// method runs when robot is in a dead end and has to back up and go around
public static void turnAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(ms); // 180 degree turn
movRow(); // move forward
// check for empty adjacent space
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
// Move to said empty space
if (scanResults[0] && !scanResults[2]) { // Obstacle on the Left
mv.turn(scanResults[0], ms); // turn right
movRow();
} else { // Obstacle on the Right
mv.turn(!scanResults[2], ms); // turn left
movRow();
mv.turn(!scanResults[2], ms);
movRow();
// move forward 2 cells, scanning as we go
// if an obstacle is still on the same axis as the first
// class it as a different obstacle
// move forward a cell
// scan again - recursive
// move back to the correct column
// if at a 'limit cell', turn left instead of right
}
}
/** Turns the movement angle from the startAngle to the endAngle with the specified speed. */
protected void turnTo(Movement movement, float startAngle, float endAngle, float speed) {
startAngle = ensureAngleWithinBounds(startAngle);
endAngle = ensureAngleWithinBounds(endAngle);
if (startAngle == endAngle) {
movement.set(0, 0);
} else {
float distanceLeft;
float distanceRight;
float pi2 = (float) (2 * Math.PI);
if (startAngle < endAngle) {
distanceLeft = startAngle - endAngle + pi2;
distanceRight = endAngle - startAngle;
} else {
distanceLeft = startAngle - endAngle;
distanceRight = endAngle - startAngle + pi2;
}
if (distanceLeft < distanceRight) {
speed = -Math.abs(speed);
movement.set(speed, (long) (distanceLeft / -speed));
} else {
speed = Math.abs(speed);
movement.set(speed, (long) (distanceRight / speed));
}
}
}
/** Stops this Transform3D. Any moving velocities are set to zero. */
public void stop() {
velocity.setTo(0, 0, 0);
velocityMovement.set(0, 0);
velocityAngleX.set(0, 0);
velocityAngleY.set(0, 0);
velocityAngleZ.set(0, 0);
}
private void tfrReset() {
mOrigin.update(
mGpsParams,
mScale,
mPan,
mMovement.getLongitudePerPixel(),
mMovement.getLatitudePerPixel(),
getWidth(),
getHeight());
}
/**
* Sets the velocity. The velocity is automatically set to zero after the specified amount of time
* has elapsed. If the specified time is FOREVER, then the velocity is never automatically set to
* zero.
*/
public void setVelocity(Vector3D v, long time) {
if (velocity != v) {
velocity.setTo(v);
}
if (v.x == 0 && v.y == 0 && v.z == 0) {
velocityMovement.set(0, 0);
} else {
velocityMovement.set(1, time);
}
}
@Override
public Movement getMovement() {
// this will create a movement call
Movement movement = new Movement(0, 0, 0);
// this will change the movement call based on the state
switch (_state) {
case Start:
// this will change the state to the drive forward state
changeState(AutoState.DriveForward);
break;
case DriveForward:
if (getTimeFromStateChange() > seconds(2)) {
// this will change the state to the stopped state if 2 seconds have passed
changeState(AutoState.Spin);
} else {
// this will set the movement call's linear speed to 0.5
movement.setLinearSpeed(0.5f);
}
break;
case Spin:
if (getTimeFromStateChange() > seconds(5)) {
// this will change the state to the stopped state if 5 seconds have passed
changeState(AutoState.Stop);
} else {
// this will set the movement call's spin speed to 0.5
movement.setSpinSpeed(0.5f);
}
break;
case Stop:
// this will do nothing
break;
}
// this will return the movement call
return movement;
}
/** @param canvas */
private void drawTiles(Canvas canvas) {
mPaint.setShadowLayer(0, 0, 0, 0);
if (null != mTiles) {
for (int tilen = 0; tilen < mTiles.getTilesNum(); tilen++) {
BitmapHolder tile = mTiles.getTile(tilen);
/*
* Scale, then move under the plane which is at center
*/
boolean nochart = false;
if (null == tile) {
nochart = true;
} else if (null == tile.getBitmap()) {
nochart = true;
}
if (nochart) {
continue;
}
/*
* Pretty straightforward. Pan and draw individual tiles.
