public static boolean pathbetween(MapLocation a, MapLocation b) {
while (!a.equals(b)) {
a = a.add(a.directionTo(b));
if (RC.senseTerrainTile(a) == TerrainTile.VOID) return false;
}
return true;
}
private MapLocation findRichSquare() {
double maxCows = currentCowsHere + 50 * COW_GROWTH[curX][curY] + 300; // favor staying here
double curCows;
MapLocation best = currentLocation;
for (MapLocation current :
MapLocation.getAllMapLocationsWithinRadiusSq(
currentLocation, RobotType.SOLDIER.sensorRadiusSquared)) {
try {
if (RC.senseTerrainTile(current) == TerrainTile.OFF_MAP) continue;
curCows = RC.senseCowsAtLocation(current) + 50 * COW_GROWTH[current.x][current.y];
if (curCows > maxCows && RC.senseObjectAtLocation(current) == null) {
best = current;
maxCows = curCows;
}
} catch (GameActionException e) {
e.printStackTrace();
}
}
RC.setIndicatorString(1, "max nearby cows: " + maxCows + " at " + best);
if (maxCows > 1000) {
return best;
}
return null;
}
/**
* Compute until either bytecodes have run out or we find a destination.
*
* @param end Hash-map of destination.
* @param bytecodes The bytecode limit.
* @param broadcast Whether to broadcast the results (used by the HQ).
* @return Whether we found a destination.
*/
public boolean compute(boolean[][] end, int bytecodes, boolean broadcast) {
// cache variables
int min, w, x, y;
int[] weight;
MapLocation next, nbr, prev, p;
Direction dir;
final BucketQueue<MapLocation> queue = this.queue;
final int[][] distance = this.distance;
final Direction[][] from = this.from;
// final MapLocation[][] parent = this.parent;
final boolean[][] unsafe = getUnsafe();
// int iters = 0;
// int bc = Clock.getBytecodeNum();
while (queue.size > 0) {
// iters++;
if (Clock.getBytecodeNum() >= bytecodes - 500) {
break;
}
// RC.setIndicatorString(0, Integer.toString(min));
// ALERT: queue.min is valid only after a call to deleteMin()!
next = queue.deleteMin();
min = queue.min;
x = next.x;
y = next.y;
// check if we have already visited this node
if (min == distance[x][y]) {
if (unsafe[x][y]) min += 100;
dir = from[x][y];
/*
* if (dir != null) {
* prev = next.subtract(dir);
* p = parent[prev.x][prev.y];
* if (min <= distance[p.x][p.y] + PARENT_DIST) {
* parent[x][y] = p;
* } else {
* parent[x][y] = prev;
* }
* }
*/
if (broadcast) {
try {
messagingSystem.writePathingInfo(next, dir, min, null /* parent[x][y] */);
} catch (GameActionException e) {
// e.printStackTrace();
}
}
// if (end[x][y]) {
// reached = next;
// break;
// }
weight = WEIGHT[RC.senseTerrainTile(next).ordinal()];
int i;
if (dir == null) {
dir = Direction.NORTH;
i = 8;
} else if (dir.isDiagonal()) {
dir = dir.rotateLeft().rotateLeft();
i = 5;
} else {
dir = dir.rotateLeft();
i = 3;
}
for (; --i >= 0; dir = dir.rotateRight()) {
nbr = next.add(dir);
if (RC.senseTerrainTile(nbr).isTraversableAtHeight(RobotLevel.ON_GROUND)) {
w = min + weight[dir.ordinal()];
x = nbr.x;
y = nbr.y;
if (from[x][y] == null) {
queue.insert_fast(w, nbr);
// System.out.println("inserted " + nbr + " with distance " + w + " from " + dir);
distance[x][y] = w;
from[x][y] = dir;
} else {
if (w < distance[x][y]) {
queue.insert_fast(w, nbr);
distance[x][y] = w;
from[x][y] = dir;
}
}
}
}
}
}
// bc = Clock.getBytecodeNum() - bc;
// RC.setIndicatorString(2, "average Dijkstra bytecodes: " + bc / iters);
return reached != null;
}
public NoiseTowerBehavior() {
for (int i = 7; i >= 0; i--) {
int lastdir = (i + 4) % 8;
int at = 1;
paths[i][0] = currentLocation;
int lastcow = 0;
for (int j = 1; j < 30; j++) {
if (i < 7 && RC.isActive()) {
try {
makeSomeNoise();
} catch (GameActionException e1) {
e1.printStackTrace();
}
}
int k = lastdir + 2;
k %= 8;
int bestscore = -1;
MapLocation bestplace = currentLocation;
while (k != (lastdir + 6) % 8) {
int score = Math.abs(i - k);
if (score < 4) score = 8 - score;
score *= score * score;
MapLocation here = paths[i][j - 1].add(directions[k]);
double cows;
try {
cows = Utils.COW_GROWTH[here.x][here.y];
if (cows > 0) lastcow = j;
score =
(here.add(directions[k])).distanceSquaredTo(currentLocation) > 300
|| RC.senseTerrainTile(here) == TerrainTile.VOID
? -10
: cows == 0.0 ? 30 : score + (int) (cows) * 0 + 30;
} catch (Exception e) {
score = -2;
}
if (score > bestscore) {
bestscore = score;
bestplace = here;
}
k++;
if (k == 8) k = 0;
}
if (!bestplace.equals(currentLocation)) {
paths[i][j] = bestplace;
} else {
