/**
* Changes the positions of the worm as a result of a jump from the current position.
*
* @post If the worm jumped out of the map it will have been removed.
* |this.getWorld().getWorms().contains(this) == false
* @post The worm jumped to the correct position | while (world.isPassable(tempXpos, tempYpos,
* this.getRadius())) | tempXpos = this.jumpStep(t)[0] | tempYpos = this.jumpStep(t)[1] | t +=
* timeStep | if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius())) && |
* (Math.sqrt(Math.pow((origXpos-tempXpos), 2)+Math.pow((origYpos-tempYpos),
* 2))>=this.getRadius() )) | new.getXpos() == tempXpos | new.getYpos() == tempYpos
* @post The worm's actionpoints are reduced to zero. |new.getActionPoints() == 0;
* @throws IllegalStateException When the worm has no action point left to jump the exception is
* thrown. |! canJump()
*/
@Raw
public void jump(Double timeStep) throws IllegalStateException {
if (this.canJump()) {
World world = this.getWorld();
double origXpos = this.getXpos();
double origYpos = this.getYpos();
double tempXpos = this.getXpos();
double tempYpos = this.getYpos();
double t = 0;
while (world.isPassable(tempXpos, tempYpos, this.getRadius())) {
tempXpos = this.jumpStep(t)[0];
tempYpos = this.jumpStep(t)[1];
t += timeStep;
if (isOutOfTheMap(tempXpos, tempYpos)) {
this.killWorm();
break;
}
if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius()))
&& (Math.sqrt(Math.pow((origXpos - tempXpos), 2) + Math.pow((origYpos - tempYpos), 2))
>= this.getRadius())) {
this.setXpos(tempXpos);
this.setYpos(tempYpos);
this.consumeFood();
this.setActionPoints(0);
break;
}
}
} else throw new IllegalStateException();
}
/**
* Returns the time it takes to worm to jump (to his new position).
*
* @throws IllegalStateException If the worm can't jump the exception is thrown. | ! canJump()
*/
@Raw
public double jumpTime(double timeStep) throws IllegalStateException {
World world = this.getWorld();
double origXpos = this.getXpos();
double origYpos = this.getYpos();
double tempXpos = this.getXpos();
double tempYpos = this.getYpos();
double t = 0;
if (this.canJump()) {
while (world.isPassable(tempXpos, tempYpos, this.getRadius())) {
tempXpos = this.jumpStep(t)[0];
tempYpos = this.jumpStep(t)[1];
t += timeStep;
if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius()))
&& (Math.sqrt(Math.pow((origXpos - tempXpos), 2) + Math.pow((origYpos - tempYpos), 2))
>= this.getRadius())) {
return t;
}
if (isOutOfTheMap(tempXpos, tempYpos)) {
return t;
}
}
return t;
} else throw new IllegalStateException();
}
/**
* Makes the worm fall, if it can fall, until the worm falls on an obstacle or falls out of the
* map.
*
* @post The worm has fallen to a new position that is adjacent. The x-position stays the same but
* the y-position changes. |this.getWorld().isAdjacent(new.getXpos(),new.getYpos(),
* new.getDirecetion) == true |new.getXpos()==old.getXpos() |while
* (world.isPassable(this.getXpos(), this.getYpos(), this.getRadius())) | newYpos =
* this.getYpos()-this.getRadius() | if (this.getYpos()<0) | then new.getYpos ==
* (this.getRadius()*1.1) | break; | else if ((this.getYpos()>=0)){ | while
* (!world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius())) | newYpos =
* (this.getYpos()+0.1*this.getRadius()) | new.getYpos() == newYpos
* @post The worms hitpoints are correctly reduced. |new.getHitPoints() == old.getHitPoints() -
* 3*distance
* @post After the fall the worm could be on food this gets checked. | this.consumeFood()
* @throws IllegalStateException If the worm can't fall because he is on adjacent terrain the
* exception is thrown. | ! canFall()
*/
@Raw
public void fall() throws IllegalStateException {
World world = this.getWorld();
double distance = 0;
boolean trigger = false;
if (canFall()) {
while (world.isPassable(this.getXpos(), this.getYpos(), this.getRadius())) {
this.setYpos(this.getYpos() - this.getRadius());
distance += this.getRadius();
if (this.getYpos() < 0) {
this.setYpos(0 + this.getRadius() * 1.1);
trigger = true;
break;
}
}
if ((this.getYpos() >= 0) && !trigger) {
while (!world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius())) {
this.setYpos(this.getYpos() + 0.1 * this.getRadius());
distance -= 0.1 * this.getRadius();
}
}
this.setHitPoints(this.getHitPoints() - (3 * (int) Math.floor(distance)));
this.consumeFood();
} else {
throw new IllegalStateException();
}
}
/**
* Returns true if the worm is positioned in passable terrain and adjacent to impassable terrain.
