JAVA坦克大战系列10-高效雷达（下）

1.?import?java.awt.Color;

2.

3.?import?robocode.AdvancedRobot;

4.?import?robocode.RobotDeathEvent;

5.?import?robocode.ScannedRobotEvent;

6.

7.?public?class?QFRadarRobot?extends?AdvancedRobot{

8. Enemy target;//定义敌人

9.?final?double?PI = Math.PI;//创建常量PI

10.?int?direction = 1;//向前方向值为1，向后为-1;

11.?public?void?run() {

12. target =?new?Enemy();

13. target.distance = 10000;//初始化敌人距离

14.

15.?this.setAdjustGunForRobotTurn(true);//使枪和坦克独立

16.?this.setAdjustRadarForGunTurn(true);//时枪和雷达独立

17.

18.?this.turnRadarRightRadians(2*PI);//雷达扫描一周(弧度)

19.

20.?while(true) {

21. doScanner();//扫描别的坦克

22. out.println(target.distance);

23. execute();//执行以上所有命令

24. }

25. }

26.

27.

28. //移动坦克

29.?private?void?doMovement() {

30.

31.?if(getTime()%20==0){

32. //每20个时间间隔执行一次

33. direction *=-1;//反向运动

34. setAhead(direction*300);//前后运动

35. }

36. //依据弧度转向

37.?this.setTurnRightRadians(target.bearing+(PI/2));

38.

39. }

40.

41.

42.

43.

44. //雷达扫描

45.?private?void?doScanner() {

46.?double?radarOffset;//雷达扫描区域

47.?if(getTime()-target.ctime>4){

48. //如果4秒内在小区域中没有发现目标

49. radarOffset = 360;//雷达转一圈

50. }else{

51. //找到目标后使搜索范围扩大以至于不丢失目标

52. radarOffset =?this.getRadarHeadingRadians()-absbearing(getX(),getY(),target.x,target.y);

53.?if(radarOffset<0){

54. radarOffset-=PI/8;//稍稍增大扫描区域

55. }else{

56. radarOffset+=PI/8;//稍稍增大扫描区域

57. }

58. }

59.?this.setTurnRadarLeftRadians(NormaliseBearing(radarOffset));//旋转雷达

60.

61. }

62.

63.

64.

65. //转向弧度差

66.?public?double?NormaliseBearing(double?ang){

67.?if(ang>PI)

68. ang -=2*PI;

69.?if(ang<-PI)

70. ang +=2*PI;

71.?return?ang;

72. }

73.

74.

75. //如果角度大于360度，则得到标准化角度

76.?public?double?NormaliseHeading(double?ang){

77.?if(ang>2*PI){

78. ang -= 2*PI;

79. }

80.?if(ang<0){

81. ang +=2*PI;

82. }

83.?return?ang;

84. }

85. //确定目标的移动直线距离

86.?public?double?getrange(double?x1,double?y1,double?x2,double?y2){

87.?double?xo = x2-x1;

88.?double?yo = y2-y1;

89.?double?h = Math.sqrt(xo*xo+yo*yo);

90.?return?h;

91. }

92.

93.

94.

95.

96.

97. //确定绝对位置的方法

98.?public?double?absbearing(double?x1,double?y2){

99.?double?xo = x2-x1;//水平位移

100.?double?yo = y2-y1;//垂直位移

101.?double?h = getrange(x1,y1,x2,y2);

102.?if(xo>0&&yo>0){

103.?return?Math.asin(xo/h);//正弦弧度

104. }

105.?if(xo>0&&yo<0){

106.?return?Math.PI - Math.asin(xo/h);

107. }

108.?if(xo<0&&yo<0){

109.?return?Math.PI + Math.asin(-xo/h);

110. }

111.?if(xo<0&&yo>0){

112.?return?2.0*Math.PI- Math.asin(-xo/h);

113. }

114.?return?0;

115. }

116.

117. //扫描到敌方坦克

118.?public?void?onScannedRobot(ScannedRobotEvent e) {

119.?if((e.getDistance()<target.distance)||target.name==e.getName()){

120. //确定坦克绝对位置

121.?double?absbearing_rad = (this.getHeadingRadians()+e.getBearingRadians())%(2*PI);

122. //定义坦克的相关信息

123. target.name = e.getName();

124. target.x = getX()+Math.sin(absbearing_rad)*e.getDistance();//计算目标的X坐标

125. target.y = getY()+Math.cos(absbearing_rad)*e.getDistance();//计算目标的Y坐标

126. target.bearing = e.getBearingRadians();//

127. target.head = e.getHeadingRadians();//获得坦克头的方向

128. target.ctime = getTime();//记录扫描到坦克的时间

129. target.speed = e.getVelocity();//记录目标的速度

130. target.distance = e.getDistance();//记录目标离自己的距离

131.

132. }

133.

134. }

135.

136.

137.

138.

139. //内部类,用来保存对手的相关信息

140.?class?Enemy{

141. String name;//定义坦克的名字

142.

143.?public?double?bearing;

144.?public?double?head;

145.?public?long?ctime; //记录扫描到该坦克的时间

146.?public?double?speed;

147.?public?double?x,y;//坐标

148.?public?double?distance;//距离

149. //预计坦克x坐标

150.?public?double?guessX(long?when){

151.?long?diff = when - ctime;

152.?return?x+Math.sin(head)*speed*diff;

153. }

154. //预计坦克y坐标

155.?public?double?guessY(long?when){

156.?long?diff = when-ctime;

157.?return?y + Math.cos(head)*speed*diff;

158. }

159. }

160. }