History of LinearTargeting/Discussion

 package ntc;
 import robocode.*;
 import java.awt.geom.*;
 import java.awt.Color;
 
 //run, movement, etc
 
 public void onScannedRobot(ScannedRobotEvent e) {
 		setTurnRadarLeft(getRadarTurnRemaining());
 		double x=getX() + Math.sin(e.getBearingRadians()+getHeadingRadians())*e.getDistance();
 		double y=getY() + Math.cos(e.getBearingRadians()+getHeadingRadians())*e.getDistance();
 		Point2D.Double enemyPosition=new Point2D.Double(x,y);
 		Point2D.Double myPosition=new Point2D.Double(getX(),getY());
 		
 		double ang=Math.asin((e.getVelocity()*Math.sin(e.getHeadingRadians()-(e.getBearingRadians()+getHeadingRadians())))/(20-(3*3)));
 		Line2D.Double enemyMovement=new Line2D.Double(enemyPosition, projectPoint(enemyPosition,e.getHeadingRadians(),1000));
 		Line2D.Double bulletMovement=new Line2D.Double(myPosition, projectPoint(myPosition,getHeadingRadians() + e.getBearingRadians()+ang,1000));
 		dist=new Line2D.Double(myPosition, enemyPosition);
 		eM=enemyMovement;
 		bM=bulletMovement;
 		//Tango's lineintersect method
 		Point2D.Double intersect=new Point2D.Double(0,0);//point you are actually firing at
 		double num   =   (enemyMovement.getY2()-enemyMovement.getY1())*(enemyMovement.getX1()-bulletMovement.getX1()) -
 		                 (enemyMovement.getX2()-enemyMovement.getX1())*(enemyMovement.getY1()-bulletMovement.getY1());
 		
 		double denom =   (enemyMovement.getY2()-enemyMovement.getY1())*(bulletMovement.getX2()-bulletMovement.getX1()) -
 		                 (enemyMovement.getX2()-enemyMovement.getX1())*(bulletMovement.getY2()-bulletMovement.getY1());
 		
 		intersect.x = bulletMovement.getX1() + (bulletMovement.getX2()-bulletMovement.getX1())*num/denom;
 		intersect.y = bulletMovement.getY1() + (bulletMovement.getY2()-bulletMovement.getY1())*num/denom;
 		//nanos iterative lineintersectwithshape method
 		if(!field.contains(intersect)){ //is where you are firing at in the battlefield?
 			int TRACE_DEPTH = 8;
 			Point2D middle;
 			boolean containsFirst;
 			if ((containsFirst = field.contains(enemyMovement.getP1())) == field.contains(enemyMovement.getP2())){
 			}
 			for (int i = 0; i < TRACE_DEPTH; i++) {
 				middle = new Point2D.Double((enemyMovement.getX1() + enemyMovement.getX2()) / 2, (enemyMovement.getY1() + enemyMovement.getY2()) / 2);
 				if (containsFirst != field.contains(middle)){
 					enemyMovement = new Line2D.Double(enemyMovement.getP1(), middle);
 				}else{
 					enemyMovement = new Line2D.Double(middle, enemyMovement.getP2());
 				}
 			}
 			intersect.x=(enemyMovement.getX1() + enemyMovement.getX2()) / 2;
 			intersect.y=(enemyMovement.getY1() + enemyMovement.getY2()) / 2;	
 		}
 		point=intersect;
 		ang=Math.atan2(intersect.getX()-myPosition.getX(),intersect.getY()-myPosition.getY());
 		setTurnGunRightRadians(robocode.util.Utils.normalRelativeAngle(ang-getGunHeadingRadians()));
 		setFire(3);
 		out.println(intersect);
 		out.println(enemyPosition);
 	}
 
 	public void onPaint(java.awt.Graphics2D g) {
 		g.setColor(Color.red);
 		g.fillOval((int)point.getX()-10,(int)(getBattleFieldHeight()-point.getY())-10,10,10);
 		g.drawLine((int)eM.getP1().getX(),(int)(getBattleFieldHeight()-eM.getP1().getY()),(int)eM.getP2().getX(),(int)(getBattleFieldHeight()-eM.getP2().getY()));
 		g.setColor(Color.green);
 		g.drawLine((int)bM.getP1().getX(),(int)(getBattleFieldHeight()-bM.getP1().getY()),(int)bM.getP2().getX(),(int)(getBattleFieldHeight()-bM.getP2().getY()));
 		g.setColor(Color.cyan);
 		g.drawLine((int)dist.getP1().getX(),(int)(getBattleFieldHeight()-dist.getP1().getY()),(int)dist.getP2().getX(),(int)(getBattleFieldHeight()-dist.getP2().getY()));
     }
 
 	Point2D.Double projectPoint(Point2D.Double sourceLocation, double angle, double length) {
         return new Point2D.Double(sourceLocation.getX() + Math.sin(angle) * length,
             sourceLocation.getY() + Math.cos(angle) * length);
     }
 }