private void computeOutPath() throws GameActionException {
Pair<Direction, Integer> pathingInfo = messagingSystem.readPathingInfo(dest);
if (pathingInfo.first == null) {
outPath = null;
return;
}
RC.setIndicatorString(1, "Computing outPath");
outPath = new LocSet();
distances = new int[MAP_SIZE];
MapLocation loc = dest;
int d = pathingInfo.second;
while (!loc.equals(DIJKSTRA_CENTER)) {
pathingInfo = messagingSystem.readPathingInfo(loc);
distances[outPath.size] = d - pathingInfo.second;
outPath.insert(loc);
loc = loc.subtract(pathingInfo.first);
}
int[] diffs = new int[outPath.size - 1];
for (int i = diffs.length; --i > 0; ) {
diffs[i] = distances[i + 1] - distances[i];
}
// heuristic to prefer further away points on the path (which may be closer to us)
for (int i = 1; i < outPath.size; i++) {
distances[i] = distances[i - 1] + Math.max(1, diffs[i - 1] * 100 / (100 + 10 * i));
}
}
private boolean moveToPath() throws GameActionException {
if (dstar == null) {
dstar = new DStar(outPath, distances, currentLocation);
}
if (!dstar.arrived(currentLocation)) {
dstar.compute(7000);
}
if (!RC.isActive()) return true;
Direction dir = Direction.NORTH, best = null;
int min = Integer.MAX_VALUE;
for (int i = 0; i < 8; i++) {
int d = RC.canMove(dir) ? dstar.getDistance(currentLocation.add(dir)) : Integer.MAX_VALUE;
if (d < min) {
min = d;
best = dir;
}
dir = dir.rotateRight();
}
if (best != null && move(best)) {
RC.setIndicatorString(1, "Moving to outPath");
return true;
} else {
return false;
}
}
public void move(MovementType movementType) throws GameActionException {
if (currentLocation.equals(dest)) return;
this.movementType = movementType;
// try computing the outpath if it isn't set
if (outPath == null) {
computeOutPath();
}
if (outPath != null) {
if (!moveToPath()) {
simpleMove(dest);
RC.setIndicatorString(1, "dstar failed, simpleMove to dest");
}
} else {
simpleMove(dest);
RC.setIndicatorString(1, "no outPath, simpleMove to dest");
}
}