*/
tile.getTransform().setScale(mScale.getScaleFactor(), mScale.getScaleCorrected());
tile.getTransform()
.postTranslate(
getWidth() / 2.f
- BitmapHolder.WIDTH / 2.f * mScale.getScaleFactor()
+ ((tilen % mTiles.getXTilesNum()) * BitmapHolder.WIDTH
- BitmapHolder.WIDTH * (int) (mTiles.getXTilesNum() / 2))
* mScale.getScaleFactor()
+ mPan.getMoveX() * mScale.getScaleFactor()
+ mPan.getTileMoveX() * BitmapHolder.WIDTH * mScale.getScaleFactor()
- (float) mMovement.getOffsetLongitude() * mScale.getScaleFactor(),
getHeight() / 2.f
- BitmapHolder.HEIGHT / 2.f * mScale.getScaleCorrected()
+ mPan.getMoveY() * mScale.getScaleCorrected()
+ ((tilen / mTiles.getXTilesNum()) * BitmapHolder.HEIGHT
- BitmapHolder.HEIGHT * (int) (mTiles.getYTilesNum() / 2))
* mScale.getScaleCorrected()
+ mPan.getTileMoveY() * BitmapHolder.HEIGHT * mScale.getScaleCorrected()
- (float) mMovement.getOffsetLatitude() * mScale.getScaleCorrected());
Bitmap b = tile.getBitmap();
if (null != b) {
canvas.drawBitmap(b, tile.getTransform(), mPaint);
}
}
}
}
/**
* Updates this Transform3D based on the specified elapsed time. The location and angles are
* updated.
*/
public void update(long elapsedTime) {
float delta = velocityMovement.getDistance(elapsedTime);
if (delta != 0) {
temp.setTo(velocity);
temp.multiply(delta);
location.add(temp);
}
rotateAngle(
velocityAngleX.getDistance(elapsedTime),
velocityAngleY.getDistance(elapsedTime),
velocityAngleZ.getDistance(elapsedTime));
}
public boolean equals(Object m) {
if (m == null) return false;
Movement mov = (Movement) m;
if (this.sourceSquare != mov.sourceSquare) return false;
if (this.destinationSquare != mov.destinationSquare) return false;
if (this.getPromotionGenericPiece() != mov.getPromotionGenericPiece()) {
return false;
}
return true;
}
public void run() {
motor_left.resetTachoCount();
motor_left.regulateSpeed(true);
Movement.motor_left.smoothAcceleration(true);
int previousCommandCount = -1;
while (true) {
if (Movement.getCommandCount() == previousCommandCount) {
try {
Thread.sleep(10);
} catch (InterruptedException e) {
}
continue;
}
previousCommandCount = Movement.getCommandCount();
setToAngle(ControlCentre.getTargetSteeringAngleLeft());
int new_angle = getToAngle();
if (new_angle < 10) LCD.drawString(" ", 8, 1);
else if (new_angle < 100) LCD.drawString(" ", 9, 1);
LCD.drawString(Integer.toString(new_angle), 7, 1);
LCD.drawString("R", 11, 1);
int cur_angle = getCurrentSteeringAngle();
double delta = new_angle - cur_angle;
final double C = Movement.rotConstant;
double turn_angle = 0;
if (Math.abs(delta) < thresholdAngle / 2.0) {
continue;
} else if (Math.abs(delta) >= thresholdAngle / 2.0 && Math.abs(delta) < thresholdAngle) {
delta = thresholdAngle * delta / Math.abs(delta);
}
setCurrentSteeringAngle((int) (cur_angle + delta) % 360);
if (delta != 0 && Math.abs(delta) < 180) {
turn_angle = C * delta;
} else if (delta >= 180 && delta < 360) {
turn_angle = -C * (360 - delta);
} else if (delta <= -180) {
turn_angle = C * (360 + delta);
} else {
/* No turning needed */
continue;
}
motor_left.rotate((int) Math.round(turn_angle));
}
}
private static void archonMicro(RobotController rc, RobotInfo enemyArchon)
throws GameActionException {
if (rc.isCoreReady()) {
int dist = myLoc.distanceSquaredTo(enemyArchon.location);
// When not adjacent to the archon, walk/mine through to him.
if (dist > 2) {
Direction desired = myLoc.directionTo(enemyArchon.location);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
// When adjacent to archon, rotate to the left/right when possible.