break;
}
}
pathat[i] = lastcow;
while (paths[i][pathat[i]] == null && pathat[i] > 0) pathat[i]--;
if (lastcow < 29) lastcow++;
}
skip[0] = false;
double[] d = new double[8];
int[] dist = new int[8];
MapLocation[] toconsider = new MapLocation[8];
for (int i = 7; i >= 0; i--) {
if (pathat[i] == 0) {
d[i] = 0;
dist[i] = 0;
} else {
toconsider[i] = paths[i][pathat[i] - 1];
d[i] = Math.atan2(toconsider[i].y - curY, toconsider[i].x - curX);
dist[i] = currentLocation.distanceSquaredTo(toconsider[i]);
}
}
for (int i = 7; i >= 0; i--) {
if (dist[i] == 0) skip[i] = true;
else {
for (int j = i - 1; j >= 0; j--) {
if (i == j || dist[j] == 0) continue;
if (Math.abs(d[i] - d[j]) < 0.4 && pathbetween(toconsider[i], toconsider[j])) {
if (dist[i] < dist[j]) skip[i] = true;
else skip[j] = true;
}
}
}
}
}
public BFSNoiseTower() throws GameActionException {
System.out.println("start " + Clock.getBytecodeNum());
queue[0] = currentLocation;
dir[17][17] = Direction.OMNI;
for (int i = 7; i >= 0; i--) {
Direction d = directions[i];
MapLocation loc = currentLocation.add(d);
TerrainTile there = RC.senseTerrainTile(loc);
if (!there.isTraversableAtHeight(RobotLevel.ON_GROUND)) continue;
int x = loc.x - currentLocation.x;
int y = loc.y - currentLocation.y;
dir[x + 17][y + 17] = d.opposite();
queue[at] = loc;
at++;
}
for (int s = 1; s < at; s++) {
if (s % 30 == 0 && RC.isActive()) {
if (target == null
|| target.distanceSquaredTo(ALLY_PASTR_COUNT > 0 ? ALLY_PASTR_LOCS[0] : currentLocation)
<= 5) {
earlyNearbyCows();
}
MapLocation realTarget = target.add(currentLocation.directionTo(target), 3);
if (RC.canAttackSquare(realTarget)) RC.attackSquare(realTarget);
target = target.add(target.directionTo(currentLocation));
}
Direction initD =
dir[queue[s].x - currentLocation.x + 17][queue[s].y - currentLocation.y + 17];
Direction aD;
Direction bD;
if (initD.isDiagonal()) {
aD = initD.rotateLeft().rotateLeft();
bD = initD.rotateRight();
} else {
aD = initD.rotateLeft().rotateLeft().rotateLeft();
bD = initD.rotateRight().rotateRight();
}
for (Direction d = aD; d != bD; d = d.rotateLeft()) {
MapLocation loc = queue[s].add(d);
TerrainTile there = RC.senseTerrainTile(loc);
if (!there.isTraversableAtHeight(RobotLevel.ON_GROUND)) continue;
int x = loc.x - currentLocation.x;
int y = loc.y - currentLocation.y;
if (x * x + y * y > 200) continue;
if (dir[x + 17][y + 17] == null) {
dir[x + 17][y + 17] = d.opposite();
queue[at] = loc;
at++;
}
}
}
System.out.println("end " + Clock.getBytecodeNum());
System.out.println("at " + at);
}
public boolean compute(int bytecodes) {
// cache variables
int d, w, e, x, y;
int[] weight;
MapLocation next, nbr;
Direction dir;
final BucketQueue<MapLocation> queue = this.queue;
final int[][] distance = this.distance;
final Direction[][] from = this.from;
// int iters = 0;
// int bc = Clock.getBytecodeNum();
while (queue.size > 0) {
// iters++;
if (Clock.getBytecodeNum() >= bytecodes - 600) {
break;
}
// RC.setIndicatorString(0, Integer.toString(min));
// ALERT: queue.min is valid only after a call to deleteMin()!
next = queue.deleteMin();
x = next.x;
y = next.y;
d = distance[x][y];
// check if we have already visited this node
if (!visited[x][y]) {
visited[x][y] = true;
/*
* if (broadcast) {
* try {
* messagingSystem.writePathingDirection(next, from[x][y]);
* } catch (GameActionException ex) {
* ex.printStackTrace();
* }
* }
*/
weight = WEIGHT[RC.senseTerrainTile(next).ordinal()];
dir = from[x][y];
int i;
if (dir == Direction.NONE) {
dir = Direction.NORTH;
i = 8;
} else if (dir.isDiagonal()) {
dir = dir.rotateLeft().rotateLeft();
i = 5;
} else {
dir = dir.rotateLeft();
i = 3;
}
for (; --i >= 0; dir = dir.rotateRight()) {
nbr = next.add(dir);
if (RC.senseTerrainTile(nbr).isTraversableAtHeight(RobotLevel.ON_GROUND)) {
w = d + weight[dir.ordinal()];
e = w + heuristic(next, dest);
x = nbr.x;
y = nbr.y;
if (from[x][y] == null) {
queue.insert(e, nbr);
// if (RC.getRobot().getID() == 118)
// System.out.println("inserted " + nbr + ": " + w + " " + e);
distance[x][y] = w;
// estimate[x][y] = e;
from[x][y] = dir;
} else {
if (w < distance[x][y]) {
queue.insert(e, nbr);
distance[x][y] = w;
// estimate[x][y] = e;
from[x][y] = dir;
visited[x][y] = false;
}
}
}
}
}
}
// bc = Clock.getBytecodeNum() - bc;
// RC.setIndicatorString(2, "average DStar bytecodes: " + (iters > 0 ? bc / iters : bc));
return arrived(dest);
}