MemoControllerUtils.thrustTo

src/battle/controllers/Memo/MemoControllerRandom.java

@@ -17,7 +17,7 @@ public class MemoControllerRandom implements BattleController {
     public double ATTACK_PROB = 0.1;
     public double ATTACK_SHOOT_PROB = 1;
     public double ATTACK_THRUST_PROB = 0.01;
-    public double ATTACK_ROT_THRESH = 0.1;
+    public double ATTACK_ROT_THRESH = 0.01;
     public double FLEE_ROT_CHANGE_PROB = 0.3;
     public double FLEE_SHOOT_PROB = 0.1;
     public double FLEE_THRUST_PROB = 0.8;
@@ -38,6 +38,8 @@ public class MemoControllerRandom implements BattleController {
         if(Math.random() < ATTACK_PROB) {
             action.thrust = Math.random() < ATTACK_THRUST_PROB ? 1 : 0;
             action.shoot = Math.random() < ATTACK_SHOOT_PROB;
+
+            // TODO, include velocity vector in target pos
             action.turn = MemoControllerUtils.lookAt(thisShip.s, thisShip.d, otherShip.s, ATTACK_ROT_THRESH);
         } else{
             action.thrust = Math.random() < FLEE_THRUST_PROB ? 1 : 0;

src/battle/controllers/Memo/MemoControllerUtils.java

 package battle.controllers.Memo;
 
 import math.Vector2d;
+import asteroids.Action;
 
 /**
  * Created by Memo Akten on 11/06/2015.
  */
 public class MemoControllerUtils {
 
-    static double lookAt(Vector2d s, Vector2d d, Vector2d lookat, double threshold) {
+    // returns turn value (-1, 0, 1)
+    static double lookAt(Vector2d s, Vector2d d, Vector2d lookat, double rot_threshold) {
         Vector2d desired_rot_vec = lookat.copy();
         desired_rot_vec.add(s, -1);
 
         double current_rot = Math.atan2(d.y, d.x);
         double target_rot = Math.atan2(desired_rot_vec.y, desired_rot_vec.x);
-        if(Math.abs(current_rot - target_rot) < threshold) {
+        if(Math.abs(current_rot - target_rot) < rot_threshold) {
             return 0;
         } else {
             if(current_rot > target_rot) return -1;
@@ -21,5 +23,16 @@ public class MemoControllerUtils {
         }
     }
 
+    // fills in Action with turn and thrust
+    static double thrustTo(Vector2d s, Vector2d d, Vector2d desired_pos, double dist_threshold, double rot_threshold, Action action) {
+        double dist_to_desired_pos = s.dist(desired_pos);
+        if(dist_to_desired_pos < dist_threshold) {
+            action.thrust = 0;
+        } else {
+            action.thrust = 1;
+            action.turn = lookAt(s, d, desired_pos, rot_threshold);
+        }
+        return action.thrust;
+    }
 
 }