//User01: stuynaught Team: Stuy-Naught Project: move2.718
void ZRUser01(float *myState, float *otherState, float time)
{
float P[3] = {0.25, 0.25, 0};
if (getPercentFuelRemaining() < 10) {
myState[0] = P[0];
myState[1] = P[1];
myState[2] = P[2];
}
if (state == 0) {
}
else
if (state == 1) {
P[1] = -0.25;
}
else
if (state == 2) {
P[0] = -0.25;
P[1] = -0.25;
}
else
if (state == 3) {
P[0] = -0.25;
}
ZRSetPositionTarget(P);
if ( sqrt((myState[0] - P[0])*(myState[0] - P[0]) +
(myState[1] - P[1])*(myState[1] - P[1]) +
(myState[2] - P[2])*(myState[2] - P[2])) < 0.05 ) {
state = state+1;
}
if (state == 4) {
state = 0;
}
}
void HistDump(float * myState, float * otherState, int time) {
float pos[3] = {0,0,0};
int k;
for (k=0; k<3; k++) {
pos[k] = myState[k];
}
for (k=0; k<12; k++) {
history[35*time+k] = myState[k];
history[35*time+12+k] = otherState[k];
}
history[35*time+24] = iHavePanel();
history[35*time+25] = otherHasPanel();
history[35*time+26] = isPanelFound();
history[35*time+27] = isPanelInSync();
history[35*time+28] = isStationInSync();
history[35*time+29] = getCurrentScore();
history[35*time+30] = getOtherCurrentScore();
history[35*time+31] = getPercentChargeRemaining();
history[35*time+32] = getPercentFuelRemaining();
history[35*time+33] = otherRepelling();
history[35*time+34] = outsideBoundary(pos);
}
//User01: blakeelias Team: Stuy-Naught Project: Kill-Retreat
void ZRUser01(float *myState, float *otherState, float time)
{
#define position procvar
#define attitude (procvar+3)
#define panel_location (procvar+6)
memcpy(vOtherPrev, vOther, sizeof(float)*3); //original value copied to previous value
memcpy(vOther, otherState+3, sizeof(float)*3); // this is set to the current value
// Wait for them to run out of fuel (constant velocity)
if ((Vfunc(6, vOther, vOtherPrev, NULL, 0)) <= 0.01)
counter++;
else
counter = 0;
DEBUG(("time: %3.0f, SPH%d: state %i\n", time, getPanelSide() == 1 ? 1 : 2, state));
if (state == 1) { //Zapping
// Get between the opponent and the sun
memcpy(position, otherState, sizeof(float)*3);
mathVecNormalize(position, 3);
Vfunc(4, position, NULL, position, 0.1);
CoastToTarget(myState, position, 0.04);
// Face the opponent
Vfunc(9, myState, otherState, attitude, 0);
ZRSetAttitudeTarget(attitude);
// Zap once we see them
if (fabs (Vfunc(8, myState+6, attitude, NULL, 0)) < 6.0) {
ZRRepel();
}
//DEBUG(("Counter = %i \n", counter));
if(iHavePanel()) {
if (counter >= 15 || getPercentFuelRemaining() < 10)
state = 6;
}
else {
if (counter >= 15 || time > 100)
state = 2;
else if (getPercentFuelRemaining() < 20)
state = 3;
}
}
if (state == 2) { //Moving to panel circle, they're dead
if (isPanelFound())
state = 5;
else {
attitude[0] = 0;
attitude[1] = 1*getPanelSide();
attitude[2] = 0;
position[0] = .7*getPanelSide();
position[1] = 0;
position[2] = 0;
CoastToTarget(myState, position, 0.04);
ZRSetAttitudeTarget(attitude);
if (Vfunc(6, myState, position, NULL, 0) < 0.03)
state = 4;
}
}
if (state == 3) { // Retreating to panel, they are alive
if (isPanelFound())
state = 5;
else {
position[0] = .7*getPanelSide();
position[1] = 0;
position[2] = 0;
CoastToTarget(myState, position, 0.04);
}
if (Vfunc(6, position, myState, NULL, 0) < 0.03)
state = 4;
}
if (state == 4) { //Finding panel
RotateTarget(myState, position);
if (isPanelFound())
state = 5;
if (iHavePanel())
state = 6;
}
if (state == 5) { //Get the panel
getPanelState(position);
attitude[0] = 0.7*getPanelSide();
attitude[1] = attitude[2] = 0;
Vfunc(9, attitude, position, attitude, 0);
ZRSetAttitudeTarget(attitude);
CoastToTarget(myState, position, 0.04);
if (iHavePanel())
state++;
}
if (state == 6) { //Stop
if (counter < 15)
state = 1;
position[0] = position[1] = position[2] = 0;
ZRSetVelocityTarget(position);
}
}