public void paint(Graphics2D g) {
if (targetManager.getAliveTargetCount() == 0) {
return;
}
g.setColor(Color.RED);
for (Target t : targetManager.getAliveTargets()) {
final Target another = targetManager.getClosestTergetToT(t);
final double dist = another.aDistance(t) * 2 + 20;
g.drawOval((int) (t.getX() - dist / 2), (int) (t.getY() - dist / 2), (int) dist, (int) dist);
g.drawLine((int) t.getX(), (int) t.getY(), (int) another.getX(), (int) another.getY());
}
}
public boolean match() {
if (robot.getOthers() > 5 || targetManager.getAliveTargetCount() == 0) {
return false;
}
Map<Target, Double> dists = new HashMap<Target, Double>();
final java.util.List<Target> aliveTargets = targetManager.getAliveTargets();
for (Target t : aliveTargets) {
final Target closest = targetManager.getClosestTergetToT(t);
if (closest == null) {
return false;
}
dists.put(t, closest.aDistance(t) + 80);
}
LXXPoint candidate = dest;
Target closest = targetManager.getClosestTarget();
for (int i = 0; i < 20; i++) {
double angle =
Utils.angle(closest.getPosition(), robot.getPosition())
+ Math.random() * LXXConstants.RADIANS_20
- LXXConstants.RADIANS_10;
double dist = dists.get(closest);
if (candidate == null) {
candidate =
new LXXPoint(closest.getX() + sin(angle) * dist, closest.getY() + cos(angle) * dist);
}
for (Target t : aliveTargets) {
final double d = t.aDistance(candidate);
if (d < dists.get(t)) {
candidate = null;
break;
}
}
if (candidate != null && robot.getBattleField().contains(candidate)) {
break;
}
candidate =
new LXXPoint(closest.getX() + sin(angle) * dist, closest.getY() + cos(angle) * dist);
}
dest = candidate;
return candidate != null
&& robot.getBattleField().contains(candidate)
&& StaticData.robot.getDestination().aDistance(dest) > 20;
}