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I will try more optimizations later today but one big one that I do use is only calculating changes in the movement path for the final calculation. So I make and estimate path and then I use the points along that path for my real paths until I need to move to a different point (Which is at most four indices prior to the destination point.) Skipped turns only seem to be a problem in the first round now (less than 5 turns skipped for the other rounds) here is a how time is spent in the first round against Raiko:

Wave Danger Time = 24.566979999999997 (time spent getting points from the KdTrees for the waves) OnScannedRobot Time = 197.411769 (time spent in OnScannedRobot for the movement) Wave Management Time = 39.465934 (time managing movement waves (this includes precise intersection for virtual waves every turn)) Move Calc time = 664.440483 (times spent calculating my movement path, includes the next four items) Path generation time = 230.93243999999999 (precise predictor path generation) First wave angles time = 266.566414 (precise interesection on the first wave) Check Danger time = 111.454803 (danger for the first and second wave, includes the time from the next item) Second wave danger time = 108.967914 (precise bot width and danger for the second wave)

Time spent on movement = 906.613341 Time spent on gun = 239.867495

One more thing. I use DC surfing so I don't actually spend that much time calculating the danger, less than 3 milliseconds for the first waves for the whole first round. And finally I do limit myself to the 5 best movement options from the first wave.