@Override
public void onBulletHitBullet(BulletHitBulletEvent event) {
Point2D bulletPosition = new Point2D.Double(event.getBullet().getX(), event.getBullet().getY());
GBulletFiredEvent hittedWave = null;
for (GBulletFiredEvent wave : waves.getWaves()) {
if (Math.abs(
bulletPosition.distance(wave.getFiringPosition())
- ((getTime() - wave.getFiringTime()) * event.getBullet().getVelocity()))
< 20) {
hittedWave = wave;
break;
}
}
if (hittedWave == null) return;
double firingOffset =
org.pattern.utils.Utils.firingOffset(
hittedWave.getFiringPosition(), hittedWave.getTargetPosition(), bulletPosition);
double mae = firingOffset > 0 ? hittedWave.getMaxMAE() : hittedWave.getMinMAE();
double gf = firingOffset > 0 ? firingOffset / mae : -firingOffset / mae;
storages.get(event.getBullet().getName()).visit(gf);
waves.getWaves().remove(hittedWave);
return;
}
private void doScan() {
if (meleeRadar) {
Point2D pos = new Point2D.Double(getX(), getY());
Double nextRightHeading = getRadarHeading() + 45;
Double nextLeftHeading = getRadarHeading() - 45;
Point2D nextRadarPointRight =
org.pattern.utils.Utils.calcPoint(pos, STICK_LENGTH, Math.toRadians(nextRightHeading));
Point2D nextRadarPointLeft =
org.pattern.utils.Utils.calcPoint(pos, STICK_LENGTH, Math.toRadians(nextLeftHeading));
Point2D actualRadarPoint =
org.pattern.utils.Utils.calcPoint(pos, STICK_LENGTH, Math.toRadians(getRadarHeading()));
if (radarGoingRight
&& !org.pattern.utils.Utils.pointInBattlefield(this, actualRadarPoint)
&& !org.pattern.utils.Utils.pointInBattlefield(this, nextRadarPointRight)) {
System.out.println("Safe rotation of 120 degrees.");
setTurnRadarRight(120);
} else if (!radarGoingRight
&& !org.pattern.utils.Utils.pointInBattlefield(this, actualRadarPoint)
&& !org.pattern.utils.Utils.pointInBattlefield(this, nextRadarPointLeft)) {
System.out.println("Safe rotation of 120 degrees.");
setTurnRadarLeft(120);
} else if (radarGoingRight) {
setTurnRadarRight(45);
nextRadarPoint = nextRadarPointRight;
if (!org.pattern.utils.Utils.pointInBattlefield(this, nextRadarPointRight)) {
radarGoingRight = false;
}
} else if (!radarGoingRight) {
setTurnRadarLeft(45);
nextRadarPoint = nextRadarPointLeft;
if (!org.pattern.utils.Utils.pointInBattlefield(this, nextRadarPointLeft)) {
radarGoingRight = true;
}
}
} else {
if (getRadarTurnRemaining() == 0 && (info == null || (getTime() > info.getLastTimeSaw() + 2)))
setTurnRadarRight(360);
if (getTime() == info.getLastTimeSaw() + 1) {
setTurnRadarRight(16);
} else if (getTime() == info.getLastTimeSaw() + 2) {
setTurnRadarLeft(32);
}
}
}
private void gotoPointandSmooth() {
Point2D actualPosition = new Point2D.Double(getX(), getY());
Projection proj =
new Projection(
new Point2D.Double(getX(), getY()),
getHeading(),
getVelocity(),
move.ahead,
getTurnRemaining() + move.turnRight);
tickProjection t = proj.projectNextTick();
/* Movement Settings, find the next position */
double distanceToNewPosition = actualPosition.distance(nextPosition);
if (move.smooth(t.getPosition(), t.getHeading(), proj.getWantedHeading(), move.ahead)) {
// out.println("smooth");
wallSmoothing = true;
double _turnRight = move.turnRight;
int _ahead = 100 * move.ahead;
setAhead(_ahead);
setTurnRight(_turnRight);
} else if (distanceToNewPosition < 15 || wallSmoothing == true) {
wallSmoothing = false;
PositionFinder p = new PositionFinder(enemies, this);
// Point2D.Double testPoint = p.findBestPoint(200);
// double range = distanceToTarget*0.5;
// Point2D.Double testPoint = p.findBestPointInRange(attempt, range);
Point2D.Double testPoint = p.findBestPointInRangeWithRandomOffset(200);
nextPosition = testPoint;
// out.println("point");
}
/* Movement to nextPosition */
else {
Double angle =
org.pattern.utils.Utils.calcAngle(nextPosition, actualPosition) - getHeadingRadians();
Double direction = 1.0;
if (Math.cos(angle) < 0) {
angle += Math.PI;
direction = -1.0;
}
if (direction > 0) move.ahead = 1;
else move.ahead = -1;
setAhead(distanceToNewPosition * direction);
angle = Utils.normalRelativeAngle(angle);
setTurnRightRadians(angle);
}
}
private void drawWaveAndMae(GBulletFiredEvent wave, Graphics2D g) {
double maeLength = 300;
double radius = wave.getVelocity() * (getTime() - wave.getFiringTime());
g.drawArc(
(int) (wave.getFiringPosition().getX() - radius),
(int) (wave.getFiringPosition().getY() - radius),
(int) radius * 2,
(int) radius * 2,
0,
360);
g.drawRect(
(int) wave.getFiringPosition().getX() - 5,
(int) wave.getFiringPosition().getY() - 5,
10,
10);
double absBearing =
