private final Bullet setFireImpl(double power) {
    if (Double.isNaN(power)) {
      println("SYSTEM: You cannot call fire(NaN)");
      return null;
    }
    if (getGunHeatImpl() > 0 || getEnergyImpl() == 0) {
      return null;
    }

    power = min(getEnergyImpl(), min(max(power, Rules.MIN_BULLET_POWER), Rules.MAX_BULLET_POWER));

    Bullet bullet;
    BulletCommand wrapper;
    Event currentTopEvent = eventManager.getCurrentTopEvent();

    nextBulletId++;

    if (currentTopEvent != null
        && currentTopEvent.getTime() == status.getTime()
        && !statics.isAdvancedRobot()
        && status.getGunHeadingRadians() == status.getRadarHeadingRadians()
        && ScannedRobotEvent.class.isAssignableFrom(currentTopEvent.getClass())) {
      // this is angle assisted bullet
      ScannedRobotEvent e = (ScannedRobotEvent) currentTopEvent;
      double fireAssistAngle =
          Utils.normalAbsoluteAngle(status.getHeadingRadians() + e.getBearingRadians());

      bullet =
          new Bullet(
              fireAssistAngle, getX(), getY(), power, statics.getName(), null, true, nextBulletId);
      wrapper = new BulletCommand(power, true, fireAssistAngle, nextBulletId);
    } else {
      // this is normal bullet
      bullet =
          new Bullet(
              status.getGunHeadingRadians(),
              getX(),
              getY(),
              power,
              statics.getName(),
              null,
              true,
              nextBulletId);
      wrapper = new BulletCommand(power, false, 0, nextBulletId);
    }

    firedEnergy += power;
    firedHeat += Rules.getGunHeat(power);

    commands.getBullets().add(wrapper);

    bullets.put(nextBulletId, bullet);

    return bullet;
  }
  public static MovementDecision toMovementDecision(
      LXXRobotState robot, double targetHeading, MovementDirection movementDirection) {
    final double robotHeading =
        movementDirection == MovementDirection.FORWARD
            ? robot.getHeadingRadians()
            : Utils.normalAbsoluteAngle(robot.getHeadingRadians() + LXXConstants.RADIANS_180);
    final double neededTurnRateRadians = Utils.normalRelativeAngle(targetHeading - robotHeading);
    double turnRateRadians = neededTurnRateRadians;
    final double speed = robot.getVelocityModule();
    final double acceleratedSpeed = min(speed + 1, Rules.MAX_VELOCITY);
    if (abs(turnRateRadians) > Rules.getTurnRateRadians(acceleratedSpeed)) {
      turnRateRadians = Rules.getTurnRateRadians(acceleratedSpeed) * signum(turnRateRadians);
    }
    final double acceleration = getAcceleration(robot, turnRateRadians, robotHeading);
    turnRateRadians =
        min(
                abs(neededTurnRateRadians),
                abs(
                    Rules.getTurnRateRadians(
                        LXXUtils.limit(0, speed + acceleration, Rules.MAX_VELOCITY))))
            * signum(turnRateRadians);

    return new MovementDecision(acceleration, turnRateRadians, movementDirection);
  }
 public int getAttributeValue(Target t, UltraMarine um, BulletManager bulletManager) {
   return (int) (um.aDistance(t) / Rules.getBulletSpeed(um.firePower()));
 }
Exemple #4
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 public double getVelocity() {
   return Rules.getBulletSpeed(power);
 }
Exemple #5
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  private void checkRobotCollision(List<RobotPeer> robots) {
    for (RobotPeer otherRobot : robots) {
      if (!(otherRobot == null || otherRobot == owner || otherRobot.isDead())
          && otherRobot.getBoundingBox().intersectsLine(boundingLine)) {

        state = BulletState.HIT_VICTIM;
        frame = 0;
        victim = otherRobot;

        double damage = Rules.getBulletDamage(power);
        double score = damage;

        if (score > otherRobot.getEnergy()) {
          score = otherRobot.getEnergy();
        }
        otherRobot.updateEnergy(-damage);

        boolean teamFire =
            (owner.getTeamPeer() != null && owner.getTeamPeer() == otherRobot.getTeamPeer());

