void ZRUser(float myState[12], float otherState[12], float time) {
if (time < 150) {
//TODO: move to center of panel initialization circle, instead of
//assuming that position from the start
float attitude[3] = {0, 1, 0};
ZRSetAttitudeTarget(attitude);
//TODO: rotate around the circle to find the panel; in this case,
//panel angle is 0 so we automatically see it after the attitude change
if (isPanelFound() && time > 20) {
float velocity[3] = {0, 0.01, 0};
ZRSetVelocityTarget(velocity);
}
if (iHavePanel() && time > 70 && time < 75) {
float stop[3] = {0, 0, 0};
ZRSetVelocityTarget(stop);
}
if (iHavePanel() && time > 75 && time < 150) {
float station[3] = {-.7, 0, 0};
ZRSetPositionTarget(station);
}
}
if (iHavePanel() && time == 150) {
float searchStation[3] = {0, 0.1, 0};
ZRSetTorques(searchStation);
}
if (isStationInSync() && time > 150) {
float stop[3] = {0, 0, 0};
float velocity[3] = {0, 0, .01};
ZRSetTorques(stop);
ZRSetVelocityTarget(velocity);
}
}
static void leaveOrbit (float myState[12], float asteroidLoc[3], float mPanel[3])
{
//BEGIN::PROC::leaveOrbit
#define SinAngle(a, b) sqrt(1 - mathSquare(mathVecInner((a), (b), 3)/(mathVecMagnitude((a), 3) * mathVecMagnitude((b), 3))))
float targetVel[3];
float r, toMS;
float desiredMag;
float vecToAst[3];
float vecToMS[3];
int i;
for(i = 0; i < 3; i++){
vecToAst[i] = asteroidLoc[i] - myState[i];
vecToMS[i] = mPanel[i] - myState[i];
}
toMS = mathVecMagnitude(vecToMS, 3);
r = sqrt(mathVecInner(vecToAst, vecToAst, 3));
for(i = 0; i < 3; i++)
targetVel[i] = mPanel[i] - myState[i];
if(toMS < .19){
if(mathVecMagnitude(&myState[3], 3) > 0.01)
desiredMag = 0.002;
else
desiredMag = 0.01;
}
else if(toMS < 0.25)
desiredMag = toMS/12;
else if(toMS < 0.35)
desiredMag = toMS/7;
else
desiredMag = r*3.141592/(45*SinAngle(vecToAst, &myState[3]));
if(desiredMag > toMS/6)
desiredMag = toMS/6;
mathVecNormalize(targetVel, 3);
for(i = 0; i < 3; i++)
targetVel[i] *= desiredMag;
ZRSetVelocityTarget(targetVel);
//ZRSetAttitudeTarget(att);
//END::PROC::leaveOrbit
}
void CollideFromPoint(float * mState, float * oState, float * fromPoint, float velMag) {
if (stage == 0) {
ZRSetPositionTarget(fromPoint);
if (Vfunc(6, mState, fromPoint, NULL, 0) < 0.09) {
stage = 1;
}
}
if (stage == 1) {
Vfunc(9, fromPoint, oState, dir, 0);
Vfunc(4, dir, NULL, dir, velMag);
ZRSetVelocityTarget(dir);
}
}
static void CoastToTarget(float* myPos, float* coastTarget, float magnitude)
{
float temp[3];
if (magnitude > 0.04) magnitude = 0.04;
Vfunc(2, (coastTarget), (myPos), (temp), 0);
if (mathVecMagnitude((temp), 3) < (mathSquare(mathVecMagnitude((&myPos[3]), 3)) * 50.0 + 0.08))
{
ZRSetPositionTarget(coastTarget);
}
else
{
mathVecNormalize((temp), 3);
Vfunc(4, (temp), NULL, (temp), (magnitude));
if (Vfunc(6, (temp), (&myPos[3]), NULL, 0) > 0.02)
