public void onScannedRobot(ScannedRobotEvent e) {
/*-------- setup data -----*/
if (enemyName == null) {
enemyName = e.getName();
}
Point2D.Double robotLocation = new Point2D.Double(bot.getX(), bot.getY());
double theta;
final double enemyAbsoluteBearing = bot.getHeadingRadians() + e.getBearingRadians();
final double enemyDistance = e.getDistance();
enemyLocation = projectMotion(robotLocation, enemyAbsoluteBearing, enemyDistance);
final double enemyEnergy = e.getEnergy();
Rectangle2D.Double BF = new Rectangle2D.Double(18, 18, 764, 564);
/*
To explain the below; if the enemy's absolute acceleration is
zero then we segment on time since last velocity change, lateral
acceleration and lateral velocity.
If their absolute acceleration is non zero then we segment on absolute
acceleration and absolute velocity.
Regardless we segment on walls (near/far approach to walls) and distance.
I'm trying to have my cake and eat it, basically. :-)
*/
MicroWave w = new MicroWave();
final double lastLatVel = enemyLatVel;
double lastVelocity = enemyVelocity;
enemyLatVel =
(enemyVelocity = e.getVelocity()) * Math.sin(e.getHeadingRadians() - enemyAbsoluteBearing);
int distanceIndex = (int) enemyDistance / 140;
double bulletPower = distanceIndex == 0 ? 3 : 2;
theta = Math.min(bot.getEnergy() / 4, Math.min(enemyEnergy / 4, bulletPower));
if (theta == bulletPower) bot.addCustomEvent(w);
bulletPower = theta;
w.bulletVelocity = 20D - 3D * bulletPower;
int accelIndex = (int) Math.round(Math.abs(enemyLatVel) - Math.abs(lastLatVel));
if (enemyLatVel != 0) bearingDirection = enemyLatVel > 0 ? 1 : -1;
w.bearingDirection = bearingDirection * Math.asin(8D / w.bulletVelocity) / GF_ZERO;
double moveTime = w.bulletVelocity * lastVChangeTime++ / enemyDistance;
int bestGF = moveTime < .1 ? 1 : moveTime < .3 ? 2 : moveTime < 1 ? 3 : 4;
int vIndex = (int) Math.abs(enemyLatVel / 3);
if (Math.abs(Math.abs(enemyVelocity) - Math.abs(lastVelocity)) > .6) {
lastVChangeTime = 0;
bestGF = 0;
accelIndex = (int) Math.round(Math.abs(enemyVelocity) - Math.abs(lastVelocity));
vIndex = (int) Math.abs(enemyVelocity / 3);
}
if (accelIndex != 0) accelIndex = accelIndex > 0 ? 1 : 2;
w.firePosition = robotLocation;
w.enemyAbsBearing = enemyAbsoluteBearing;
// now using PEZ' near-wall segment
w.waveGuessFactors =
guessFactors[accelIndex][bestGF][vIndex][
BF.contains(
projectMotion(
robotLocation,
enemyAbsoluteBearing + w.bearingDirection * GF_ZERO,
enemyDistance))
? 0
: BF.contains(
projectMotion(
robotLocation,
enemyAbsoluteBearing + .5 * w.bearingDirection * GF_ZERO,
enemyDistance))
? 1
: 2][
distanceIndex];
bestGF = GF_ZERO;
for (int gf = GF_ONE; gf >= 0 && enemyEnergy > 0; gf--)
if (w.waveGuessFactors[gf] > w.waveGuessFactors[bestGF]) bestGF = gf;
bot.setTurnGunRightRadians(
Utils.normalRelativeAngle(
enemyAbsoluteBearing
- bot.getGunHeadingRadians()
+ w.bearingDirection * (bestGF - GF_ZERO)));
if (bot.getEnergy() > 1 || distanceIndex == 0) bot.setFire(bulletPower);
bot.setTurnRadarRightRadians(
Utils.normalRelativeAngle(enemyAbsoluteBearing - bot.getRadarHeadingRadians()) * 2);
}
