// @param allowGreaterDistance whether or not the robot is allowed to move further away in moving
// toward
public Direction moveToward(MapLocation location, Boolean allowGreaterDistance)
throws GameActionException {
if (location == null) return null;
MapLocation currentLocation = this.robot.locationController.currentLocation();
double currentDistance = currentLocation.distanceSquaredTo(location);
Direction direction = this.robot.robotController.getLocation().directionTo(location);
int directionInteger = directionToInt(direction);
int[] offsets = {0, 1, -1, 2, -2};
for (int offset : offsets) {
direction = MovementController.directionFromInt(directionInteger + offset);
MapLocation moveLocation = currentLocation.add(direction);
if (!allowGreaterDistance && moveLocation.distanceSquaredTo(location) > currentDistance)
continue;
if (this.moveTo(direction)) {
return direction;
}
}
return null;
}
public Direction moveToward(MapLocation location, Boolean allowGreaterDistance, int[] offsets)
throws GameActionException {
if (location == null) return null;
MapLocation currentLocation = this.robot.locationController.currentLocation();
double currentDistance = currentLocation.distanceSquaredTo(location);
Direction direction = currentLocation.directionTo(location);
int directionInteger = directionToInt(direction);
if (this.actualLastPosition != null
&& currentLocation.distanceSquaredTo(this.actualLastPosition) <= 1) this.turnsStuck++;
if (this.turnsStuck > 1) return this.moveAroundObstacleToward(location);
if (moveTo(direction)) {
this.actualLastPosition = currentLocation;
return direction;
} else {
for (int offset : offsets) {
Direction directionOne = MovementController.directionFromInt(directionInteger + offset);
Direction directionTwo = MovementController.directionFromInt(directionInteger - offset);
direction =
this.moveTowardDirections(
currentLocation,
location,
directionOne,
directionTwo,
allowGreaterDistance,
currentDistance);
if (direction != null) {
this.actualLastPosition = currentLocation;
return direction;
}
}
}
this.turnsStuck++;
return null;
}
public static Direction directionWithOffset(Direction direction, int offset) {
return MovementController.directionFromInt(
MovementController.directionToInt(direction) + offset);
}