ZRSetVelocityTarget(temp);
}
}
void CoastToTarget(float* myPos, float* coastTarget)
{
float temp[3];
VSub(coastTarget, myPos, temp);
if (VLen(temp) < CLOSE)
{
SET_POSITION_TARGET(coastTarget);
}
else
{
VUnit(temp, temp);
VMult(temp, MAGNITUDE, temp);
ZRSetVelocityTarget(temp);
}
}
void ZRUser01(float *myState, float *otherState, float time)
{
//BEGIN::PROC::ZRUser
float opulens[3] = {0.0, -0.6, 0.0};
float Laser[3] = {0.4, 0.0, 0.0};
float shield[3] = {0.0, 0.4, 0.0};
float disrupt[3] = {0.0,0.2,0.0};
float zero[3] = {0.0, 0.0, 0.0};
float difference[3];
float facing[3];
float Asteroid[3] = {0.0, -0.6, 0.0};
int recieved;
switch((int)time)
{
case 0:
SphereNumber = !!(myState[0] < 0) + 1;
Station[0] = (SphereNumber == 1) ? 0.6 : -0.6; //station closer to where you started
break;
case 30:
getUp = (otherState[1] <= 0);
break;
case 61:
case 66:
Spin = PisRevolving(otherState) ? 1 : 0;
break;
case 75: if(PinAsteroid(otherState) == 1) asteroid = 1;
}
Laser[0] = ((SphereNumber == 1) - (PotherHasLaser() == SphereNumber)) ? 0.4 : -0.4;
recieved = (int)PgetMessage();
switch(recieved)
{
case 6:
if(!(Station[0] < 0.0) && switchedStation++ < 3)
Station[0] = -0.6;
break;
case 7:
if(!(Station[0] > 0.0) && switchedStation++ < 3)
Station[0] = 0.6;
break;
case 2:
case 3:
if(time < 45)
asteroid = 1;
break;
case 4:
case 5:
if(time < 45)
asteroid = 0;
break;
}
if(time <= 120)
PsendMessage(4 - 2*asteroid + (Spin == 0));
else
PsendMessage((Station[0] < 0) + 6);
Asteroid[1] = asteroid ? -0.6 : 0.6;
switch(state)
{
case 0:
ZRSetPositionTarget(Laser);
shoot(myState, opulens, 0);
if(PhaveLaser() || PgetPhase() == 2)
state = 1;
break;
case 1:
if(!getUp) {
shield[1] = .3;
disrupt[1] = .3;
}
ZRSetPositionTarget(disrupt);
shoot(myState, opulens, 0);
if(PotherDisruptorUpgraded() || PdisruptorUpgraded())
state = 2;
if(PgetPhase() == 2)
state = 3;
break;
case 2:
ZRSetPositionTarget(shield);
shoot(myState, opulens, 0);
if(PotherHasShield() || PhaveShield() || PgetPhase() == 2)
state = 3;
break;
case 3:
if(PiceHits() < 15 && !asteroid)
shoot(myState, opulens, (PgetPhase() > 1));
if(!(PiceMelted()) && asteroid)
{
mathVecSubtract(difference, myState, opulens, 3);
if(mathVecMagnitude(difference, 3) > .8)
ZRSetPositionTarget(opulens);
else if(!Spin)
ZRSetVelocityTarget(zero);
shoot(myState, opulens, (PgetPhase() > 1));
return;
}
if(Spin){
ZRSetPositionTarget(Asteroid);
spin(myState);
}
else
orbit(myState, Asteroid, Station[0] == -0.6);
if((!Spin && (time + timeToMS(myState, Station) >= 165)) || (Spin && (time >= 156)))
state = 4;
break;
default:
leaveOrbit(myState, Asteroid, Station);
mathVecSubtract(facing, otherState, myState, 3);
mathVecNormalize(facing, 3);
ZRSetAttitudeTarget(facing);
if (acos(mathVecInner(&myState[6], facing, 3) / mathVecMagnitude(&myState[6], 3)) < (0.1))
