Пример #1
0
  // Plays a card.
  public static void handleRequestPlay(Message m) {

    boolean heartsBroken = false;
    if (m.info.equals("true")) heartsBroken = true;

    Deck legal = Rules.extractLegalCards(hand, trick, heartsBroken);

    Card c = randomCards(legal, 1).cardAt(0);
    hand.remove(c);

    Message m2 = new Message(Message.PLAY, null, c);
    server.sendMessage(m2);
  }
  /** 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----------------------------");
  }