bearing + (PI/2)); //every turn move to circle strafe the enemy
//每一时间周期以敌人为中心绕圆运动
}
/*
* this scanner method allows us to make our scanner track our target.
* it will track to where our target is at the moment, and some further
* in case the target has moved. This way we always get up to the minute
* information on our target 雷达锁定目标
*/
void doScanner()
{
double radarOffset; //雷达偏移量
if (getTime() - target.ctime > 4) //???why来回扫了4个回合都没扫到意味失去了目标，再全扫一遍
{
//if we haven't seen anybody for a bit....
radarOffset = 360; //rotate the radar to find a target
}
else
{
//next is the amount we need to rotate the radar by to scan where the target is now
//通过扫描决定雷达旋转的弧度，"见基本原理方向剖析及目标锁定www.robochina.org".雷达弧度-敌人角度得到两者相差为旋转值
radarOffset = getRadarHeadingRadians() - absbearing(getX(),getY(),target.x,target.y);
//this adds or subtracts small amounts from the bearing for the radar to produce the wobbling
//and make sure we don't lose the target
//在得到的角度中加或减一点角度，让雷达很小的范围内摆而不失去目标
if (radarOffset < 0)
radarOffset -= PI/8; //(0.375)
else
radarOffset += PI/8;
}
//turn the radar
setTurnRadarLeftRadians(NormaliseBearing(radarOffset)); //左转调整转动角度到PI内
}
/*
* This simple method moves the gun to the bearing that we predict the
* enemy will be by the time our bullet will get there.
* the 'absbearing' method can be found in the helper functions section
* the nextX and nextY method can be found in the 'Enemy' class description
*/
void doGun()
{
//works out how long it would take a bullet to travel to where the enemy is *now*
//this is the best estimation we have
//计算子弹到达目标的时间长speed = 20 - 3 * power;有计算公式,距离除速度=时间
long time = getTime() + (int)(target.distance/(20-(3*firePower)));
//offsets the gun by the angle to the next shot based on linear targeting provided by the enemy class
//以直线为目标，偏移子弹下一次发射的角度。（这样让子弹射空的几率减少。但对付不动的和做圆运动的机器人有问题）
//target.guesssX(),target.guessY()为目标移动后的坐标
double gunOffset = getGunHeadingRadians() - absbearing(getX(),getY(),target.guessX(time),target.guessY(time));
setTurnGunLeftRadians(NormaliseBearing(gunOffset)); //调整相对角度到2PI内
}
/*
* This set of helper methods. You may find several of these very useful
* They include the ability to find the angle to a point.
*/
//if a bearing is not within the -pi to pi range, alters it to provide the shortest angle
double NormaliseBearing(double ang)
{
if (ang > PI)
ang -= 2*PI;
if (ang < -PI)
ang += 2*PI;
return ang;
}
//if a heading is not within the 0 to 2pi range, alters it to provide the shortest angle
double NormaliseHeading(double ang)
{
if (ang > 2*PI)
ang -= 2*PI;
if (ang < 0)
ang += 2*PI;
return ang;
}
//returns the distance between two x,y coordinates '**'
//以两边长求得与对手之间的距离
public double getrange( double x1,double y1, double x2,double y2 )
{
double xo = x2-x1;
double yo = y2-y1;
double h = Math.sqrt( xo*xo + yo*yo );
return h;
}
//gets the absolute bearing between to x,y coordinates
//根据x,y的坐标求出绝对角度，见"坐标锁定"利用直角坐标系来反求出角度。？？？
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 )
{
//反正弦定义，对边除斜边得弧度.以robocode中的绝对方向系及坐标系参照
//x,y为正右上角为0-90,x正y负右下角为90-180,x,y负左下角180-270,x负，y正右上角270-360
//此处要理解robocode中的绝对角度是上为0,下为180�
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