private static void goToLocationSwarm(MapLocation location, boolean defuseMines)
throws GameActionException {
// Swarming
double dxToLocation = location.x - rc.getLocation().x;
double dyToLocation = location.y - rc.getLocation().y;
double distanceToLocation = Math.sqrt(rc.getLocation().distanceSquaredTo(location));
Robot[] nearbyAlliedRobots = rc.senseNearbyGameObjects(Robot.class, 14, rc.getTeam());
int totalDx = 0;
int totalDy = 0;
int totalNearbyerDx = 0;
int totalNearbyerDy = 0;
for (int i = nearbyAlliedRobots.length; --i >= 0; ) {
RobotInfo robotInfo = rc.senseRobotInfo(nearbyAlliedRobots[i]);
if (robotInfo.type == RobotType.SOLDIER) {
MapLocation iterLocation = robotInfo.location;
totalDx += (iterLocation.x - rc.getLocation().x);
totalDy += (iterLocation.y - rc.getLocation().y);
if (rc.getLocation().distanceSquaredTo(iterLocation) <= 5) {
// for repelling
totalNearbyerDx += (iterLocation.x - rc.getLocation().x);
totalNearbyerDy += (iterLocation.y - rc.getLocation().y);
}
}
}
double denom = Math.sqrt(totalDx * totalDx + totalDy * totalDy);
double nearbyerDenom =
Math.sqrt(totalNearbyerDx * totalNearbyerDx + totalNearbyerDy * totalNearbyerDy);
double addX, addY;
double addXNearbyer, addYNearbyer;
if (Math.abs(totalDx) < 0.01) {
addX = 0;
} else {
addX = swarmC * totalDx / denom;
}
if (Math.abs(totalDy) < 0.01) {
addY = 0;
} else {
addY = swarmC * totalDy / denom;
}
if (Math.abs(totalNearbyerDx) < 0.01) {
addXNearbyer = 0;
} else {
addXNearbyer = swarmD * totalNearbyerDx / nearbyerDenom;
}
if (Math.abs(totalNearbyerDy) < 0.01) {
addYNearbyer = 0;
} else {
addYNearbyer = swarmD * totalNearbyerDy / nearbyerDenom;
}
double finalDx = dxToLocation / distanceToLocation + addX - addXNearbyer;
double finalDy = dyToLocation / distanceToLocation + addY - addYNearbyer;
// rc.setIndicatorString(0, "totalDx: " + Integer.toString(totalDx) + ", finalDx: " +
// Double.toString(finalDx));
// rc.setIndicatorString(1, "totalDy: " + Integer.toString(totalDy) + ", finalDy: " +
// Double.toString(finalDy));
int dirOffset;
double ratioCutoff = 2.5;
double ratio = Math.abs(finalDx / finalDy);
if (ratio > ratioCutoff) {
// go along x-axis
if (finalDx > 0) {
dirOffset = 2;
} else {
dirOffset = 6;
}
} else if (ratio < 1 / ratioCutoff) {
// go along y-axis
if (finalDy > 0) {
dirOffset = 4;
} else {
dirOffset = 0;
}
} else {
if (finalDx > 0) {
if (finalDy >= 0) {
dirOffset = 3;
} else {
dirOffset = 1;
}
} else {
if (finalDy > 0) {
dirOffset = 5;
} else {
dirOffset = 7;
}
}
}
Direction dirToMoveIn = Direction.values()[dirOffset];
if (defuseMines) {
NavSystem.goDirectionAndDefuse(dirToMoveIn);
} else {
NavSystem.goDirectionAvoidMines(dirToMoveIn);
}
}