private void computeOutPath() throws GameActionException {
Pair<Direction, Integer> pathingInfo = messagingSystem.readPathingInfo(dest);
if (pathingInfo.first == null) {
outPath = null;
return;
}
RC.setIndicatorString(1, "Computing outPath");
outPath = new LocSet();
distances = new int[MAP_SIZE];
MapLocation loc = dest;
int d = pathingInfo.second;
while (!loc.equals(DIJKSTRA_CENTER)) {
pathingInfo = messagingSystem.readPathingInfo(loc);
distances[outPath.size] = d - pathingInfo.second;
outPath.insert(loc);
loc = loc.subtract(pathingInfo.first);
}
int[] diffs = new int[outPath.size - 1];
for (int i = diffs.length; --i > 0; ) {
diffs[i] = distances[i + 1] - distances[i];
}
// heuristic to prefer further away points on the path (which may be closer to us)
for (int i = 1; i < outPath.size; i++) {
distances[i] = distances[i - 1] + Math.max(1, diffs[i - 1] * 100 / (100 + 10 * i));
}
}
private boolean moveToPath() throws GameActionException {
if (dstar == null) {
dstar = new DStar(outPath, distances, currentLocation);
}
if (!dstar.arrived(currentLocation)) {
dstar.compute(7000);
}
if (!RC.isActive()) return true;
Direction dir = Direction.NORTH, best = null;
int min = Integer.MAX_VALUE;
for (int i = 0; i < 8; i++) {
int d = RC.canMove(dir) ? dstar.getDistance(currentLocation.add(dir)) : Integer.MAX_VALUE;
if (d < min) {
min = d;
best = dir;
}
dir = dir.rotateRight();
}
if (best != null && move(best)) {
RC.setIndicatorString(1, "Moving to outPath");
return true;
} else {
return false;
}
}
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;
}
public void move(MovementType movementType) throws GameActionException {
if (currentLocation.equals(dest)) return;
this.movementType = movementType;
// try computing the outpath if it isn't set
if (outPath == null) {
computeOutPath();
}
if (outPath != null) {
if (!moveToPath()) {
simpleMove(dest);
RC.setIndicatorString(1, "dstar failed, simpleMove to dest");
}
} else {
simpleMove(dest);
RC.setIndicatorString(1, "no outPath, simpleMove to dest");
}
}
@Override
public void run() throws GameActionException {
if (luge()) { // luge = micro
// set mode to ATTACK or something
return;
// send message?
} else if (mode != Mode.ENGAGE
&& mode != Mode.ACQUIRE_TARGET
&& mode != Mode.BIRTH_DECIDE_MODE
&& mode != Mode.FIND_PASTR_LOC
&& mode != Mode.BUILD_PASTR) {
if (ENEMY_MILK - ALLY_MILK > 50000 || ENEMY_PASTR_COUNT > ALLY_PASTR_COUNT) {
changeMode(Mode.ACQUIRE_TARGET);
} else {
// try to build pastures if late in game
// probably deprecated (doesn't happen)
if (currentRound > 1800 && ENEMY_PASTR_COUNT > ALLY_PASTR_COUNT && !panicPastrBuilding) {
if (currentCowsHere < 150) {
panicPastrBuilding = true;
dest = ALLY_HQ.subtract(ALLY_HQ.directionTo(ENEMY_HQ));
mover.setTarget(dest);
sneakToBuildingLoc = 1;
changeMode(Mode.FIND_PASTR_LOC);
} else if (currentCowsHere < 400) {
panicPastrBuilding = true;
mover.setTarget(ALLY_HQ);
changeMode(Mode.RETURN_HOME);
}
} else if (!initialSweep) {
// stand on rich squares
MapLocation loc = findRichSquare();
if (loc != null) {
mover.setTarget(loc);
changeMode(Mode.STAND_RICH_LOC);
}
}
}
}
switch (mode) {
case BIRTH_DECIDE_MODE:
int robotNum = RC.senseRobotCount();
if (ENEMY_PASTR_COUNT > ALLY_PASTR_COUNT + 1
|| (robotNum + currentRound / 100 > 22 && ENEMY_PASTR_COUNT > ALLY_PASTR_COUNT)) {
roleIndex = ALLY_PASTR_COUNT % 4;
role = Role.PASTR;
changeMode(Mode.FIND_PASTR_LOC);
dest =
new MapLocation(
(ALLY_HQ.x + roleLocList[roleIndex].x) / 2,
(ALLY_HQ.y + roleLocList[roleIndex].y) / 2);
} else {
roleIndex = robotNum % 4;
role = roleList[roleIndex];
changeMode(Mode.SWEEP_OUT);
dest = roleLocList[roleIndex];
initialSweep = true;
}
mover.setTarget(dest);
mover.move();
break;
case GOING_TO_MIDDLE:
if (mover.arrived()) {
decideNextMode();
} else {
mover.movePushHome();
}
break;
case SWEEP_OUT:
if (mover.arrived()) {
dest =
new MapLocation(
(2 * ALLY_HQ.x + roleLocList[roleIndex].x) / 3,
(2 * ALLY_HQ.y + roleLocList[roleIndex].y) / 3);
mover.setTarget(dest);
changeMode(Mode.RETURN_HOME);
} else {
mover.movePushHome();
}
break;
case RETURN_HOME:
if (mover.arrived()) {
dest = roleLocList[roleIndex];
mover.setTarget(dest);
changeMode(Mode.SWEEP_OUT);
initialSweep = false;
} else {
mover.movePushHome();
}
break;
case STAND_RICH_LOC:
if (!mover.arrived()) {
mover.sneak();
} else {
RC.setIndicatorString(1, "cows here: " + currentCowsHere);
if (currentCowsHere < 500) {
mover.setTarget(roleLocList[roleIndex]);
changeMode(Mode.SWEEP_OUT);
}
}
break;
case FIND_PASTR_LOC:
if (mover.arrived()) {
changeMode(Mode.BUILD_PASTR);
} else {
mover.execute(sneakToBuildingLoc);
}
break;
case BUILD_PASTR:
if (!RC.isConstructing() && RC.isActive()) {
RC.construct(RobotType.PASTR);
}
if (RC.getConstructingRounds() == 0) {
buildingFinished = true;
}
break;
case ACQUIRE_TARGET:
int mindistance = 10000000;
MapLocation pastrTarget = null;
for (MapLocation pastrLoc : ENEMY_PASTR_LOCS) {
int d = currentLocation.distanceSquaredTo(pastrLoc);
if (d < mindistance) {
mindistance = d;
pastrTarget = pastrLoc;
}
}
if (pastrTarget == null) {
mover.setTarget(ALLY_HQ);
changeMode(Mode.RETURN_HOME);
} else {
mover.setTarget(pastrTarget);
changeMode(Mode.ENGAGE);
mover.move();
}
break;
case ENGAGE:
if (mover.arrived()) {
changeMode(Mode.RETURN_HOME);
} else {
mover.move();
}
break;
default:
break;
}
}
private void changeMode(Mode m) {
RC.setIndicatorString(0, currentRound + ": " + m.toString() + " " + role.toString());
mode = m;
}