*/
@Raw
private boolean canMove() {
World world = this.getWorld();
return world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius());
}
/**
* The method makes the worm move to a next position that is adjacent to impassable terrain
* following the slope of that terrain in the direction. The worm shall aim to maximize the
* distance while minimizing the divergence. If no such location exists because all locations in
* the direction +- 0,7875 are impassable the worm shall remain at its current position. If
* locations in the direction are passable but not adjacent the worm shall move there and then
* drop passively.
*
* @post If the worm can maximize the distance while minimizing the divergence, the worm has moved
* to the optimal location. |for (double a = 0.1;a<=this.getRadius();a=a+(0.01*a)) { | x2 =
* x+Math.cos(direction)*a; | y2 = y+Math.sin(direction)*a; | if (world.isAdjacent(x2, y2,
* this.getRadius()) && | world.isPassable(x2, y2, this.getRadius())) { | double d =
* Math.sqrt(Math.pow((x-x2),2)+Math.pow((y-y2),2)); | double s = Math.atan((x-x2)/(y-y2)); |
* if ((d>=maxD) && (s<minS)) { | minS=s; | maxD=d; | x2Max = x2; | y2Max= y2; | direction =
* direction +0.0175; |new.getXpos()==x2Max |new.getYpos() == y2Max
* @post If the worm can't maximize the distance while minimizing the divergence and there is only
* impassable terrain in the checked directions, the worm will not have moved. |new.getXpos()
* == old.getXpos() |new.getYpos() == old.getYpos()
* @post If the worm can't maximize the distance while minimizing the divergence and there is only
* passable terrain in the checked directions that is not adjacent, the worm will move there.
* |new.getXpos() == old.getXpos() + cos(direction)*radius |new.getYpos() == old.getYpos() +
* sin(direction)*radius
* @post The worms actionpoints are correctly reduced. |new.getActionPoints ==
* old.getActionPoints() - old.computeCost2(old.getXpos(),old.getYpos())
* @throws IllegalArgumentException If the worm can't move because he has insufficient
* actionpoints the exception is thrown. | ! isValidStep()
* @throws IllegalStateException If the worm can't move because the worm isn't positioned in
* passable terrain and adjacent to impassable terrain the exception is thrown. | ! canMove()
*/
@Raw
public void move() throws IllegalArgumentException, IllegalStateException {
if (!isValidStep()) throw new IllegalArgumentException();
if (canMove()) {
World world = this.getWorld();
double x = this.getXpos();
double y = this.getYpos();
double prevx = x;
double prevy = y;
double x2 = x;
double y2 = y;
double x2Max = x2;
double y2Max = y2;
double c = -0.7875;
double direction = this.getDirection() + c;
double maxD = 0;
double minS = this.getDirection();
// geval 1: na gaan of in direction+-45° er een gischike volgende positie is
// en zo ja, ernaar verplaatsen.
for (double a = 0.1; a <= this.getRadius(); a = a + (0.01 * a)) {
x2 = x + Math.cos(direction) * a;
y2 = y + Math.sin(direction) * a;
if (world.isAdjacent(x2, y2, this.getRadius())
&& world.isPassable(x2, y2, this.getRadius())) {
double d = Math.sqrt(Math.pow((x - x2), 2) + Math.pow((y - y2), 2));
double s = Math.atan((x - x2) / (y - y2));
if ((d >= maxD) && (s < minS)) {
minS = s;
maxD = d;
x2Max = x2;
y2Max = y2;
}
}
direction = direction + 0.0175;
}
if (this.isOutOfTheMap(x2Max, y2Max)) {
this.killWorm();
} else {
this.setXpos(x2Max);
this.setYpos(y2Max);
this.setActionPoints(this.getActionPoints() - this.computeCost2(prevx, prevy));
}
// geval2: Er werd in direction+-45° geen geschikte plaats gevonden
// nagaan of er in direction naar een passable locatie kan verplaatst worden,
// daarnaar verplaatsen en dan vallen (fall).
if ((x2Max == x) && (y2Max == y)) {
double pasXpos = x;
double pasYpos = y;
pasXpos = (x + (Math.cos(this.getDirection()) * this.getRadius()));
pasYpos = (y + (Math.sin(this.getDirection()) * this.getRadius()));
if (!world.isAdjacent(pasXpos, pasYpos, this.getRadius())
&& world.isPassable(pasXpos, pasYpos, this.getRadius())) {
if (this.isOutOfTheMap(pasXpos, pasYpos)) {
this.killWorm();
} else {
this.setXpos(pasXpos);
this.setYpos(pasYpos);
this.setActionPoints(this.getActionPoints() - this.computeCost2(prevx, prevy));
}
}
}
this.consumeFood();
} else throw new IllegalStateException();
}
/**
* Checks if the worm can fall. That is if the worm's position is passable and is not adjacent.
*
* @return True if the worm can fall. False if the worm can't fall. |
* world.isPassable(this.getXpos(), this.getYpos(), this.getRadius()) &&
* |!world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius()));
*/
@Raw
public boolean canFall() {
World world = this.getWorld();
return (world.isPassable(this.getXpos(), this.getYpos(), this.getRadius())
&& !world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius()));
}
