package mypackage;
import robocode.*;
import java.awt.Color;
public class lintongBot extends AdvancedRobot
{
   
    Enemy target;                  
    final double PI = Math.PI;        
    int direction = 1;             
      double firePower;                   // 設(shè)置我們的火力
    public void run() 
    {
        target = new Enemy();               //實(shí)例化Enemy()類
        target.distance = 100000;         
        setColors(Color.yellow,Color.blue,Color.green);  
        //讓gun,radar獨(dú)立于坦克車
        setAdjustGunForRobotTurn(true);
        setAdjustRadarForGunTurn(true);
        turnRadarRightRadians(2*PI);            // 以弧度計(jì)算旋轉(zhuǎn)一周
        
        while(true) 
        {
            doMovement();
            donothitwall(); // 移動(dòng)機(jī)器人,避免撞墻
            doFirePower();              // 選擇火力
            doScanner();  // 掃描            
            doGun();      // 預(yù)測(cè)敵人，調(diào)整炮管
            out.println(target.distance);       
            fire(firePower);
            execute();
        }
     }
    void doFirePower() 
    {
        firePower = 400/target.distance;//根據(jù)敵人距離來選擇火力,因?yàn)楸旧砬斑M(jìn)，后退為300，所以火力不會(huì)過大
    }
   void doMovement()
    {
        if (getTime()%20== 0) 
        {  double a=target.distance*10;
            direction *= -1;     
            setAhead(direction*a);
        }
        setTurnRightRadians(target.bearing + (PI/2)); 
         }

      void donothitwall()
     { 
	  double p=4*(target.distance/80);//p是周期敵人距離越近周期越短
	   if(getTime()%p==0){
	   double move=(Math.random()*2-1)*(p*8-25);
       setAhead(move+((move>=0)?25:-25));
       double x=getX()+move*Math.sin(target.head);
	   double y=getY()+move*Math.cos(target.head);
	   double dwidth=getBattleFieldWidth();
	   double dheight=getBattleFieldHeight();
       if(x<100)
     { direction*=-1;
	setAhead(direction*PI);
    }
if(x>dwidth-60){
direction*=-1;
setAhead(direction*PI);
}
if(y<100){direction*=-1;
setAhead(direction*PI);
 }if(y>dheight-60)
{direction*=-1;
setAhead(direction*300);
}
    }
 }

  void doScanner()
    {
        double radarOffset;  //雷達(dá)偏移量
        if (getTime() - target.ctime > 4) //來回掃了4個(gè)回合都沒掃到意味失去了目標(biāo)，再全掃一遍
        {
           
            radarOffset = 360;      
        } 
        else 
        {
           
            radarOffset = getRadarHeadingRadians() - absbearing(getX(),getY(),target.x,target.y);
          
            if (radarOffset < 0)
            radarOffset -= PI/8;  //(0.375)
            else
            radarOffset += PI/8; 
        }
     
        setTurnRadarLeftRadians(NormaliseBearing(radarOffset)); //左轉(zhuǎn)調(diào)整轉(zhuǎn)動(dòng)角度到PI內(nèi)
    }
 
  
    void doGun() 
    {
       
        long time = getTime() + (int)(target.distance/(20-(3*firePower)));
      
        double gunOffset = getGunHeadingRadians() - absbearing(getX(),getY(),target.guessX(time),target.guessY(time));
        setTurnGunLeftRadians(NormaliseBearing(gunOffset));  
}

    public double NormaliseBearing(double ang)
    {
        if (ang > PI)
        ang -= 2*PI;
        if (ang < -PI)
        ang += 2*PI;
        return ang;
    }

    public double getrange(double x1,double y1,double x2,double y2 )//求距離
    {
        double xo = x2-x1;
        double yo = y2-y1;
        double h = Math.sqrt( xo*xo + yo*yo ); 
        return h;
    }
     public double absbearing(double x1,double y1,double x2,double y2 )
    {
        double xo = x2-x1;
        double yo = y2-y1;
        double h = getrange( x1,y1, x2,y2 );
        if( xo > 0 && yo > 0 )
        {
         

            return Math.asin( xo / h );
        }
        if( xo > 0 && yo < 0 )
        {
            return Math.PI - Math.asin( xo / h ); //x為正,y為負(fù)第二象限角
        }
        if( xo < 0 && yo < 0 )
        {
            return Math.PI + Math.asin( -xo / h ); //第三象限內(nèi)180+角度
        }
        if( xo < 0 && yo > 0 )
        {
            return 2.0*Math.PI - Math.asin( -xo / h ); //四象限360-角度
        }
        return 0;
    }
 /**

     * 掃描事件,也是初始化目標(biāo)數(shù)據(jù)的過程
    */
    public void onScannedRobot(ScannedRobotEvent e) 
    {
        if ((e.getDistance() < target.distance)||(target.name == e.getName())) 
        {
            double dwidth=getBattleFieldWidth();
            double dheight=getBattleFieldHeight();
            double absbearing_rad = (getHeadingRadians()+e.getBearingRadians())%(2*PI);
            //this section sets all the information about our target
            target.name = e.getName();
            target.x = getX()+Math.sin(absbearing_rad)*e.getDistance(); 
            target.y = getY()+Math.cos(absbearing_rad)*e.getDistance();
            target.bearing = e.getBearingRadians();
            target.head = e.getHeadingRadians();
            target.ctime = getTime();               //掃描到機(jī)器人的游戲時(shí)間
            target.speed = e.getVelocity();         //得到敵人速度
            target.distance = e.getDistance();
        }
    }
    public void onRobotDeath(RobotDeathEvent e) 
    {
        if (e.getName() == target.name)
        target.distance = 10000; 
    }   
 
}

class Enemy 
{
   
    String name;
    public double bearing;
    public double head;
    public long ctime; 
    public double speed;
    public double x,y;
    public double distance;
    public double guessX(long when)
    {
        //以掃描時(shí)和子彈到達(dá)的時(shí)間差 ＊ 最大速度=距離, 再用對(duì)手的坐標(biāo)加上移動(dòng)坐標(biāo)得到敵人移動(dòng)后的坐標(biāo)
        long diff = when - ctime;
        return x+Math.sin(head)*speed*diff; //目標(biāo)移動(dòng)后的坐標(biāo)
    }
    public double guessY(long when)
    {
        long diff = when - ctime;
        return y+Math.cos(head)*speed*diff;
    }
}