Maximum Escape Angle/Precise Positional

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Simple illustration of a PPMEA. (The purple and blue lines show the typical angular wall data used by most bots.)

Precise positional MEA is a method of calculating the MEA of a target robot relative to the aiming robot while ignoring heading and velocity change rules.

Gilgalad's algorithm is pretty simple. The PPMEA of robot A is always going to be the angle most nearly prependicular to the bearing from robot B to robot A which robot A can move at without hitting any walls before a bullet reaches its position. So Gilgalad runs a 'binary search' of the range of angles from prependicular to heading directly towards Gilgalad.

Bot using this technique

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