robotank/server-nodejs/robot.ts

// SPDX-License-Identifier: GPL-3.0-or-later
// Author: Sascha Nitsch https://contentnation.net/@grumpydevelop

import { WorldSim } from './worldsim';
import { RobotCmd } from './robotcmd';
import { RobotStatusExt } from './robotstatus';

class Robot {
  private name: string;
  private model: string;
  private status: RobotStatusExt;
  private cmd: RobotCmd;
  private world: WorldSim;
  private uuid: string;
  private width: number;
  private height: number;
  private fireCooldown: number;
  private topSpeed: number = 20;
  private radarRange: number = 200;
  
  constructor(worldsim: WorldSim, uuid: string, width: number, height: number) {
    this.world = worldsim;
    this.uuid = uuid;
    this.name = '';
    this.model = '';
    this.status = new RobotStatusExt();
    this.width = width;
    this.height = height;
    this.status.posX = Math.random()*(width - 20) + 10,
    this.status.posY = Math.random()*(height - 20) + 10,
    this.status.orientation =  Math.random()*360;
    this.fireCooldown = 0;
    this.cmd = new RobotCmd;
    this.cmd.mergeObject({
      powerLeft: 0,
      powerRight: 0,
      radarMin: 0,
      radarMax: 360,
      gunTarget: 0,
      fire: false
    });
  }

  causedDamage(amount: number) {
    this.status.causedDamage = amount;
  }
  damage(amount: number) {
    this.status.health -= amount;
  }

  getStatus() : RobotStatusExt {
    return this.status;
  }

  getX() : number {
    return this.status.posX;
  }

  getY() : number {
    return this.status.posY;
  }

  isReady() : boolean {
    return this.name !== '' && this.model !== '';
  }

  moveRobot(dt: number) {
    if (this.cmd.fire && this.fireCooldown <= 0) {
      this.world.fire(this.uuid, this.status.posX, this.status.posY, this.status.orientation + this.status.gunOrient);
      this.fireCooldown = 10; // 10 seconds to reload
    }
    if (this.fireCooldown > 0) {
      this.fireCooldown -= dt;
    }
    this.status.chainSpeedLeft += (0.3*(this.cmd.powerLeft-this.status.chainSpeedLeft));
    this.status.chainSpeedRight += (0.3*(this.cmd.powerRight-this.status.chainSpeedRight));
    const speed = (this.status.chainSpeedLeft + this.status.chainSpeedRight)/2.0;
    this.status.posX += speed * Math.sin(this.status.orientation * Math.PI / 180.0) * dt * this.topSpeed;
    this.status.posY -= speed * Math.cos(this.status.orientation * Math.PI / 180.0) * dt * this.topSpeed;
    if (this.status.posX < 0) {
      this.status.posX = 0;
      this.damage(1);
    }
    if (this.status.posY < 0) {
      this.status.posY = 0;
      this.damage(1);
    }
    if (this.status.posX > this.width) {
      this.status.posX = this.width;
      this.damage(1);
    }
    if (this.status.posY > this.height) {
      this.status.posY = this.height;
      this.damage(1);
    }

    this.status.orientation += (this.status.chainSpeedLeft - this.status.chainSpeedRight) * 30 * dt;
    if (this.status.orientation >= 360.0) this.status.orientation -= 360.0;
    if (this.status.orientation < 0.0) this.status.orientation += 360.0;
    if (this.cmd.radarMax == this.cmd.radarMin && this.cmd.radarMax == -1) { // full 360
      this.status.radarPos += 60 * dt; // 60 degree per sec
      if (this.status.radarPos > 360) this.status.radarPos -= 360;
    } else if (this.status.radarInc) {
      this.status.radarPos = (this.status.radarPos + 60 * dt) % 360;
      if (Math.abs(this.cmd.radarMax - this.status.radarPos) < 30 && this.cmd.radarMax <= this.status.radarPos) {
        this.status.radarInc = false;
      }
    } else {
      this.status.radarPos = (360 + this.status.radarPos - 60 * dt) % 360;
      if (Math.abs(this.cmd.radarMin - this.status.radarPos)< 30 && this.cmd.radarMin < this.status.radarPos) {
        this.status.radarInc = true;
      }
    }
    if (Math.abs(this.status.gunOrient - this.cmd.gunTarget) > 0.1) {
      const relTarget = this.cmd.gunTarget;
      const relPos = this.status.gunOrient;
      const diffcw = ((relPos - relTarget)+360)%360;
      const diffccw = ((relTarget-relPos)+360)%360;
      //console.log(relTarget, relPos, diffcw, diffccw, diffcw > diffccw);
      const diff = Math.min(Math.abs((relTarget - relPos)%360), 2.5) * (diffcw > diffccw ? 1 : -1);
      this.status.gunOrient = (this.status.gunOrient + diff + 360) %360;
    }
  }

  setName(name: string) {
    this.name = name;
  }

  setModel(model: string) {
    // TODO, read from file
    this.model = model;
  }
  setSimulationTime(time: number) {
    this.status.simulationTime = time;
  }

  updateCmd(newCmd: RobotCmd) {
    this.cmd.mergeObject(newCmd);
    if (this.cmd.powerLeft > 1) {
      this.cmd.powerLeft = 1;
    }
    if (this.cmd.powerLeft < -1) {
      this.cmd.powerLeft = -1;
    }
    if (this.cmd.powerRight > 1) {
      this.cmd.powerRight = 1;
    }
    if (this.cmd.powerRight < -1) {
      this.cmd.powerRight = -1;
    }
  }

  updateRadar() {
    this.status.contactPoints = [];
    this.world.robots.forEach((robot) => {
      if (robot != this) {
        // x distance to other robot
        const dx = robot.status.posX - this.status.posX;
        // y distance to other robot
        const dy = robot.status.posY - this.status.posY;
        // direction to other robot
        const dir = Math.atan2(dx, -dy) / Math.PI * 180;
        // distance to other robot
        const dst = Math.sqrt(dx * dx + dy * dy);
        // relative rotation to other robot
        let rot = dir - this.status.orientation - this.status.radarPos;
        // ensure -180 > rot < 180
        while (rot > 180) {
          rot -= 360;
        }
        while (rot < -180) {
          rot += 360;
        }
        if (((this.status.radarInc && rot>=-6 && rot <=0) || (!this.status.radarInc && rot>=0 && rot <=6)) && dst < this.radarRange) {
          this.status.contactPoints.push({angle: rot, dist: dst});
        }
      }
    });
  }
}

export { Robot };