org.pattern.utils.Utils.absBearing(wave.getFiringPosition(), wave.getTargetPosition());
drawPoint(wave.getFiringPosition(), 4, g);
drawPoint(wave.getTargetPosition(), 4, g);
// //draw MAE
g.drawLine(
(int) wave.getFiringPosition().getX(),
(int) wave.getFiringPosition().getY(),
(int) (wave.getTargetPosition().getX()),
(int) (wave.getTargetPosition().getY()));
g.drawLine(
(int) wave.getFiringPosition().getX(),
(int) wave.getFiringPosition().getY(),
(int)
(wave.getFiringPosition().getX()
+ Math.sin(Math.toRadians(absBearing + wave.getMaxMAE())) * maeLength),
(int)
(wave.getFiringPosition().getY()
+ Math.cos(Math.toRadians(absBearing + wave.getMaxMAE())) * maeLength));
g.drawLine(
(int) wave.getFiringPosition().getX(),
(int) wave.getFiringPosition().getY(),
(int)
(wave.getFiringPosition().getX()
+ Math.sin(Math.toRadians(absBearing + wave.getMinMAE())) * maeLength),
(int)
(wave.getFiringPosition().getY()
+ Math.cos(Math.toRadians(absBearing + wave.getMinMAE())) * maeLength));
}
private void goToPoint(Point2D nextPosition) {
Point2D actualPosition = new Point2D.Double(getX(), getY());
Double distanceToNewPosition = actualPosition.distance(nextPosition);
Double angle =
org.pattern.utils.Utils.calcAngle(nextPosition, actualPosition) - getHeadingRadians();
Double direction = 1.0;
if (Math.cos(angle) < 0) {
angle += Math.PI;
direction = -1.0;
}
if (direction > 0) move.ahead = 1;
else move.ahead = -1;
setAhead(distanceToNewPosition * direction);
angle = Utils.normalRelativeAngle(angle);
setTurnRightRadians(angle);
}
@Override
public void onHitByBullet(HitByBulletEvent event) {
GBulletFiredEvent wave = waves.getNearestWave();
Point2D myPos = new Point2D.Double(getX(), getY());
// TODO we lost a wave
if (wave == null
|| Math.abs(
myPos.distance(wave.getFiringPosition())
- (getTime() - wave.getFiringTime()) * wave.getVelocity())
> Costants.SURFING_MAX_DISTANE_HITTED_WAVE) return;
double firingOffset =
org.pattern.utils.Utils.firingOffset(
wave.getFiringPosition(), wave.getTargetPosition(), myPos);
double gf =
firingOffset > 0 ? firingOffset / wave.getMaxMAE() : -firingOffset / wave.getMinMAE();
storages.get(event.getName()).visit(gf);
}
@Override
public void onScannedRobot(ScannedRobotEvent event) {
info = new EnemyInfo(en, getTime());
Enemy enemy = enemies.get(event.getName());
if (enemy == null) {
enemy = new Enemy(event, this);
enemies.put(enemy.getName(), enemy);
storages.put(enemy.getName(), new VisitCountStorage());
}
if (getTime() - enemy.getLastUpdated() < Costants.TIME_THRESHOLD
&& (enemy.getEnergy() - event.getEnergy()) > 0.
&& (enemy.getEnergy() - event.getEnergy()) < 3.1) {
GBulletFiredEvent gBulletFiredEvent = new GBulletFiredEvent();
gBulletFiredEvent.setFiringRobot(enemy);
gBulletFiredEvent.setEnergy(enemy.getEnergy() - event.getEnergy());
gBulletFiredEvent.setVelocity(20 - 3 * (enemy.getEnergy() - event.getEnergy()));
gBulletFiredEvent.setFiringTime(getTime() - 1);
gBulletFiredEvent.setFiringPosition(enemy.getPosition()); // TODO this or the updated one?
gBulletFiredEvent.setTargetPosition(new Point2D.Double(getX(), getY()));
org.pattern.utils.Utils.setWaveMAE(gBulletFiredEvent, getHeading(), getVelocity(), this);
waves.addWave(gBulletFiredEvent);
}
enemy.updateEnemy(event, this);
enemies.put(enemy.getName(), enemy);
if (!meleeRadar) {
Double radarTurn = getHeading() - getRadarHeading() + enemy.getBearing();
setTurnRadarRight(Utils.normalRelativeAngleDegrees(radarTurn));
}
doShooting();
}
private void doShooting() {
PositionFinder p = new PositionFinder(enemies, this);
en = p.findNearest();
if (en == null) return;
Point2D myPos = new Point2D.Double(getX(), getY());
if (HoT) {
/* Perform head on target for gun movement */
aimingPoint = new Point2D.Double(en.getX(), en.getY());
double turnGunAmt = (getHeadingRadians() + en.getBearingRadians() - getGunHeadingRadians());
turnGunAmt = Utils.normalRelativeAngle(turnGunAmt);
setTurnGunRightRadians(turnGunAmt);
} else {
/* Perform circular targeting */
Rectangle2D battlefield =
new Rectangle2D.Double(0, 0, getBattleFieldWidth(), getBattleFieldHeight());
long when = calcTimeToReachEnemy();
aimingPoint = org.pattern.utils.Utils.getFuturePoint(en, when);
if (!battlefield.contains(aimingPoint)) {
HoT = true;
return;
}
double theta =
Utils.normalAbsoluteAngle(
Math.atan2(aimingPoint.getX() - getX(), aimingPoint.getY() - getY()));
setTurnGunRightRadians(Utils.normalRelativeAngle(theta - getGunHeadingRadians()));
}
if (getGunHeat() == 0) {
double firePower = 3.0;
fire(firePower);
}
}