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class Marksman < RTanque::Bot::Brain | |
NAME = 'Marksman' | |
include RTanque::Bot::BrainHelper | |
def tick! | |
command.speed = RTanque::Bot::MAX_SPEED | |
nearest = nearest_target() | |
if (!defined?(@direction)) | |
@direction = 0 | |
@previousTargetX = 0 | |
@previousTargetY = 0 | |
end | |
if (nearest) | |
targetX = sensors.position.x + Math.sin(nearest.heading) * nearest.distance | |
targetY = sensors.position.y + Math.cos(nearest.heading) * nearest.distance | |
power = RTanque::Bot::MAX_FIRE_POWER | |
predictedTargetX = targetX + (targetX - @previousTargetX) * nearest.distance / (5.0 * power) | |
predictedTargetY = targetY + (targetY - @previousTargetY) * nearest.distance / (5.0 * power) | |
deltaX = predictedTargetX - sensors.position.x | |
deltaY = predictedTargetY - sensors.position.y | |
tan = deltaX / deltaY | |
if (deltaX > 0 && deltaY > 0) | |
angle = Math.atan(tan) | |
elsif (deltaX > 0 && deltaY < 0) | |
angle = Math::PI - Math.atan(-tan) | |
elsif (deltaX < 0 && deltaY > 0) | |
angle = Math::PI * 2 - Math.atan(-tan) | |
elsif (deltaX < 0 && deltaY < 0) | |
angle = Math::PI + Math.atan(tan) | |
end | |
@previousTargetX = targetX | |
@previousTargetY = targetY | |
command.radar_heading = nearest.heading | |
command.turret_heading = angle | |
command.fire(power) | |
else | |
command.radar_heading = sensors.radar_heading + RTanque::Heading::ONE_DEGREE * 10.0 | |
end | |
onWall = false | |
if (sensors.position.on_top_wall?) | |
command.heading = RTanque::Heading::SOUTH | |
onWall = true | |
elsif (sensors.position.on_bottom_wall?) | |
command.heading = RTanque::Heading::NORTH | |
onWall = true | |
elsif (sensors.position.on_left_wall?) | |
command.heading = RTanque::Heading::EAST | |
onWall = true | |
elsif (sensors.position.on_right_wall?) | |
command.heading = RTanque::Heading::WEST | |
onWall = true | |
end | |
if (onWall) | |
if (sensors.heading.delta(command.heading) > 0) | |
@direction = 1 | |
else | |
@direction = -1 | |
end | |
else | |
if (Random.rand(80) < 1) | |
@direction = 0 - @direction | |
end | |
command.heading = sensors.heading + @direction * RTanque::Heading::ONE_DEGREE * 5.0 | |
end | |
end | |
# this function borrowed from rort1.rb (https://gist.github.com/ronald/5146511) | |
def nearest_target | |
reflections = sensors.radar | |
reflections = reflections.reject{|r| r.name == NAME } unless @friendly_fire | |
reflections.sort_by{|r| r.distance }.first | |
end | |
end |
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