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);
}