        if (!teamFire) {
          owner.getRobotStatistics().scoreBulletDamage(otherRobot.getName(), score);
        }

        if (otherRobot.getEnergy() <= 0) {
          if (otherRobot.isAlive()) {
            otherRobot.kill();
            if (!teamFire) {
              final double bonus = owner.getRobotStatistics().scoreBulletKill(otherRobot.getName());

              if (bonus > 0) {
                owner.println(
                    "SYSTEM: Bonus for killing "
                        + (owner.getNameForEvent(otherRobot) + ": " + (int) (bonus + .5)));
              }
            }
          }
        }
        owner.updateEnergy(Rules.getBulletHitBonus(power));

        Bullet bullet = createBullet(false);

        otherRobot.addEvent(
            new HitByBulletEvent(
                robocode.util.Utils.normalRelativeAngle(
                    heading + Math.PI - otherRobot.getBodyHeading()),
                bullet));

        owner.addEvent(
            new BulletHitEvent(owner.getNameForEvent(otherRobot), otherRobot.getEnergy(), bullet));

        double newX, newY;

        if (otherRobot.getBoundingBox().contains(lastX, lastY)) {
          newX = lastX;
          newY = lastY;

          setX(newX);
          setY(newY);
        } else {
          newX = x;
          newY = y;
        }

        deltaX = newX - otherRobot.getX();
        deltaY = newY - otherRobot.getY();

        break;
      }
    }
  }
  /** onScannedRobot: What to do when you see another robot */
  public void onScannedRobot(ScannedRobotEvent e) {
    System.out.println("START at : " + getTime() + " onScannedRobot----------------------------");
    String nnn = e.getName();
    System.out.println("scan " + nnn);
    double eneX =
        getX() + Math.sin(e.getBearingRadians() + Math.toRadians(getHeading())) * e.getDistance();
    double eneY =
        getY() + Math.cos(e.getBearingRadians() + Math.toRadians(getHeading())) * e.getDistance();
    Enemy_info enem = null;
    if (!isTeammate(nnn)) {
      // 味方への情報送信
      try {
        broadcastMessage(
            nnn
                + ", "
                + e.getBearing()
                + ", "
                + e.getBearingRadians()
                + ", "
                + e.getDistance()
                + ", "
                + e.getEnergy()
                + ", "
                + e.getHeading()
                + ", "
                + e.getHeadingRadians()
                + ", "
                + e.getVelocity()
                + ", "
                + eneX
                + ", "
                + eneY);
      } catch (IOException ignored) {
      }
      // スキャンした車両がLocal敵リストにいるかどうかのフラグ
      boolean flag = false;
      System.out.println("send scanned info");
      // スキャンした敵がLocal敵リストの中に存在するか
      for (Enemy_info temp : enes) {
        if (nnn.equals(temp.get_en_name())) {
          flag = true;
          enem = temp;
          // Local敵リストのアップデート
          temp.updateInformation(
              e.getBearing(),
              e.getBearingRadians(),
              e.getDistance(),
              e.getEnergy(),
              e.getHeading(),
              e.getHeadingRadians(),
              e.getVelocity(),
              eneX,
              eneY);
          System.out.println("	update scanned Info");
        }
      }
      // スキャンした敵がLocal敵リストの中に存在しない場合
      if (!flag) {
        // Local敵リストに新規追加
        enem =
            new Enemy_info(
                nnn,
                e.getBearing(),
                e.getBearingRadians(),
                e.getDistance(),
                e.getEnergy(),
                e.getHeading(),
                e.getHeadingRadians(),
                e.getVelocity(),
                eneX,
                eneY);
        enes.add(enem);
        System.out.println("	add scanned info");
      }
      if (enemy_detected == false) {
        // 共通の敵が設定されていない場合
        enemy_detected = true;
        target_enemy = enem;
        try {
          broadcastMessage("Kill , " + target_enemy.get_en_name() + ", !!");
        } catch (IOException ignored) {
        }
      }

      if (enemy_detected == true) {
        try {
          double enemyX = target_enemy.get_en_expX();
          double enemyY = target_enemy.get_en_expY();
          setTurnRadarLeftRadians(getRadarTurnRemainingRadians());

