public static ThrustMove NavigateShipTowardsTarget(GameMap gameMap, Ship ship, Position targetPos, int maxThrust, bool avoidObstacles = true,
int maxCorrections = Constants.MAX_NAVIGATION_CORRECTIONS, double angularStepRad = Constants.NAVIGATION_CORRECTION_STEP)
{
if (maxCorrections <= 0)
{
Log.LogMessage($"Pathfinding failed for ship {ship.GetId()}");
return(null);
}
double distance = ship.GetDistanceTo(targetPos);
double angleRad = ship.OrientTowardsInRad(targetPos);
if (avoidObstacles && gameMap.ObjectsBetween(ship, targetPos).Any())
{
double newTargetDx = Math.Cos(angleRad + angularStepRad) * distance;
double newTargetDy = Math.Sin(angleRad + angularStepRad) * distance;
Position newTarget = new Position(ship.GetXPos() + newTargetDx, ship.GetYPos() + newTargetDy);
return(NavigateShipTowardsTarget(gameMap, ship, newTarget, maxThrust, true, (maxCorrections - 1)));
}
int thrust;
if (distance < maxThrust)
{
// Do not round up, since overshooting might cause collision.
thrust = (int)distance;
}
else
{
thrust = maxThrust;
}
if (thrust < 0)
{
angleRad += Math.PI;
thrust *= -1;
}
int angleDeg = Util.AngleRadToDegClipped(angleRad);
return(new ThrustMove(ship, angleDeg, thrust));
}
public static ThrustMove NavigateShipTowardsTarget(
GameMap gameMap,
Ship ship,
Position targetPos,
int maxThrust,
bool avoidObstacles,
int maxCorrections,
double angularStepRad)
{
if (maxCorrections <= 0)
{
return(null);
}
double distance = ship.DistanceTo(targetPos);
double angleRad = ship.OrientTowardsInRad(targetPos);
if (avoidObstacles && gameMap.ObjectsBetween(ship, targetPos).Any())
{
double newTargetDx = Math.Cos(angleRad + angularStepRad) * distance;
double newTargetDy = Math.Sin(angleRad + angularStepRad) * distance;
Position newTarget = new Position(ship.XPos + newTargetDx, ship.YPos + newTargetDy);
return(NavigateShipTowardsTarget(gameMap, ship, newTarget, maxThrust,
true, (maxCorrections - 1), angularStepRad));
}
int thrust;
if (distance < maxThrust)
{
// Do not round up, since overshooting might cause collision.
thrust = (int)distance;
}
else
{
thrust = maxThrust;
}
int angleDeg = Util.AngleRadToDegClipped(angleRad);
return(new ThrustMove(ship, angleDeg, thrust));
}
public static ThrustMove CrashIntoOpposingPlanets(
GameMap gameMap,
Ship ship,
Position targetPos,
int maxThrust,
int maxCorrections,
double angularStepRad)
{
if (maxCorrections <= 0)
{
return(null);
}
double distance = ship.GetDistanceTo(targetPos);
double angleRad = ship.OrientTowardsInRad(targetPos);
if (gameMap.ObjectsBetween(ship, targetPos).Any(o => o.GetOwner() == ship.GetOwner()))
{
double newTargetDx = Math.Cos(angleRad + angularStepRad) * distance;
double newTargetDy = Math.Sin(angleRad + angularStepRad) * distance;
Position newTarget = new Position(ship.GetXPos() + newTargetDx, ship.GetYPos() + newTargetDy);
return(CrashIntoOpposingPlanets(gameMap, ship, newTarget, maxThrust, (maxCorrections - 1), angularStepRad));
}
int thrust;
if (distance < maxThrust)
{
// Do not round up, since overshooting might cause collision.
thrust = (int)distance;
}
else
{
thrust = maxThrust;
}
int angleDeg = Util.AngleRadToDegClipped(angleRad);
return(new ThrustMove(ship, angleDeg, thrust));
}