else {
Direction dir = myLoc.directionTo(enemyArchon.location);
if (rc.canMove(dir.rotateLeft())) {
rc.move(dir.rotateLeft());
} else if (rc.canMove(dir.rotateRight())) {
rc.move(dir.rotateRight());
}
}
}
if (rc.isWeaponReady()) {
if (rc.canAttackLocation(enemyArchon.location)) {
rc.attackLocation(enemyArchon.location);
}
}
}
// Method scans input and maps it; if obstacle is in front, left and right,
// backpedal. If there is a space adjacent but an obstacle at the front,
// turns to move around the obstacle using the available space.
public static void movRow() {
double nextCell = mapObj.basicProb(); // work out probability
// output to RConsole through BlueTooth
// btObj.stringToRCon("Object Probability in next Cell: %2f" + nextCell);
// mapObj.printMap(columns, numOfRowCells);
// sonar scan around of the robot
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
mapObj.updateMap(scanResults);
// btObj.stringToRCon("Scan Results: " + scanResults[0] + ", " + scanResults[1] + ", " +
// scanResults[2]);
// mapObj.printMap(columns, numOfRowCells);
if (scanResults[1]) { // if there's an obstacle in front
// if there's an obstacle to the left & right. i.e. a dead end
if (scanResults[0] && scanResults[2]) {
turnAround(scanResults[2], mapObj, movObj); // move backwards
} else {
// call movAround() method to navigate around the obstacle
movAround(scanResults[1], mapObj, movObj);
}
} else {
movObj.nextCell(mapObj); // move forward a cell
}
}
// enter a world map square
// - if there is a portal to a special location then use it
// - else create the appropraite outdoor area map
//
public static void exitWorldMap(Map m, int tx, int ty) {
Thing h = Game.hero();
// record movement time
Time.logTime(Movement.moveCost(m, h, tx, ty));
Thing p = m.getFlaggedObject(tx, ty, "IsPortal");
if (p != null) {
Portal.travel(p, h);
} else {
// put hero into a local area map
Map nm = WorldMap.createArea(m, tx, ty);
// phantom Portal
p = Portal.create();
Thing t = nm.getEntrance();
Portal.setDestination(p, nm, t.x, t.y);
// could build a portal here so we can return to exact location map
// Don't think we really want this though
// addThing(p,tx,ty);
Portal.travel(p, h);
}
}
/** The background process */
@Override
public void run() {
boolean playerHasChanged;
do {
Movement machineMovement = machinePlays();
if (machineMovement != null) {
playerHasChanged =
doMovement(GameLogic.PLAYER_TWO, machineMovement.getColumn(), machineMovement.getRow());
} else {
// if machine movement is null.. machine cannot play
playerHasChanged = true;
}
// it can happen that the human can not play...
} while (!playerHasChanged);
}
// Method to move around an obstacle - runs when obstacle is in front
public static void movAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(r, ms); // true = right turn; false = left turn
movRow(); // scan and move forward if necessary
mv.turn(!r, ms); // invert the boolean to turn the other way
// move forward twice to pass the obstacle
movRow();
++loop2;
movRow();
++loop2;
mv.turn(!r, ms); // turn to face original column
boolean extend = mapObj.scanAhead(); // flag to check object is passed
while (extend) {
mv.turn(r, ms); // turn to move along the axis
movObj.nextCell(mapObj);
++loop2;
mv.turn(!r, ms); // face the original column
if (!mapObj.scanAhead()) { // if an obstacle is not found anymore
extend = false; // break the while loop
} else {
}
}
movRow(); // move into the original column
mv.turn(r, ms); // face the correct way to continue the patrol
}
@Override
public void doSearch() {
ArrayList<Node> list = new ArrayList<>(); // nos visitados
Stack<Node> stack = new Stack<>();
Node root = gameTree.getRoot();
stack.push(root);
while (!stack.empty()) {
System.out.println("Pilha:-------------------------");
Iterator<Node> it2 = stack.iterator();
while (it2.hasNext()) {
it2.next().getBoard().print();
}
System.out.println("---------------------------:");
Node t = stack.pop();
list.add(t);
if (Movement.getPins(t) == 1) {
System.out.println("SOLUCAO ENCONTRADA.");
