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); }