public void onScannedRobot(ScannedRobotEvent e) {
robotLocation = new Point2D.Double(getX(), getY());
enemyAbsoluteBearing = getHeadingRadians() + e.getBearingRadians();
enemyDistance = e.getDistance();
enemyLocation = vectorToLocation(enemyAbsoluteBearing, enemyDistance, robotLocation);
// Change direction at random
if (Math.random() < 0.015) {
movementLateralAngle *= -1;
}
move();
execute();
// radar
setTurnRadarRightRadians(
Utils.normalRelativeAngle(enemyAbsoluteBearing - getRadarHeadingRadians()) * 2);
/*
* Circular Gun from wiki
*/
double absBearing = e.getBearingRadians() + getHeadingRadians();
// Finding the heading and heading change.
double enemyHeading = e.getHeadingRadians();
double enemyHeadingChange = enemyHeading - oldEnemyHeading;
oldEnemyHeading = enemyHeading;
double deltaTime = 0;
double predictedX = getX() + e.getDistance() * Math.sin(absBearing);
double predictedY = getY() + e.getDistance() * Math.cos(absBearing);
while ((++deltaTime) * BULLET_SPEED
< Point2D.Double.distance(getX(), getY(), predictedX, predictedY)) {
// Add the movement we think our enemy will make to our enemy's current X and Y
predictedX += Math.sin(enemyHeading) * (e.getVelocity());
predictedY += Math.cos(enemyHeading) * (e.getVelocity());
// Find our enemy's heading changes.
enemyHeading += enemyHeadingChange;
// If our predicted coordinates are outside the walls, put them 18
// distance units away from the walls as we know
// that that is the closest they can get to the wall (Bots are
// non-rotating 36*36 squares).
predictedX = Math.max(Math.min(predictedX, getBattleFieldWidth() - 18), 18);
predictedY = Math.max(Math.min(predictedY, getBattleFieldHeight() - 18), 18);
}
// Find the bearing of our predicted coordinates from us.
double aim = Utils.normalAbsoluteAngle(Math.atan2(predictedX - getX(), predictedY - getY()));
// Aim and fire.
setTurnGunRightRadians(Utils.normalRelativeAngle(aim - getGunHeadingRadians()));
setFire(BULLET_POWER);
setTurnRadarRightRadians(Utils.normalRelativeAngle(absBearing - getRadarHeadingRadians()) * 2);
}
public void run() {
setAllColors(Color.GREEN);
setTurnRadarRight(Double.POSITIVE_INFINITY);
double robotX, robotY;
double robotHeading, angleToGoal, angleToObs;
double adjustment;
double obsAngle, obsAdjustment;
double angleDiff;
double speedToGoal, speedFromObs;
Enemy temp;
obstacles = new HashMap<String, Enemy>(10);
while (true) {
if (foundGoal) {
robotX = getX();
robotY = getY();
goalX = obstacles.get(GOAL_NAME).x;
goalY = obstacles.get(GOAL_NAME).y;
// Adjust robocode's returned heading so that 0 aligns with the positive x-axis instead of
// the positive y-axis.
// Also make it so that positive angle indicates a counter clockwise rotation instead of the
// clockwise style
// returned by robocode.
robotHeading = 360 - (getHeading() - 90);
angleToGoal = Math.toDegrees(Math.atan2(goalY - robotY, goalX - robotX));
if (angleToGoal < 0) {
angleToGoal += 360;
}
adjustment = angleToGoal - robotHeading;
adjustment = normalizeAngle(adjustment);
speedToGoal = calcRobotSpeedLinear(robotX, robotY, goalX, goalY);
// Calculate how the robot's heading and speed should be affected by objects that it has
// located
// as it explores the world.
Iterator it = obstacles.entrySet().iterator();
while (it.hasNext()) {
System.out.println("Iterating through objects.");
Map.Entry pairs = (Map.Entry) it.next();
// If the current item in the Iterator isn't the goal.
if (!pairs.getKey().equals(GOAL_NAME)) {
temp = (Enemy) pairs.getValue();
speedFromObs = calcObjRepulseSpeed(robotX, robotY, temp.x, temp.y);
// If the robot is in range of the object to be affected by it's repulsion.
if (speedFromObs != 0) {
obsAngle = Math.toDegrees(Math.atan2(robotY - temp.y, robotX - temp.x));
if (obsAngle < 0) obsAngle += 360;
angleDiff = obsAngle - angleToGoal;
angleDiff = normalizeAngle(angleDiff);
adjustment += (angleDiff * (speedFromObs / speedToGoal));
speedToGoal -= speedFromObs;
}
}
// Was getting a null pointer exception when using this. The internet lied about its
// usefulness.
// it.remove(); // avoids a ConcurrentModificationException
}
adjustment = normalizeAngle(adjustment);
setTurnLeft(adjustment);
// ahead(speedToGoal);
setAhead(speedToGoal);
}
execute();
}
}
static double absoluteBearing(Point2D source, Point2D target) {
return Math.atan2(target.getX() - source.getX(), target.getY() - source.getY());
}
/** Computes the angle to target from source */
public static double absoluteBearing(Point2D.Double source, Point2D.Double target) {
return Math.atan2(target.x - source.x, target.y - source.y);
}