Iterator<Node> it = list.iterator();
while (it.hasNext()) {
it.next().getBoard().print();
}
return;
}
ArrayList<Node> mov = Movement.getMovements(t);
System.out.println("Opcoes de movimento: " + mov.size());
if (mov.isEmpty() && stack.empty()) { // sem movimentos possiveis
break;
}
// Existem movimentos entao empilha e comeca de novo
for (Node node : mov) {
System.out.println("Numero de pins: " + Movement.getPins(node));
stack.push(node);
}
}
System.out.println("SOLUCAO NAO ENCONTRADA!");
// Iterator<Node> it = list.iterator();
// while(it.hasNext()) {
// it.next().getBoard().print();
// }
}
public void run() {
while (true) {
try {
Robot[] enemies = rc.senseNearbyGameObjects(Robot.class, 35, rc.getTeam().opponent());
if (rc.isActive()) {
Movement.fire(rc, enemies, null);
HQFunctions.SpawnSoldiers(rc);
}
if (Clock.getRoundNum() % 50 == 0) {
System.out.println();
System.out.println("Enemy Bots: ");
int[] AllEnemies = FightMicro.AllEnemyBots(rc);
for (int i = 0; i < AllEnemies.length; i++) {
System.out.print(FightMicro.getBotLocation(AllEnemies[i]));
}
System.out.println();
}
int broadcast = rc.readBroadcast(rallyPoint2);
if (broadcast != 0) {
if (broadcast != fightZone) {
fightZone = broadcast;
roundSet = Clock.getRoundNum();
}
// now it is time for us to move on
else if (roundSet + 75 < Clock.getRoundNum()) {
fightZone = 0;
rc.broadcast(rallyPoint2, 0);
}
}
if (Clock.getRoundNum() % 5 == 0 && Clock.getRoundNum() > 100) {
// HQFunctions.moveTargetLocationRandomly(rc);
/*
if (goneForPastr && (rc.sensePastrLocations(rc.getTeam()).length > 0 || roundNum > (Clock.getRoundNum() - 250)))
{
HQFunctions.setTargetLocation(rc, goneForPastr);
}
else
{
goneForPastr = HQFunctions.setTargetLocation(rc, goneForPastr);
roundNum = Clock.getRoundNum();
}*/
HQFunctions.setTargetLocation(rc, true);
// HQFunctions.findInitialRally(rc);
}
} catch (Exception e) {
}
rc.yield();
}
}
private void loadPrefs() {
// Restore preferences
SharedPreferences settings = getSharedPreferences(PREFS_NAME, 0);
putUrl = settings.getString("REMOTE_EYES_PUT_URL", "http://example.com:8080/cellserv");
noise.setOffsetPulsePercent(settings.getInt("servo1Percent", 50), 0);
noise.setOffsetPulsePercent(settings.getInt("servo2Percent", 50), 1);
noise.setOffsetPulsePercent(settings.getInt("servo3Percent", 50), 2);
noise.setOffsetPulsePercent(settings.getInt("servo4Percent", 50), 3);
mover.setOffset(settings.getInt("wheelOffset", 0));
RobotStateHandler.ROBOT_ID = settings.getString("ROBOT_ID", RobotStateHandler.ROBOT_ID);
}
protected void useMovement(Unit U) {
// if movement forward is possible, move forward 1 square
// otherwise, rotate left or right
movementPoints = Movement.getMovement(map, U);
if (movementPoints[1].length == 0) {
randomRotate(U);
} else {
U.setXYCoordinate(movementPoints[1][0], map);
U.usePoints(U.getMovementCost());
}
}
public void run() {
while (true) {
try {
if (rc.isActive()) {
if (rc.getLocation().equals(towerSpot)
|| (rc.getLocation().isAdjacentTo(towerSpot)
&& !rc.canMove(rc.getLocation().directionTo(towerSpot)))) {
rc.construct(RobotType.NOISETOWER);
} else {
Movement.MoveMapLocation(rc, towerSpot, false);
}
}
} catch (Exception e) {
}
}
}
public static Movement getMovementEnroqueCorto(Colour turno) {
Movement mov = new Movement();
if (turno == Colour.WHITE) {
mov.setSourcePiece(Piece.WHITE_KING);
mov.setSource(Square.e1);
mov.setDestination(Square.g1);
} else {
mov.setSourcePiece(Piece.BLACK_KING);
mov.setSource(Square.e8);
mov.setDestination(Square.g8);
}
return mov;
}
private static void collectMessage() throws InterruptedException {
boolean atend = false;
int N = 0;
while (atend == false) {
N = N + 1; // % 100;
Movement.setCommandCount(N);
LCD.drawString("Recv:" + Integer.toString(N), 2, 2);
try {
// Bluetooth.getConnectionStatus();
int message = inputStream.readInt();
LCD.drawString("Rcvd:" + Integer.toString(N), 2, 3);
if (message >= (1 << 26)) {
LCD.drawString("end" + Integer.toString(N), 12, 2);
atend = true;
