public LXXPoint getDestination(boolean newSession) {
double angle = robot.getHeadingRadians() + Math.PI / 2;
LXXPoint res1 = new LXXPoint(robot.getX(), robot.getY());
res1.x += sin(angle) * 85;
res1.y += cos(angle) * 85;
double d1 = res1.distance(robot.getBattleFieldWidth() / 2, robot.getBattleFieldHeight() / 2);
angle = robot.getHeadingRadians() - Math.PI / 2;
LXXPoint res2 = new LXXPoint(robot.getX(), robot.getY());
res2.x += sin(angle) * 85;
res2.y += cos(angle) * 85;
double d2 = res2.distance(robot.getBattleFieldWidth() / 2, robot.getBattleFieldHeight() / 2);
return d1 < d2 ? res1 : res2;
}
public boolean match() {
for (Iterator<Hit> iter = hits.iterator(); iter.hasNext(); ) {
Hit h = iter.next();
if (robot.getTime() - h.time > 20) {
iter.remove();
}
}
double avgBearing = 0;
for (Hit h : hits) {
avgBearing += h.heading;
}
avgBearing /= hits.size();
// todo (zhidkov): fix name
double maxHz = 0;
for (Hit h : hits) {
if (abs(h.heading - avgBearing) > maxHz) {
maxHz = abs(h.heading - avgBearing);
}
}
return abs(avgBearing - maxHz) < LXXConstants.RADIANS_45 && hits.size() > 1;
}
public HitReactStrategy(BasicRobot robot) {
this.robot = robot;
robot.addListener(this);
}