// figures out the better of two directions to go in
private Direction moveTowardDirections(
MapLocation currentLocation,
MapLocation desiredLocation,
Direction directionOne,
Direction directionTwo,
Boolean allowGreaterDistance,
double currentDistance)
throws GameActionException {
Direction direction = null;
MapLocation moveLocationOne = currentLocation.add(directionOne);
MapLocation moveLocationTwo = currentLocation.add(directionTwo);
MapLocation moveLocation = null;
int moveLocationInteger =
(moveLocationOne.distanceSquaredTo(desiredLocation)
<= moveLocationTwo.distanceSquaredTo(desiredLocation))
? 1
: 2;
if (moveLocationInteger == 1) {
moveLocation = moveLocationOne;
direction = directionOne;
} else {
moveLocation = moveLocationTwo;
direction = directionTwo;
}
if (!allowGreaterDistance && moveLocation.distanceSquaredTo(desiredLocation) > currentDistance)
return null;
if (this.moveTo(direction)) {
return direction;
} else {
if (moveLocationInteger == 1) {
moveLocation = moveLocationTwo;
direction = directionTwo;
} else {
moveLocation = moveLocationOne;
direction = directionOne;
}
if (!allowGreaterDistance
&& moveLocation.distanceSquaredTo(desiredLocation) > currentDistance) return null;
if (this.moveTo(direction)) {
return direction;
}
}
return null;
}
public Boolean canMoveSafely(
Direction direction, Boolean moveAroundHQ, Boolean moveAroundTowers, Boolean moveAroundUnits)
throws GameActionException {
if (direction == null) return false;
RobotController rc = this.robot.robotController;
Boolean canMove = rc.canMove(direction);
if (!canMove) return false;
// run some initial checks
MapLocation towerLocation = this.robot.locationController.enemyTowerInRange();
if (towerLocation != null) moveAroundTowers = false;
// start checking if we can move
MapLocation currentLocation = this.robot.locationController.currentLocation();
MapLocation moveLocation = currentLocation.add(direction);
if (moveAroundHQ) {
MapLocation[] towers = this.robot.unitController.enemyTowers();
if (moveLocation.distanceSquaredTo(this.robot.locationController.enemyHQLocation())
<= HQ.enemyAttackRadiusSquared(towers.length)) return false;
}
if (moveAroundTowers) {
MapLocation[] towers = this.robot.unitController.enemyTowers();
for (MapLocation tower : towers) {
if (moveLocation.distanceSquaredTo(tower) <= Tower.type().attackRadiusSquared) return false;
}
}
if (moveAroundUnits) {
double buffer = 0;
if (this.robot.type == Launcher.type()) buffer = 10;
RobotInfo[] enemies = this.robot.unitController.nearbyEnemies();
for (RobotInfo enemy : enemies) {
this.robot.broadcaster.evaluateSeenLaunchersWithType(enemy.type);
if (!UnitController.isUnitTypeDangerous(enemy.type)) continue;
if (moveLocation.distanceSquaredTo(enemy.location)
<= enemy.type.attackRadiusSquared + buffer) return false;
}
}
return true;
}
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.lastPosition != null && currentLocation.distanceSquaredTo(this.lastPosition) <= 1)
this.turnsStuck++;
if (this.turnsStuck > 1) return this.moveAroundObstacleToward(location);
if (moveTo(direction)) {
this.lastPosition = 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.lastPosition = currentLocation;
return direction;
}
}
}
this.turnsStuck++;
return null;
}
// follows a wall until it can move towards it's initial target, switching directions if it gets
// stuck
public Direction moveAroundObstacleToward(MapLocation location) throws GameActionException {
if (this.traversalDirection == 0) { // start with a random traversal direction
if (this.robot.random.nextBoolean()) this.traversalDirection = -1;
else this.traversalDirection = 1;
}
MapLocation robotLocation = this.robot.locationController.currentLocation();
Direction directionToTarget = robotLocation.directionTo(location);
Direction directionToLastPosition =
this.lastPosition != null ? robotLocation.directionTo(this.lastPosition) : null;
int switchedDirection = 0;
this.robot.robotController.setIndicatorString(
2,
"Traversal Direction "
+ this.traversalDirection
+ " Dir to target "
+ directionToTarget
+ " Dir to LP "
+ directionToLastPosition);
// see if it can move toward it's target
if (directionToTarget == directionToLastPosition || !this.moveTo(directionToTarget)) {
if (this.lastLastPosition != null
&& robotLocation.distanceSquaredTo(this.lastLastPosition)
<= 1) { // if just moved in a triangle
this.traversalDirection = -this.traversalDirection;
}
this.robot.robotController.setIndicatorString(2, "I CAN'T move towards target");
// traverse along obstacle, switching directions if it hits a dead end or outer wall
for (int i = 1; i < 8 && switchedDirection <= 1; i++) {
Direction direction =
MovementController.directionWithOffset(directionToTarget, i * this.traversalDirection);
MapLocation nextLocation = robotLocation.add(direction);
this.robot.robotController.setIndicatorDot(nextLocation, 255, 255, 255);
if (!direction.equals(directionToLastPosition)) {
if (this.robot.movementController.moveTo(direction)) {
this.lastLastPosition = this.lastPosition;
this.lastPosition = robotLocation;
return direction;
} else {
if (this.robot
.robotController
.senseTerrainTile(nextLocation)
.equals(TerrainTile.OFF_MAP)) {
this.traversalDirection =
-this
.traversalDirection; // Might need to do additional checks if this switches
// too often
i = 0;
switchedDirection++;
}
}
}
}
} else {
this.robot.robotController.setIndicatorString(2, "I can move towards target");
this.robot.robotController.setIndicatorLine(robotLocation, location, 255, 255, 255);
this.turnsStuck = 0;
return directionToTarget;
}
// System.out.println("Didn't find move location.");
return null;
}