// Thread atendDisplay = new ScreenWriter(Integer.toString(message),7);
LCD.drawString(Integer.toString(message), 0, 7);
// atendDisplay.start();
// System.exit();
LCD.drawString("stopped" + message, 0, 2);
} else if (message < (1 << 26)) {
// Thread newMessageDisplay = new ScreenWriter(Integer.toString(message),6);
// LCD.drawString("display"+Integer.toString(N), 6, 0);
// newMessageDisplay.start();
LCD.drawString(" ", 5, 6);
LCD.drawString("Msg:" + Integer.toString(message), 0, 6);
// LCD.drawString("decode:"+Integer.toString(N), 6, 1);
parseMessage(message);
// LCD.drawString("decoded:"+Integer.toString(N), 6, 0);
}
// inputStream.close();
// inputStream = connection.openDataInputStream();
} catch (IOException e) {
Thread errorConnection = new ScreenWriter("Error - connect back up", 7);
errorConnection.start();
// connection = Bluetooth.waitForConnection();
Thread connectedDisplay = new ScreenWriter("Connection Opened", 7);
connectedDisplay.start();
}
}
}
/** Called when the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.main);
PowerManager pm = (PowerManager) getSystemService(Context.POWER_SERVICE);
PowerManager.WakeLock wl = pm.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, "ServoOn");
// wl.acquire();
// wl.release();
wifiManager = (WifiManager) getSystemService(WIFI_SERVICE);
WifiInfo wifiInfo = wifiManager.getConnectionInfo();
noise = PulseGenerator.getInstance();
mover = Movement.getInstance();
loadPrefs();
mTorchMode = false;
out = new ByteArrayOutputStream();
setContentView(R.layout.main);
if (sensorManager == null) {
sensorManager = (SensorManager) this.getSystemService(Context.SENSOR_SERVICE);
}
startListening();
mPreview = (SurfaceView) findViewById(R.id.preview);
mHolder = mPreview.getHolder();
mHolder.addCallback(this);
mHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
noise.pause();
}
/** Returns true if currently moving, ignoring the y movement. */
public boolean isMovingIgnoreY() {
return !velocityMovement.isStopped() && (velocity.x != 0 || velocity.z != 0);
}
/** Returns true if currently moving. */
public boolean isMoving() {
return !velocityMovement.isStopped() && !velocity.equals(0, 0, 0);
}
/** Returns true if the z axis is currently turning. */
public boolean isTurningZ() {
return !velocityAngleZ.isStopped();
}
/** Sets the angular speed of the z axis over the specified time. */
public void setAngleVelocityZ(float speed, long time) {
velocityAngleZ.set(speed, time);
}
public static void run(RobotController rc) {
sightRadius = RobotType.SOLDIER.sensorRadiusSquared;
attackRadius = RobotType.SOLDIER.attackRadiusSquared;
myTeam = rc.getTeam();
enemyTeam = myTeam.opponent();
while (true) {
try {
numEnemySoldiers = 0;
totalEnemySoldierHealth = 0;
myLoc = rc.getLocation();
nearbyAllies = rc.senseNearbyRobots(sightRadius, myTeam);
nearbyEnemies = rc.senseHostileRobots(myLoc, sightRadius);
newArchonLoc = null;
// clear bad locations
resetLocations(rc);
// read messages and get destination
readMessages(rc);
// heal if need (and set the archon destination to go to)
setRetreatingStatus(rc, nearbyEnemies);
// Remove turret locations that you can see are not there.
// Does NOT remove turret locations due to broadcasts. Already done in read messages.
removeTurretLocations(rc);
if (newArchonLoc != null) {
nearestArchonLocation = newArchonLoc;
}
rc.setIndicatorString(2, "Round: " + rc.getRoundNum() + ", rushing: " + rush);
// Reset rushing if turns since rush is > 20 and see no more enemies.
if (rush && myLoc.distanceSquaredTo(rushLocation) <= 100) turnsSinceRush++;
if (turnsSinceRush > 20) {
if (rc.senseNearbyRobots(sightRadius, enemyTeam).length == 0) {
turnsSinceRush = 0;
rush = false;
}
}
// When rushing, be mad aggressive.
if (rush) {
rushMicro(rc, nearbyEnemies);
}
// When retreating, retreat
else if (healing) {
if (rc.isCoreReady()) {
if (nearestArchonLocation != null) {
if (myLoc.distanceSquaredTo(nearestArchonLocation) > 13) {
bugging.enemyAvoidMove(nearbyEnemies);
// Get away from archons that are not too close together.
