protected override void PreSweep(ContextRing ring)
{
var teamMode = Robot.HookComputer.Hook.TeamMode;
DangerousBullets = Robot.SensorBullets.VisibleBullets
.Where(b => b.Group.Owner != Robot.FleetID)
.Where(b => !teamMode || b.Group.Color != Robot.Color)
.ToList();
Projections = DangerousBullets.Select(b => b.ProjectNew(Robot.GameTime + LookAheadMS).Position).ToList();
PhantomProjections = new List <Vector2>();
var muchFleets = Robot.SensorFleets.Others
.Select(f => new { Fleet = f, Distance = Vector2.Distance(Robot.Position, f.Center) })
.Where(p => MathF.Abs(p.Fleet.Center.X - Robot.Position.X) <= ViewportCrop.X &&
MathF.Abs(p.Fleet.Center.Y - Robot.Position.Y) <= ViewportCrop.Y)
.Where(p => !Robot.HookComputer.Hook.TeamMode || p.Fleet.Color != Robot.Color);
foreach (var flet in muchFleets)
{
// Projections.Append(RoboMath.ProjectClosest( Robot.HookComputer,flet.Fleet.Center,Robot.Position,LookAheadMS,flet.Fleet.Ships.Count()));
foreach (var ship in flet.Fleet.Ships)
{
PhantomProjections.Append(RoboMath.ProjectClosest(Robot.HookComputer, ship.Position, Robot.Position, LookAheadMS, flet.Fleet.Ships.Count()));
}
}
ConsideredPoints = new List <Vector2>();
}
protected override float ScoreAngle(float angle, Vector2 position, Vector2 momentum)
{
var vectorToPoint = Robot.VectorToAbsolutePoint(TargetPoint);
var angleToPoint = MathF.Atan2(vectorToPoint.Y, vectorToPoint.X);
var difference = RoboMath.CalculateDifferenceBetweenAngles(angle, angleToPoint);
return(-MathF.Abs(difference));
}
protected override float ScoreAngle(float angle, Vector2 position, Vector2 momentum)
{
if (Active && AverageAngle != null)
{
return(-Math.Abs(RoboMath.CalculateDifferenceBetweenAngles(AverageAngle.Value, angle)));
}
return(0);
}
public ContextRing Behave(int steps)
{
if (this.Robot.GameTime > SleepUntil)
{
//Console.WriteLine("Processing");
var ring = new ContextRing(steps);
this.PreSweep(ring);
if (Robot?.SensorFleets?.MyFleet?.Ships != null)
{
for (var i = 0; i < steps; i++)
{
var momentum = Robot.SensorFleets.MyFleet.Momentum;
var position = RoboMath.ShipThrustProjection(Robot.HookComputer,
Robot.Position,
ref momentum,
Robot.SensorFleets.MyFleet.Ships.Count,
ring.Angle(i),
LookAheadMS
);
var momentumBoost = momentum / momentum.Length() * Robot.HookComputer.Hook.BoostThrust;
var positionBoost = RoboMath.ShipThrustProjection(Robot.HookComputer,
position,
ref momentumBoost,
Robot.SensorFleets.MyFleet.Ships.Count,
ring.Angle(i),
Math.Min(Robot.HookComputer.Hook.BoostDuration, LookAheadMS)
);
ring.Weights[i] = ScoreAngle(ring.Angle(i), position, momentum);
ring.WeightsBoost[i] = ScoreAngle(ring.Angle(i), positionBoost, momentumBoost);
}
}
ring.RingWeight = BehaviorWeight;
this.PostSweep(ring);
ring.Name = this.GetType().Name;
LastRing = ring;
if (Cycle > 0)
{
Sleep(Cycle);
}
return(ring);
}
else
{
//Console.WriteLine("Waiting");
return(new ContextRing(LastRing));
}
}
protected float ScoreAngleByTargetPoint(Vector2 target, float angle, Vector2 position, Vector2 momentum)
{
if (Active)
{
var vectorToPoint = Robot.VectorToAbsolutePoint(target);
var angleToPoint = MathF.Atan2(vectorToPoint.Y, vectorToPoint.X);
var difference = RoboMath.CalculateDifferenceBetweenAngles(angle, angleToPoint);
return(-MathF.Abs(difference));
}
return(0);
}
protected override float ScoreAngle(float angle, Vector2 position, Vector2 momentum)
{
var difference = RoboMath.CalculateDifferenceBetweenAngles(angle, TargetAngle);
if (MaximumAngle > 0 && difference > MaximumAngle)
{
return(-10000000);
}
else
{
return(-MathF.Abs(difference) * Scale);
}
}
private float CalculateIntercept(Fleet fleet, Vector2 position, Vector2 momentum, int projectedIntoFutureMS = 0)
{
var myFleet = this.Robot.SensorFleets.MyFleet;
var projectedFleetCenter = fleet.Center + fleet.Momentum * projectedIntoFutureMS;
var interceptPoint = RoboMath.FiringIntercept(this.Robot.HookComputer,
projectedFleetCenter, position, momentum, myFleet.Ships.Count);
var toTarget = interceptPoint - fleet.Center;
return(MathF.Atan2(toTarget.Y, toTarget.X));
}
protected override float ScoreAngle(float angle, Vector2 position, Vector2 momentum)
{
float accumulator = 0;
if (FleetsOfConcern != null)
{
foreach (var fleet in FleetsOfConcern)
{
var original = FiringInterceptAngles[fleet];
var newAngle = CalculateIntercept(fleet, position, momentum, LookAheadMS);
if (!float.IsNaN(original) && !float.IsNaN(newAngle))
{
accumulator += MathF.Abs(RoboMath.CalculateDifferenceBetweenAngles(newAngle, original));
}
}
}
return(accumulator);
}
