A slightly more complicated AIM algorithm-line aiming algorithm

Package Jiaqi;import Java.awt.geom.point2d;import Robocode. Advancedrobot;import Robocode. Rules;import Robocode. Scannedrobotevent;public class Mydemorobot extends advancedrobot{/** * Scan to enemy time */private double time1 = 0;private Enemy E  Nemy = new Enemy ();p rivate Boolean discover = false;//whether the enemy is found property private double heading = 0.0;private Double radarheading = 0.0;private double bpower = 3;private double time = 0; Bullet flight time private double distance = 3000;//The distance the enemy is about to arrive @overridepublic void Onscannedrobot (Scannedrobotevent e) { Discover = true;//found enemy time1 = GetTime ();//Initialize enemy Enemy.setbearing (E.getbearingradians ()); Enemy.setspeed ( E.getvelocity ()); Enemy.setdistance (E.getdistance ()); Enemy.setheading (E.getheadingradians ()); time = distance/ Rules.getbulletspeed (bpower);} /** * Dress up */private void dressing () {}/** * vehicle cannon and radar separate */private void Severance () {Setadjustgunforrobotturn (true); Setadjustrad Arforgunturn (TRUE);} /** * simplest move algorithm */private void Simplemove () {Double increment = 0;if (enemy.getbearing () &GT 0) {increment = MATH.PI/2-enemy.getbearing (); Setturnleftradians (increment);} else {increment = MATH.PI/2 + enemy.get Bearing (); Setturnrightradians (increment);} Setahead (1000);}  /** * Safe distance */private Double Safdis = 100;/** * Move */private void Movement () {if (getdistanceremaining () < 1) {double NX  = 0;double NY = 0;//Calculates a random safe x, y coordinate nx = Math.random () * (Getbattlefieldwidth ()-2 * safdis) + Safdis;ny = Math.random () * (Getbattlefieldheight ()-2 * Safdis) + safdis;double Headarg = 90-math.atan2 (Ny-gety (), Nx-getx ());//Calculate the rotation of our body Angle Headarg = GETPA (headarg);d ouble dis = point2d.distance (GetX (), GetY (), NX, NY);//calculate the distance that our robot moves if (Headarg-getheadingr Adians () > Math.pi/2) {Setturnrightradians (Headarg-getheadingradians () + Math.PI); Setahead (-dis);} else {SetTurnRi Ghtradians (Headarg-getheadingradians ()); Setahead (dis);}} /** * Radar lock enemy */private void Doscan () {//Determine if scan to enemy if (discover) {//Calculate the angle of the radar rotation heading = This.getheadingradians (); Radarheadi ng = This.getradarheadingraDians ();d ouble temp = radarheading-heading-enemy.getbearing ();//Handle Exception angle TEMP = correctangle (temp); temp *= 1.2;//set the robot's Radar flyback Setturnradarleftradians (temp);//start execution of the robot run settings}}/** * Select Firepower */private double FirePower () {return bpower;} Private double Correctangle (double scan) {Scan%= 2 * math.pi;//prevents the presence of a corner greater than 360 degrees if (Scan > Math.PI) {scan =-(2 * Math.PI -scan);//Calculate the angle to take negative in order for the radar to rotate in reverse direction}if (Scan <-math.pi) {scan = 2 * Math.PI + scan;} return scan;} /** * Direct aiming */private double immidate () {Double increment = heading + enemy.getbearing ()-Getgunheadingradians (); increment %= 2 * math.pi;increment = Correctangle (increment); return increment;} /** * Cannon */private Void Gun () {//double increment = immidate ();d ouble increment = line (); Setturngunrightradians (increment );} /** * Method of obtaining a positive angle * * @return */private double getpa (double angle) {angle%= 2 * math.pi;if (Angle < 0) {angle + 2 * Math . PI;} return angle;} /** * Linear Aiming * * @return */private double Line () {//Calculate the enemy's upcoming coordinates//1. Calculate enemy's current coordinates double EA = GETPA (gEtheadingradians () + enemy.getbearing ());//The enemy's direction angle double ex = GetX () + enemy.getdistance () * Math.sin (EA);//enemy current X coordinate D Ouble ey = GetY () + enemy.getdistance () * Math.Cos (EA);//enemy current y-coordinate//2.  Calculate the enemy's impending motion distance double s = 0;//save enemy Motion distance if (enemy.getspeed () >= rules.max_velocity-0.1) {s = enemy.getspeed () * TIME;} else if (Enemy.getspeed () > 0.0) {double as = (Math.pow (rules.max_velocity, 2)-Math.pow (Enemy.getspeed (), 2))/2 * Rules. acceleration;//Acceleration movement distance double vs = (Time-(Rules.max_velocity-enemy.getspeed ())/rules.acceleration) * Rules.max_ velocity;//Uniform motion Distance s = as + vs;} else {s = 0.0;} 3. Calculate enemy impending coordinates double NEXTX = ex + S * Math.sin (enemy.getheading ());d ouble nexty = ey + S * Math.Cos (enemy.getheading ());d Ista nce = Point2d.distance (GetX (), GetY (), NEXTX, nexty);d ouble t = math.atan2 (Nexty-gety (), Nextx-getx ());//calculate the angle at which the enemy is about to reach the position Degree return Correctangle ((MATH.PI/2-t-getgunheadingradians ())% (2 * math.pi));} public void Run () {///Step one: To give the robot a nice outfit, the body, the cannon and the radar and the scanned arc are going to have a unique color. Dressing ();///The second step: to let the robot's cannon and radar separate, do not affect each other. This is what advanced robots do. Severance ();//allow the radar to turn first to trigger the radar Scan Event//Setturnradarleft ();//execute (); while (true) {if (!discover) { Setturnradarleftradians (Math.PI * 2.1); execute ();} else {///Third step: To determine how the robot moves the algorithm movement ();//Fourth step: To determine how the robot chooses the firepower of the algorithm double fire = firePower ();//Fifth step: To determine how the robot locks other robot algorithms doscan ( );///Sixth step: To determine how the robot calculates the angle and adjusts the muzzle to target the enemy's algorithm gun ();/if (getgunturnremaining () <= 0) {//Fire Setfire; execute ();//}// Determine if the enemy is missing Losetarget (); Execute ();}} /** * Determine if the enemy is lost * */private void Losetarget () {if ((GetTime ()-time1) >= 4) Discover = false;}} ======================================package Jiaqi;public class Enemy {private double bearing;//the angle between himself and the enemy private Double distance;//the distance from the enemy private double heading;private double velocity;private double speed;public Double getspeed () { return speed;} public void Setspeed (double speed) {this.speed = speed;} Public double getbearing () {return bearing;} public void setbearing (double bearing) {this.bearing = bearing;} Public double getdistance () {return distance;} public void setdistance (double distance) {this.distance = distance;} Public double getheading () {return heading;} public void setheading (double heading) {this.heading = heading;} Public double getvelocity () {return velocity;} public void setvelocity (double velocity) {this.velocity = velocity;}}

　　

A slightly more complicated AIM algorithm-line aiming algorithm