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Copyright Tristan Aubrey-Jones December 2005.
package tajy;
public class BotMaths
{
/**
* Returns the absolute coordinate of the target given:
* @param m - My robot's coordinate.
* @param myHeading - The bearing my robot is facing in.
* @param targetBearing - The angle between my heading and the target
* @param targetDistance - The distance between my robot's centre and the target
* @return The vector from the origin of the target.
*/
public static Vector getTargetCoord(Vector m, double myHeading,
double targetBearing, double targetDistance)
{
double angle = myHeading + targetBearing;
Vector r = Vector.fromAngleDegrees(angle, targetDistance);
Vector t = m.add(r);
return t;
}
/**
* Returns the target's vector relative to ours.
* @param m - The coordinate of my robot.
* @param t - The coordinate of the target.
* @return - The vector (t - m)
*/
public static Vector getTargetVector(Vector m, Vector t)
{
Vector r = t.subtract(m);
return r;
}
public static double getBulletTime(double distance, double energy)
{
return distance / (20 - (3 * energy));
}
/**
* Estimates the coordinate of the target after time t.
* @param start - The position of the target at t = 0
* @param heading - The direction vector of the target at t = 0
* @param time - The time elapsed since last scan.
* @param velocity - The velocity of the target along it's vector.
* @return - The estimated new position of the target.
*/
public static Vector estimateTargetCoord(Vector start, Vector heading, double t)
{
double distance = heading.getDistance() * t;
if (distance > 0)
{
double bearing = heading.getBearingRadians();
Vector r = Vector.fromAngleRadians(bearing, distance);
return start.add(r);
}
else return start;
}
public static double getAimBearing(Vector m, Vector t)
{
return getTargetVector(m, t).getBearingDegrees();
}
}