int time;
int state;

bool side;

float self[12];

float debris[10][3];
float laser[3];

float comet[6];

float v;
float ar;

float _ZERO[3];

void init(){
    time = 0;
    state = 0;

    memset(_ZERO,0,3*sizeof(float));
}

void loop(){

    time ++;
    api.getMySphState(self);

    if(time == 1) {
        side = self[0]>0;
        for(int i = 0; i < 10; i ++) {
            game.getDebrisLocation(i,debris[i]);
        }
        game.getDebrisLocation(10,laser);
        laser[0] *= side?1:-1;
    }

    game.getCometState(0,comet);

    v = mathVecMagnitude(&self[3],3);
    ar = mathVecMagnitude(&self[9],3);

    switch(state) {
        case 0: {
            api.setPositionTarget(laser);
            float attrate[3] = {0,0,0};
            api.setAttRateTarget(attrate);
            if(distanceTo(laser) < 0.05f && v < 0.02f && ar < 0.04f) state = 1;
            break;
        }
        case 1: {
            //if(distanceTo(laser) > 0.05f || v > 0.02f) state = 0;
            //float attrate[3] = {0,0,1};
            //api.setAttRateTarget(attrate);
            //api.setPositionTarget(laser);
            //api.setVelocityTarget(_ZERO);
            if(game.haveItem(0,!side)) state = 2;
        }
        case 2: {
            face(comet);
            float target[3] = {0.55f*side?1:-1,0.35f,0};
            api.setPositionTarget(target);
            if(time >= 90) state = 3;
        }
        case 3: {
            float predictedComet[3];
            game.predictCometState(10,predictedComet,comet);
            face(predictedComet);
            game.shootLaser();
        }
    }

    DEBUG(("State=%d\n",state));
}

void drift(float target[3]) {
    float diff[3];
    mathVecSubtract(diff,target,self,3);
    api.setVelocityTarget(diff);
}

void face(float target[3]) {
    float diff[3];
    mathVecSubtract(diff,target,self,3);
    mathVecNormalize(diff,3);
    api.setAttitudeTarget(diff);
}

float distanceTo(float target[3]) {
    float diff[3];
    mathVecSubtract(diff,target,self,3);
    return mathVecMagnitude(diff,3);
}