/**
* Follow the waypoint stored in currentWaypoint
*
* @param defuseMines whether or not to defuse mines while following waypoints
* @throws GameActionException
*/
public static void followWaypoints(boolean defuseMines, boolean swarm)
throws GameActionException {
// If we're close to currentWaypoint, find the next one
if (rc.getLocation().distanceSquaredTo(destination) <= Constants.PATH_GO_ALL_IN_SQ_RADIUS) {
// Stop nav-ing?
navMode = NavMode.REGULAR;
// We're done following waypoints
if (defuseMines) {
goToLocation(destination);
} else {
goToLocationAvoidMines(destination);
}
} else if (rc.getLocation().distanceSquaredTo(currentWaypoint)
<= Constants.WAYPOINT_SQUARED_DISTANCE_CHECK) {
// We're close to currentWaypoint, so find the next one
switch (navMode) {
case SMART:
getSmartWaypoint();
break;
case BACKDOOR:
getBackdoorWaypoint();
break;
default:
break;
}
if (defuseMines) {
if (swarm) {
// rc.setIndicatorString(2, currentWaypoint.toString());
goToLocationSwarm(currentWaypoint, true);
} else {
goToLocation(currentWaypoint);
}
} else {
if (swarm) {
goToLocationSwarm(currentWaypoint, false);
} else {
goToLocationAvoidMines(currentWaypoint);
}
}
} else {
// Keep moving to the current waypoint
if (defuseMines) {
if (swarm) {
// rc.setIndicatorString(2, currentWaypoint.toString());
goToLocationSwarm(currentWaypoint, true);
} else {
goToLocation(currentWaypoint);
}
} else {
if (swarm) {
goToLocationSwarm(currentWaypoint, false);
} else {
goToLocationAvoidMines(currentWaypoint);
}
}
}
}
/**
* Sets up the backdoor navigation system for a given endLocation.
*
* @param endLocation
* @throws GameActionException
*/
public static void setupBackdoorNav(MapLocation endLocation) throws GameActionException {
navMode = NavMode.BACKDOOR;
destination = endLocation;
// Calculate all the waypoints first and save them (this is different from smart nav)
MapLocation currentLocation = rc.getLocation();
Direction dirToEndLocation = currentLocation.directionTo(endLocation);
// How close are we to the wall?
int horzDistanceToWall = mapWidth / 2 - Math.abs(endLocation.x - mapCenter.x);
int vertDistanceToWall = mapHeight / 2 - Math.abs(endLocation.y - mapCenter.y);
int distanceToWall = (int) (0.8 * Math.min(horzDistanceToWall, vertDistanceToWall));
MapLocation firstWaypoint = currentLocation.add(dirToEndLocation, -distanceToWall);
MapLocation lastWaypoint = endLocation.add(dirToEndLocation, distanceToWall);
backdoorWaypoints = new MapLocation[] {firstWaypoint, null, null, lastWaypoint};
// Now let's try to find some intermediate waypoints to follow
// Let's see if we should move horizontally first or vertically first
int dx = endLocation.x - currentLocation.x;
int dy = endLocation.y - currentLocation.y;
if (Math.abs(dx) > Math.abs(dy)) {
// We're vertically really close, but not horizontally, so move vertically first
if (Util.Random() < 0.5) {
// Try moving up, then horizontally, then down to endLocation
backdoorWaypoints[1] = new MapLocation(currentLocation.x, Constants.BACKDOOR_WALL_BUFFER);
// We need to know if endLocation is closer to the left wall or the right wall
if (endLocation.x < mapWidth - endLocation.x) { // left wall
backdoorWaypoints[2] =
new MapLocation(Constants.BACKDOOR_WALL_BUFFER, Constants.BACKDOOR_WALL_BUFFER);
} else { // right wall
backdoorWaypoints[2] =
new MapLocation(
mapWidth - 1 - Constants.BACKDOOR_WALL_BUFFER, Constants.BACKDOOR_WALL_BUFFER);
}
} else {
// Try moving down, then horizontally, then up to endLocation
backdoorWaypoints[1] =
new MapLocation(currentLocation.x, mapHeight - Constants.BACKDOOR_WALL_BUFFER);
// We need to know if endLocation is closer to the left wall or the right wall
if (endLocation.x < mapWidth - endLocation.x) { // left wall
backdoorWaypoints[2] =
new MapLocation(
Constants.BACKDOOR_WALL_BUFFER, mapHeight - 1 - Constants.BACKDOOR_WALL_BUFFER);
} else { // right wall
backdoorWaypoints[2] =
new MapLocation(
mapWidth - 1 - Constants.BACKDOOR_WALL_BUFFER,
mapHeight - 1 - Constants.BACKDOOR_WALL_BUFFER);
}
}
} else {
// We're horizontally really close, but not vertically, so move horizontally first
if (Util.Random() < 0.5) {
// Try moving left, then vertically, then right to endLocation
backdoorWaypoints[1] = new MapLocation(Constants.BACKDOOR_WALL_BUFFER, currentLocation.y);
// We need to know if endLocation is closer to the top wall or the bottom wall
if (endLocation.y < mapHeight - endLocation.y) { // top wall
backdoorWaypoints[2] =
new MapLocation(Constants.BACKDOOR_WALL_BUFFER, Constants.BACKDOOR_WALL_BUFFER);
} else { // bottom wall
backdoorWaypoints[2] =
new MapLocation(
Constants.BACKDOOR_WALL_BUFFER, mapHeight - 1 - Constants.BACKDOOR_WALL_BUFFER);
}
} else {
// Try moving right, then vertically, then left to endLocation
backdoorWaypoints[1] =
new MapLocation(mapWidth - Constants.BACKDOOR_WALL_BUFFER, currentLocation.y);
// We need to know if endLocation is closer to the top wall or the bottom wall
if (endLocation.y < mapHeight - endLocation.y) { // top wall
backdoorWaypoints[2] =
new MapLocation(
mapWidth - 1 - Constants.BACKDOOR_WALL_BUFFER, Constants.BACKDOOR_WALL_BUFFER);
} else { // bottom wall
backdoorWaypoints[2] =
new MapLocation(
mapWidth - 1 - Constants.BACKDOOR_WALL_BUFFER,
mapHeight - 1 - Constants.BACKDOOR_WALL_BUFFER);
}
}
}
// Upon calling getBackdoorWaypoint(), backdoorWaypointsIndex will be incremented by 1
backdoorWaypointsIndex = -1;
getBackdoorWaypoint();
}
