private boolean recursiveRoad(
List<Pair<Speed, Duration>> speedDurList,
List<Pos> pp,
Pos act,
Pos to,
int initDir,
int nr,
double time) {
if (nr > 100) {
return false;
}
if (to.dist(act) == 0) return true;
// closer
for (int j = 0; j <= 1; j++) {
for (int i = 0; i < Direction.values().length; i++) {
int d = (i + initDir) % Direction.values().length;
Pos p = getNextPos(act, Direction.values()[d]);
if (!env.getLayerModel().isRoad(p)) continue;
if (j == 0) {
if (to.dist(p) > to.dist(act)) {
continue;
}
}
if (pp.contains(p)) {
continue;
}
// if( checkCars ){
// if( env.getSchedule().isCar( x-1, x+1, y-1, y+1, (long)time ) ){
// continue;
// }
// }
int id = rnd.nextInt(Direction.values().length);
pp.add(p);
boolean ok = recursiveRoad(speedDurList, pp, p, to, id, nr + 1, time + 1);
if (ok) return true;
pp.remove(pp.size() - 1);
}
}
return false;
}
private Route createNoAccidentRoute(Request r, Bot car) {
Pos from = new Pos(r.getFrom());
Pos to = new Pos(r.getTo());
int id = rnd.nextInt(Direction.values().length);
boolean found = false;
final double startTime = r.getFromTime();
List<Pair<Speed, Duration>> speedDurList = new ArrayList<Pair<Speed, Duration>>();
List<Pos> pp = new ArrayList<Pos>();
pp.add(from);
double time = startTime;
while (!found) {
pp.clear();
speedDurList.clear();
found = recursiveRoad(speedDurList, pp, from, to, id, 0, time);
time += deltaTime;
}
if (!found) {
return null;
// throw new RuntimeException("Can't find good rout");
}
if (pp.size() > 1) {
double priorTime = startTime;
Pos prior = pp.get(0);
for (int i = 1; i < pp.size(); i++) {
Pos next = pp.get(i);
Speed s = new Speed((next.x - prior.x) / deltaTime, (next.y - prior.y) / deltaTime);
double nextTime = priorTime + deltaTime;
Duration d = new Duration((long) priorTime, (long) nextTime);
Pair<Speed, Duration> pair = new Pair<Speed, Duration>(s, d);
speedDurList.add(pair);
prior = next;
priorTime = nextTime;
}
}
Route route = new RouteImp(car, speedDurList, pp, from, 0, r);
// for(int i=0; i<1000; i++){
// long t = (long)(env.getTimeMs() + i*deltaTime/10);
//
// Pos ppp = route.getPos(t);
//
// System.out.println( "xxx: "+ppp );
//
// }
return route;
}