void Maguro::run() {
while (true) {
switch (this->currentState) {
case MaguroAction::INIT:
this->moveBack(20);
break;
case MaguroAction::ESCAPE:
moveUp ? this->moveAhead(20) : this->moveBack(20);
break;
case MaguroAction::FIRING:
if (this->currentTimestamp() - this->lastKnownPositionTimestamp < 5.0f) {
this->shotTo(this->angleBetweenGunHeadingDirectionAndWorldPosition(lastKnownPosition));
} else {
this->currentState = MaguroAction::AIMING;
}
break;
case MaguroAction::AIMING:
RWSize size = this->arenaDimensions();
RWVec pos = RWVec(size.width, size.height);
RWVec pos2 = RWVec(size.width, 0.0f);
float angle = this->angleBetweenGunHeadingDirectionAndWorldPosition(pos) + shotCount * 2.0f;
shotTo(angle);
shotCount = angle > angleBetweenGunHeadingDirectionAndWorldPosition(pos2) ? 0 : shotCount + 1;
break;
}
}
}
void FoeReaper4000RobotCpp::hitWallWithSideAndAngle(RobotWallHitSide::RobotWallHitSide side, float hitAngle)
{
this->cancelActiveAction();
RWSize areaSize = arenaDimensions();
switch (side)
{
case RobotWallHitSide::FRONT:
{
float x = generateRandomNumber(areaSize.width/4,areaSize.width/4*3);
float y = 0.0f;
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::REAR:
{
float x = generateRandomNumber(areaSize.width/4,areaSize.width/4*3);
float y = areaSize.height;
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::LEFT:
{
float x = 0.0;
float y = generateRandomNumber(areaSize.height/4, areaSize.height/4*3);
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::RIGHT:
{
float x = areaSize.width;
float y = generateRandomNumber(areaSize.height/4, areaSize.height/4*3);
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::NONE:
break;
}
}
// move the gun base on the scan
//if not move to the side which has more space
void FoeReaper4000RobotCpp::optimizeGunPosition()
{
//TODO: check if scanner find the enemy
if (keepStay) {
shootToPos(lastEnemyPos);
return;
}
RWVec robotPos = position();
RWSize areaSize = arenaDimensions();
float x,y;
if (robotPos.x > (areaSize.width - robotPos.x)) {
x = generateRandomNumber(0.0f, robotPos.x);
} else {
x = generateRandomNumber(robotPos.x, areaSize.width);
}
if (robotPos.y > (areaSize.height - robotPos.y)) {
y = generateRandomNumber(0.0f, robotPos.y);
} else {
y = generateRandomNumber(robotPos.y, areaSize.height);
}
shootToPos(RWVec(x, y));
}
void LiveRobotCpp::performNextFirstMove()
{
switch (this->actionIndex % 4)
{
case 0:
{
RWVec currentPosition = this->position();
RWSize arenaSize = this->arenaDimensions();
if (currentPosition.y < arenaSize.height / 2.0f)
{
if (currentPosition.x < arenaSize.width / 2.0f)
{
// bottom left
this->turnRobotLeft(90);
}
else
{
// bottom right
this->turnRobotRight(90);
}
}
else
{
if (currentPosition.x < arenaSize.width / 2.0f)
{
// top left
this->turnRobotRight(90);
}
else
{
// top right
this->turnRobotLeft(90);
}
}
}
break;
case 1:
{
RWVec currentPosition = this->position();
RWSize arenaSize = this->arenaDimensions();
float bodyLength = this->robotBoundingBox().size.width;
if (currentPosition.y < arenaSize.height / 2.0f)
{
this->moveBack(currentPosition.y - bodyLength);
}
else
{
this->moveBack((arenaSize.height - (currentPosition.y + bodyLength)));
}
}
break;
case 2:
{
RWSize arenaSize = this->arenaDimensions();
float angle = this->angleBetweenGunHeadingDirectionAndWorldPosition(RWVec(arenaSize.width / 2.0f, arenaSize.height / 2.0f));
if (angle < 0.0f)
{
this->turnGunLeft(fabsf(angle));
}
else
{
this->turnGunRight(fabsf(angle));
}
}
break;
case 3:
this->shoot();
this->setCurrentState(LiveRobotCppAction::WAITING);
break;
}
this->actionIndex++;
}
