 2)
{
turn = Utils.NormalRelativeAngle(turn + Math.PI);
r.SetBack(100);
//this.bb.MovementDirection = -1;
}
else
{
//this.bb.MovementDirection = 1;
r.SetAhead(e.Distance - 140);
}
//r.SetTurnRightRadians(turn);
// 80 and 100 make that we move a bit closer every turn.
//r.SetAhead((e.Distance - 140) * this.bb.MovementDirection);
if (this.bb.MovementDirection > 0)
{
r.SetTurnRight(Utils.NormalRelativeAngleDegrees(e.Bearing + 80));
}
else
{
r.SetTurnRight(Utils.NormalRelativeAngleDegrees(e.Bearing + 100));
}
// If it's close enough, fire!
if (Math.Abs(bearingFromGun) <= 4)
{
//r.SetTurnGunRight(bearingFromGun);
//r.SetTurnRadarRight(bearingFromRadar); // keep the radar focussed on the enemy
// We check gun heat here, because calling fire()
// uses a turn, which could cause us to lose track
// of the other robot.
// The close the enmy robot, the bigger the bullet.
// The more precisely aimed, the bigger the bullet.
//Don't fire us into disability, always save .1
if (r.GunHeat == 0 && r.Energy > .2)
{
//r.Fire(Math.Min(4.5 - Math.Abs(bearingFromGun) / 2 - e.Distance / 250, r.Energy - .1));
}
} // otherwise just set the gun to turn.
//
else
{
r.SetTurnGunRight(bearingFromGun);
r.SetTurnRadarRight(bearingFromRadar);
}
// Generates another scan event if we see a robot.
// We only need to call this if the radar
// is not turning. Otherwise, scan is called automatically.
if (bearingFromGun == 0)
{
r.Scan();
}
return(BehaviourTreeStatus.Success);
}