} else if (myLoc.distanceSquaredTo(nearestArchonLocation) <= 2) {
Direction radialDir = nearestArchonLocation.directionTo(myLoc);
Direction awayDir = Movement.getBestMoveableDirection(radialDir, rc, 2);
if (awayDir != Direction.NONE) {
rc.move(awayDir);
}
}
}
}
// Make sure to attack people even when retreating.
// Prioritize the closest enemy. Then the closest zombie.
if (rc.isWeaponReady()) {
// Attack the closest enemy. If there is not one, then attack the closest zombie
int closestDist = 10000;
RobotInfo target = null;
for (RobotInfo hostile : nearbyEnemies) {
int dist = myLoc.distanceSquaredTo(hostile.location);
if (rc.canAttackLocation(hostile.location)) {
// There is already is a target
if (target != null) {
if (target.team == enemyTeam) {
// Target is already enemy, so prioritize the closest
if (hostile.team == enemyTeam) {
if (dist < closestDist) {
target = hostile;
closestDist = dist;
}
} // If hostile is not an enemy, not worth considering.
} else {
// Target is not on enemy team, so hostile is best choice!
if (hostile.team == enemyTeam) {
target = hostile;
closestDist = dist;
// Both are zombies, so just pick the closest.
} else {
if (dist < closestDist) {
target = hostile;
closestDist = dist;
}
}
}
// Set a target when there is not one.
} else {
target = hostile;
closestDist = dist;
}
}
}
// We know that if there is a target, we can attack it.
if (target != null) {
rc.attackLocation(target.location);
}
}
}
// When viper infected and will die from the infection, do special micro
else if (isViperInfected(rc)
&& (rc.getHealth() < rc.getViperInfectedTurns() * 2 || rc.getRoundNum() > 2100)) {
viperInfectedMicro(rc);
}
// if there are enemies in range, we should focus on attack and micro
else if (nearbyEnemies.length > 0) {
if (shouldLure(rc, nearbyEnemies, nearbyAllies)) luringMicro(rc);
else micro(rc);
} else { // otherwise, we should always be moving somewhere
moveSoldier(rc);
}
Clock.yield();
} catch (Exception e) {
e.printStackTrace();
}
}
}
public static void zombieMicro(RobotController rc) throws GameActionException {
boolean thereIsNonKitableZombie = false;
RobotInfo closestEnemy = null;
int closestDist = 10000;
for (RobotInfo hostile : nearbyEnemies) {
if (hostile.type == RobotType.FASTZOMBIE || hostile.type == RobotType.RANGEDZOMBIE) {
thereIsNonKitableZombie = true;
}
int dist = myLoc.distanceSquaredTo(hostile.location);
if (dist < closestDist) {
closestDist = dist;
closestEnemy = hostile;
}
}
Direction d = myLoc.directionTo(closestEnemy.location);
// if we're too close, move further away
if (myLoc.distanceSquaredTo(closestEnemy.location) < 5 && rc.isCoreReady()) {
Direction desired = d.opposite();
Direction dir = Movement.getBestMoveableDirection(desired, rc, 1);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
if (!thereIsNonKitableZombie) {
// Only move in closer if there is no non-kitable zombie
if (myLoc.distanceSquaredTo(closestEnemy.location) > attackRadius
&& rc.isCoreReady()) { // if we are too far, we want to move closer
// Desired direction is d.
Direction dir = Movement.getBestMoveableDirection(d, rc, 1);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, d)) {
rc.clearRubble(d);
} else if (shouldMine(rc, d.rotateLeft())) {
rc.clearRubble(d.rotateLeft());
} else if (shouldMine(rc, d.rotateRight())) {
rc.clearRubble(d.rotateRight());
} else { // probably meaning you are blocked by allies
if (closestEnemy.type == RobotType.ZOMBIEDEN) {
// It is likely that we wanted to go to that den, but possibly coincidence
// If not a coincidence, bug there.
if (bugging != null) {
if (bugging.destination.equals(closestEnemy.location)) {
bugging.turretAvoidMove(turretLocations);
// If coincidence, set new bugging.