          System.out.println("abs : eX " + enemyX + " : " + "eY " + enemyY);

          // 共通の敵が設定されている場合
          double enemyBearing = Math.atan((enemyX - getX()) / (enemyY - getY()));
          // if(enemyBearing<0){
          // 	System.out.println("change");
          // 	enemyBearing = Math.PI*2 + enemyBearing;
          // }else if (enemyBearing < Math.PI){

          // }
          // System.out.println("atan " + Math.atan((eneY-getY())/(eneX-getX())));
          // System.out.println("atan1 " + Math.atan((eneX-getX())/(eneY-getY())));
          // System.out.println("trueeee " + (e.getBearingRadians() + this.getHeadingRadians()));
          System.out.println(
              "enerad"
                  + enemyBearing
                  + " ?= "
                  + "enemyBearing "
                  + (this.getHeadingRadians() + e.getBearingRadians()));
          System.out.println(enemyBearing + Math.PI);
          double enemyHeading = target_enemy.get_en_heading(); // 敵の向き
          System.out.println("enemy heading:" + enemyHeading);
          // double enemyBearing = this.getHeadingRadians() +
          // target_enemy.get_en_bearingRadians();// 自分と敵の角度

          // double enemyX = target_enemy.get_en_distance() * Math.sin(enemyBearing);
          // double enemyY = target_enemy.get_en_distance() * Math.cos(enemyBearing);

          enemyX = enemyX - getX();
          enemyY = enemyY - getY();
          System.out.println("Relative : eX " + enemyX + " : " + "eY " + enemyY);

          double battlefieldWidh = getBattleFieldWidth(); // フィールド幅
          double battlefieldHeight = getBattleFieldHeight(); // フィールド高さ

          boolean isHeadingToCenter = (int) enemyHeading % 90 == 0; // 中心を向いている
          boolean isOnWall =
              nearlyEquals(enemyX, 18)
                  || nearlyEquals(enemyX + 18, battlefieldWidh)
                  || nearlyEquals(enemyY, 18)
                  || nearlyEquals(enemyY + 18, battlefieldHeight); // 壁に張り付いている

          // 中心を向いている&&壁際にいる(=Walls)なら射撃
          if (isHeadingToCenter && isOnWall) {
            System.out.println("Walls!!");
          }

          double dis = 0;
          double heading = lastEnemyHeading;
          do {
            dis += Rules.getBulletSpeed(power);
            heading += target_enemy.get_en_headingRadians() - lastEnemyHeading;
            enemyX += target_enemy.get_en_velocity() * Math.sin(heading);
            enemyY += target_enemy.get_en_velocity() * Math.cos(heading);
          } while (dis < Point2D.distance(0, 0, enemyX, enemyY)); //

          // 相対角度に変換した上で砲塔の向きを変える
          setTurnGunRightRadians(
              Utils.normalRelativeAngle(Math.atan2(enemyX, enemyY) - getGunHeadingRadians()));
          setFire(power);
          // lastEnemyHeading = e.getHeadingRadians();
          lastEnemyHeading = target_enemy.get_en_headingRadians();
          System.out.println("lastEnemyHeading " + e.getHeadingRadians());
          System.out.println(lastEnemyHeading);

          // 敵の居る方向へターンする
          // setTurnRightRadians(e.getBearingRadians());
          setTurnRightRadians(enemyBearing - this.getHeadingRadians());
          System.out.println("setTurnRightRadians " + e.getBearingRadians());
          System.out.println(enemyBearing - this.getHeadingRadians());

          // 前進する
          setAhead(moveAmount);
        } catch (NullPointerException ee) {
          System.out.println("NullPointerException");
          System.out.println(target_enemy);
        }
      }
    }

    System.out.println("enemy_detected = " + enemy_detected);
    System.out.println("target is " + target_enemy.get_en_name());
    System.out.println(target_enemy.get_en_expX() + " " + target_enemy.get_en_expY());
    System.out.println("END at : " + getTime() + " onScannedRobot----------------------------");
  }