/** Replace path[index+1] by the zigzag point with the given angle */
private void addZigZag(List<Vector2> path, int index, int angleIndex) {
Vector2 from = path.get(index);
Vector2 to = path.get(index + 1);
double angle = Utils.getAngleTo(from.getX(), from.getY(), to.getX(), to.getY());
angle += angles[angleIndex];
Vector2 zigV = null;
// try to find a walkable target in the direction of the angle
for (int i = 0; zigV == null && i <= 2; ++i) {
Vector2 v = from.add(Utils.facingAngleToVector2(angle).scale(MyCommander.SMALL_DIST + i));
if (Tile.isValid((int) v.getX(), (int) v.getY())) {
Tile zigTile = Tile.get(v);
if (zigTile.isWalkable) {
zigV = v;
break;
}
}
}
if (zigV != null) {
path.remove(index + 1);
path.add(index + 1, zigV);
} else {
Log.log(
"addZigZag: No walkable spot found, from = "
+ from
+ ", to = "
+ to
+ ", natural point: "
+ from.add(Utils.facingAngleToVector2(angle).scale(MyCommander.SMALL_DIST)));
}
zigZagAdded[index] = true;
zigZagAdded[index + 1] = true;
if (index + 2 < zigZagAdded.length) {
zigZagAdded[index + 2] = true;
}
}
public void addZigZag(
final List<Vector2> path, final double fovAngle, final int[][] squareValue) {
if (path.size() < 2) {
return;
}
Log.log("addZigZag <- " + Utils.vector2ListToString(path) + ", size: " + path.size());
attackedTiles.clear();
zigZagAdded = new boolean[path.size()];
extraValue = new int[angles.length][path.size()];
// Calculate which tiles we will see when walking the
// unzigzagged path, put result in attackedTiles
for (int i = 0; i < path.size() - 1; ++i) {
Vector2 from = path.get(i);
Vector2 to = path.get(i + 1);
double angle = Utils.getAngleTo(from.getX(), from.getY(), to.getX(), to.getY());
Tile t = Tile.get(from);
t.visitAttackedTiles(
angle,
fovAngle,
new TileVisitor() {
@Override
public boolean visit(Tile t) {
attackedTiles.add(t);
return true;
}
});
}
// calculate at each square/each angle how much value we would add
// by adding a zigzag; put result in extraValue
ValueCalculatingVisitor visitor = new ValueCalculatingVisitor();
visitor.squareValue = squareValue;
for (int a = 0; a < angles.length; ++a) {
for (int i = 0; i < path.size() - 1; ++i) {
Vector2 from = path.get(i);
Vector2 to = path.get(i + 1);
Tile fromTile = Tile.get(from);
Tile toTile = Tile.get(to);
if (toTile.isWalkable) {
double angle = Utils.getAngleTo(from.getX(), from.getY(), to.getX(), to.getY());
angle += angles[a];
visitor.clear();
fromTile.visitAttackedTiles(angle, fovAngle, visitor);
extraValue[a][i] = visitor.value;
} else {
extraValue[a][i] = -1;
}
}
}
boolean stop = false;
while (!stop) {
// find best zigzag on the path
int bestIndex = -1;
int bestAngle = 0;
int bestValue = 10;
for (int i = 0; i < path.size() - 1; ++i) {
if (!zigZagAdded[i] && !zigZagAdded[i + 1]) {
for (int a = 0; a < angles.length; ++a) {
if (extraValue[a][i] > bestValue) {
bestIndex = i;
bestAngle = a;
bestValue = extraValue[a][i];
}
}
}
}
if (bestIndex >= 0) {
addZigZag(path, bestIndex, bestAngle);
} else {
// no more zigzag added
stop = true;
}
}
Log.log("addZigZag -> " + Utils.vector2ListToString(path) + ", size: " + path.size());
}