} else {
bugging = new Bugging(rc, closestEnemy.location);
bugging.turretAvoidMove(turretLocations);
}
} else {
bugging = new Bugging(rc, closestEnemy.location);
bugging.turretAvoidMove(turretLocations);
}
}
}
}
}
if (rc.isWeaponReady() && rc.canAttackLocation(closestEnemy.location)) {
broadcastingAttack(rc, closestEnemy);
}
}
private static void rushMicro(RobotController rc, RobotInfo[] hostiles)
throws GameActionException {
// Prioritizes attacking turrets.
RobotInfo bestEnemy = null;
boolean canAttackBestEnemy = false;
int bestEnemyDist = 10000; // only care if can't hit
for (RobotInfo hostile : hostiles) {
// Can attack this enemy.
int dist = myLoc.distanceSquaredTo(hostile.location);
// Summary:
// Prioritizes enemies over zombies.
// Prioritizes turret enemies over other enemies.
// Prioritizes lowest health enemy last
if (dist <= attackRadius) {
if (bestEnemy != null) {
if (bestEnemy.team == enemyTeam) { // best is already enemy
if (hostile.team == enemyTeam) { // found an enemy
if (countsAsTurret(bestEnemy.type)) {
if (countsAsTurret(hostile.type)) {
// Take lowest health
if (bestEnemy.health > hostile.health) bestEnemy = hostile;
}
} else {
if (countsAsTurret(hostile.type)) {
bestEnemy = hostile;
} else {
// Take lowest health
if (bestEnemy.health > hostile.health) bestEnemy = hostile;
}
}
}
} else { // best is not an enemy!
if (hostile.team == enemyTeam) { // found an enemy
bestEnemy = hostile;
} else {
// Take lowest health
if (bestEnemy.health > hostile.health) bestEnemy = hostile;
}
}
} else {
bestEnemy = hostile;
}
canAttackBestEnemy = true;
} else {
// Only update best enemy if you can't attack best enemy
if (!canAttackBestEnemy) {
if (bestEnemy != null) {
// Pick the closest one
if (bestEnemyDist > dist) {
bestEnemyDist = dist;
bestEnemy = hostile;
}
} else {
bestEnemyDist = dist;
bestEnemy = hostile;
}
}
}
}
rc.setIndicatorString(0, "Round: " + rc.getRoundNum() + ", Best enemy: " + bestEnemy);
if (rc.isCoreReady()) {
// If there is a best enemy, attack him.
if (bestEnemy != null) {
// Move closer only if blocking someone.
if (rc.canAttackLocation(bestEnemy.location)) {
if (isBlockingSomeone(rc, bestEnemy.location)) {
Direction desired = myLoc.directionTo(bestEnemy.location);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
}
// If can't attack it, move closer!
else {
Direction desired = myLoc.directionTo(bestEnemy.location);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(dir.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
}
// Otherwise move closer to destination
else {
if (currentDestination != null) {
RobotInfo info = null;
if (rc.canSenseLocation(currentDestination)) {
info = rc.senseRobotAtLocation(currentDestination);
}
if (info != null) {
// If can attack it, just only move closer if blocking someone behind.
if (rc.canAttackLocation(info.location)) {
if (isBlockingSomeone(rc, currentDestination)) {
Direction desired = myLoc.directionTo(currentDestination);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
}
// If can't attack it, move closer!
else {
Direction desired = myLoc.directionTo(currentDestination);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
}
// If not there, just move closer.
else {
Direction desired = myLoc.directionTo(currentDestination);
Direction dir = Movement.getBestMoveableDirection(desired, rc, 2);
if (dir != Direction.NONE) {
rc.move(dir);
} else if (shouldMine(rc, desired)) {
rc.clearRubble(desired);
} else if (shouldMine(rc, desired.rotateLeft())) {
rc.clearRubble(desired.rotateLeft());
} else if (shouldMine(rc, desired.rotateRight())) {
rc.clearRubble(desired.rotateRight());
}
}
}
}
}
// Attack whenever you can.
if (bestEnemy != null) {
if (rc.isWeaponReady()) {
if (rc.canAttackLocation(bestEnemy.location)) {
broadcastingAttack(rc, bestEnemy);
}
}
}
}
