public void run() {
_enemyWaves = new ArrayList<EnemyWave>();
_radarScanner.setRobot(this);
_radarScanner.nme.waves = _enemyWaves;
Enemy.waves = _enemyWaves;
if (_targeting == null) {
_targeting = new Targeting(this, _radarScanner);
}
setAdjustGunForRobotTurn(true);
setAdjustRadarForGunTurn(true);
// setAllColors(Color.black);
turnRadarRightRadians(Double.POSITIVE_INFINITY);
do {
_targeting.selectFiringPower(_radarScanner.nme.distance);
_targeting.process(null);
scan();
} while (true);
}
public void onScannedRobot(ScannedRobotEvent e) {
if (_radarScanner._lastScan == null) {
_radarScanner._lastScan = e;
return;
}
double enemyHeading = getHeadingRadians() + _radarScanner.nme.bearingRadians;
Situation s = _radarScanner.processScanEvent(e, true);
try {
double bulletPower = _radarScanner._oppEnergy - e.getEnergy();
if (bulletPower < 3.01
&& (bulletPower > 0.09
|| (bulletPower > 0 && (s.WallTriesForward > 5 && s.WallTriesBack > 5)))
&& _radarScanner._surfDirections.size() > 2) {
EnemyWave ew = new EnemyWave();
ew.fireTime = getTime() - 1;
ew.bulletPower = bulletPower;
ew.bulletVelocity = CTUtils.bulletVelocity(bulletPower);
ew.distanceTraveled = CTUtils.bulletVelocity(bulletPower);
ew.direction = ((Integer) _radarScanner._surfDirections.get(2)).intValue();
ew.directAngle = ((Double) _radarScanner._surfAbsBearings.get(2)).doubleValue();
ew.fireLocation =
(Point2D.Double)
(_radarScanner.nme.lastlocation == null
? _radarScanner.nme.location.clone()
: _radarScanner.nme.lastlocation
.clone()); // _radarScanner.nme.location.clone(); // last tick
ew.playerDistance = _radarScanner.nme.location.distance(_radarScanner._myLocation);
ew.maxEscapeAngle = CTUtils.maxEscapeAngle(ew.bulletVelocity);
ew.waveGuessFactors =
_surfStats[(int) Math.min((_radarScanner._lastScan.getDistance() + 50) / 200, 3)][
(int) (CTUtils.clamp((Math.abs(_radarScanner._lastLatVel) + 1) / 2, 0, 4))];
_enemyWaves.add(ew);
// (int)((s.WallTriesBack+s.WallTriesForward)) (0..2)
_radarScanner.nme.lastBulletPower = bulletPower;
}
if (bulletPower >= 0 && bulletPower < 3.01) _radarScanner.nme.lastShotTime = getTime();
} catch (ArrayIndexOutOfBoundsException em) {
System.out.println(em.getMessage());
}
_radarScanner._oppEnergy = _radarScanner._lastScan.getEnergy();
// update after EnemyWave detection, because that needs the previous
// enemy location as the source of the wave
_radarScanner.nme.location =
CTUtils.project(
_radarScanner._myLocation,
(Double) _radarScanner._surfAbsBearings.get(0) - Math.PI,
e.getDistance());
updateWaves();
_targeting.selectFiringPower(_radarScanner.nme.distance);
_targeting.process(s);
_radarScanner.postProcessScanEvent(e);
}
