Ugluk/Radar

package pedersen.systems;

• Passive Mode: sweeps a tiny arc forward of the tank.


• Duel Mode: sweeps full circle until a target is aquired, then locks on the target with a rather small arc, which scales to the distance from the enemy.


• Melee Mode: sweeps full circle until a target is aquired, temporarily locking on the target in a wide arc, and periodically circle sweeping afteward.

 /**
  * Common interface for all scanning methods.
  */
 public interface ScanningMethod
 {
 	//:://////////////////////////////////////
 	//::  Methods
 	//:://////////////////////////////////////
 	
 	/**
 	 * Operates the scanner.
 	 * 
 	 * @param absoluteHeading the present scanner heading
 	 * @param projectedPosition the projected scanner position
 	 * @param target the present target lock
 	 * 
 	 * @return the relative heading change as a result of the operation
 	 */
 	public double operate( double absoluteHeading,  Vehicle projectedPosition, Target target );
 	
 	//:://////////////////////////////////////
 	//::  Static Constants
 	//:://////////////////////////////////////
 	
 	public static final double maximumRateOfRelativeRotation = Math.PI / 4.0; // 45 degrees
 }
 
 /**
  * Common base class for all scanning methods.
  */
 public class ScanningMethodBase
 {
 	//:://////////////////////////////////////
 	//::  Methods
 	//:://////////////////////////////////////
 	
 	/**
 	 * Instructs a scanner to move to an angle offset beyond a heading.  
 	 * Subsequent scans flip to the other side of the heading.
 	 * 
 	 * @param scanner the scanner to instruct
 	 * @param heading the mean scan heading
 	 * @param sweepAngle the angle to sweep to either side of the mean scan heading
 	 */
 	protected void sweep( DynamicHeading scanner, double heading, double sweepAngle )
 	{
 		scanner.setAbsoluteTargetHeading( heading + ( sweepAngle * ( -0.5 + scanIndex % 2 ) ) );
 	}
 	
 	//:://////////////////////////////////////
 	//::  Instance Variables
 	//:://////////////////////////////////////
 	
 	protected static long scanIndex = 0;
 }
 
 /**
  * Scanning Methods for locking onto a target until it is destroyed.
  * Until a target is aquired, the scanner sweeps clockwise indefinitely.
  */
 public class ScanningMethodLockImpl extends ScanningMethodBase implements ScanningMethod
 {
 	//:://////////////////////////////////////
 	//::  Methods
 	//:://////////////////////////////////////
 
 	/**
 	* Operates the scanner.
 	* 
 	* @param absoluteHeading the present scanner heading
 	* @param projectedPosition the projected scanner position
 	* @param target the present target lock
 	* @return the relative heading change as a result of the operation
 	*/
 	public double operate( double absoluteHeading, Vehicle projectedPosition, Target target )
 	{
 		DynamicHeading scanner = new DynamicHeadingImpl( maximumRateOfRelativeRotation );
 		scanner.setHeading( absoluteHeading );
 
 		scanIndex++;
 
 		if( target == null )
 		{
 			scanner.setRelativeTargetHeading( maximumRateOfRelativeRotation );
 		}
 		else
 		{
 			double targetScanNarrow = 2.0 * Math.atan( Vehicle.maximumAbsVelocity / projectedPosition.getDistance( target ) );
 			this.sweep( scanner, projectedPosition.getBearing( target ).getHeading(), targetScanNarrow );
 		}
 
 		return scanner.compare( new StaticHeadingImpl( scanner.projectHeading() ) );
 	}
 }
 
 /**
  * Scanning Methods for sweeping a tiny arc to the front.
  * This is fluff radar mode for end of round victory dances, etc.
  */
 public class ScanningMethodPassiveImpl extends ScanningMethodBase implements ScanningMethod
 {
 	//:://////////////////////////////////////
 	//::  Methods
 	//:://////////////////////////////////////
 
 	/**
 	* Operates the scanner.
 	* 
 	* @param absoluteHeading the present scanner heading
 	* @param projectedPosition the projected scanner position
 	* @param target the present target lock
 	* @return the relative heading change as a result of the operation
 	*/
 	public double operate( double absoluteHeading, Vehicle projectedPosition, Target target )
 	{
 		DynamicHeading scanner = new DynamicHeadingImpl( maximumRateOfRelativeRotation );
 		scanner.setHeading( absoluteHeading );
 
 		scanIndex++;
 
 		this.sweep( scanner, projectedPosition.getHeading(), targetScanOff );
 
 		return scanner.compare( new StaticHeadingImpl( scanner.projectHeading() ) );
 	}
 
 	//:://////////////////////////////////////
 	//::  Static Constants
 	//:://////////////////////////////////////
 
 	private static final double targetScanOff = 0.00001;
 }
 
 /**
  * Scanning Methods for situational awareness.
  * Until a target is aquired, the scanner sweeps clockwise indefinitely.
  * After a target is aquired, the scanner is semi-locked in a wide arc, periodically rescanning the environment.
  */
 public class ScanningMethodStandardImpl extends ScanningMethodBase implements ScanningMethod
 {
 	//:://////////////////////////////////////
 	//::  Methods
 	//:://////////////////////////////////////
 
 	/**
 	 * Operates the scanner.
 	 * 
 	 * @param absoluteHeading the present scanner heading
 	 * @param projectedPosition the projected scanner position
 	 * @param target the present target lock
 	 * @return the relative heading change as a result of the operation
 	 */
 	public double operate( double absoluteHeading, Vehicle projectedPosition, Target target )
 	{
 		DynamicHeading scanner = new DynamicHeadingImpl( maximumRateOfRelativeRotation );
 		scanner.setHeading( absoluteHeading );
 
 		if( scanIndex++ > scanCycle) this.resetScanCycle( );
 		if( ( target == null ) || ( scanIndex < scanSweepCycle ) )
 		{
 			scanner.setRelativeTargetHeading( maximumRateOfRelativeRotation );
 		}
 		else
 		{
 			this.sweep( scanner, projectedPosition.getBearing( target ).getHeading(), targetScanWide );
 		}
 
 		return scanner.compare( new StaticHeadingImpl( scanner.projectHeading() ) );
 	}
 
 
 	/**
 	 * Resets the scan cycle index, forcing an immediate sweep and a fresh delay for the recurring sweep.
 	 */
 	private void resetScanCycle( )
 	{
 		scanIndex = 0;
 	}
 
 	//:://////////////////////////////////////
 	//::  Static Constants
 	//:://////////////////////////////////////
 
 	private static final double targetScanWide = maximumRateOfRelativeRotation;
 	private static final long scanSweepCycle = 8;
 	private static final long scanCycle = 40;
 }