Ptractor();
break;
}
//END::PROC::ZRUser
}
void ZRUser01(float *myState, float *otherState, float time)
{
//BEGIN::PROC::ZRUser
float opulens[3] = {0.0, -0.6, 0.0};
float Laser[3] = {0.4, 0.0, 0.0};
float shield[3] = {0.0, 0.4, 0.0};
float zero[3] = {0.0, 0.0, 0.0};
float difference[3];
float Asteroid[3] = {0.0, -0.6, 0.0};
float Station[3] = {0.0, 0.0, 0.0};
switch((int)time)
{
case 0:
SphereNumber = !!(myState[0] < 0) + 1;
break;
case 30:
getShield = (otherState[1] <= 0);
break;
case 61:
asteroid = (PinAsteroid(otherState) == 1) ? 1 : 0;
break;
case 90:
asteroid = (PisRevolving(otherState) == 2 && !asteroid) ? 1 : asteroid;
break;
}
Station[0] = (SphereNumber == 1) ? 0.6 : -0.6; //station closer to where you started
Asteroid[1] = asteroid ? -0.6 : 0.6;
Laser[0] = ((SphereNumber == 1) - (PotherHasLaser() == SphereNumber)) ? 0.4 : -0.4;
switch(state)
{
case 0:
ZRSetPositionTarget(Laser);
shoot(myState, opulens, 0);
if(PhaveLaser() || PgetPhase() == 2)
state = 1;
break;
case 1:
if(!getShield)
shield[1] = .3;
ZRSetPositionTarget(shield);
shoot(myState, opulens, 0);
if(PotherHasShield() || PhaveShield() || PgetPhase() == 2)
state = 2;
break;
case 2:
if(PiceHits() < 14 && !asteroid)
shoot(myState, opulens, (PgetPhase() > 1));
if(!(PiceMelted()) && asteroid)
{
mathVecSubtract(difference, myState, opulens, 3);
if(mathVecMagnitude(difference, 3) > .8)
ZRSetPositionTarget(opulens);
else
ZRSetVelocityTarget(zero);
shoot(myState, opulens, (PgetPhase() > 1));
return;
}
orbit(myState, Asteroid, Station[0] == -0.6);
if(time + timeToMS(myState, Station) >= 165)
state = 3;
break;
default:
ZRSetPositionTarget(Station);
break;
}
//END::PROC::ZRUser
}
static void revolve (float c[3], float mystate[12], float other[12])
{
//BEGIN::PROC::revolve
/*
* Revolving function
*/
float v[4];
float q[4];
float a[4];
float a2[4];
float asse[3];
float d;
float b;
float b2;
int dir=sp;
if (PisRevolving (other)) {
dir = revDir (other,c);
if (!dir)
dir=sp;
}
PgetAsteroidNormal(asse);
v[3]=0;
mathVecSubtract (v,c,mystate,3);
d=mathVecMagnitude(v, 3);
if(d >= 0.3f) {
d=0.2355f/d; // (pi/2)*(0.3/distance)
}
else {
d= 1.57f - 2.615f*d; // pi - (pi/2)*(distance/0.25)
}
// This creates the quaternion
// (yeah, a quaternion, that's cool right?)
b=d-1.57f;
b2=b*b*b;
q[3]=(-b + b2/6 - b2*b*b/120);
b2=d*d*d;
mathVecMul (q,asse,dir*(d - b2/6 + b2*d*d/120));
// v[] is rotated according to the quaternion
funz(a2,q,v);
mathVecMul(q,q,-1);
funz(a,a2,q);
//then it's normalized and converted in velocity
mathVecNormalize(a, 3);
mathVecMul(a,a,0.0232f);
ZRSetVelocityTarget(a);
q[3]=1;
mathVecMul(q,asse,-dir*0.043619f);
funz(a2,q,v);
mathVecMul(q,q,-1);
funz(a,a2,q);
ZRSetAttitudeTarget(a);
//END::PROC::revolve
}
//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);
}
}
