private void gotoPointandSmooth() {
Point2D actualPosition = new Point2D.Double(getX(), getY());
Projection proj =
new Projection(
new Point2D.Double(getX(), getY()),
getHeading(),
getVelocity(),
move.ahead,
getTurnRemaining() + move.turnRight);
tickProjection t = proj.projectNextTick();
/* Movement Settings, find the next position */
double distanceToNewPosition = actualPosition.distance(nextPosition);
if (move.smooth(t.getPosition(), t.getHeading(), proj.getWantedHeading(), move.ahead)) {
// out.println("smooth");
wallSmoothing = true;
double _turnRight = move.turnRight;
int _ahead = 100 * move.ahead;
setAhead(_ahead);
setTurnRight(_turnRight);
} else if (distanceToNewPosition < 15 || wallSmoothing == true) {
wallSmoothing = false;
PositionFinder p = new PositionFinder(enemies, this);
// Point2D.Double testPoint = p.findBestPoint(200);
// double range = distanceToTarget*0.5;
// Point2D.Double testPoint = p.findBestPointInRange(attempt, range);
Point2D.Double testPoint = p.findBestPointInRangeWithRandomOffset(200);
nextPosition = testPoint;
// out.println("point");
}
/* Movement to nextPosition */
else {
Double angle =
org.pattern.utils.Utils.calcAngle(nextPosition, actualPosition) - getHeadingRadians();
Double direction = 1.0;
if (Math.cos(angle) < 0) {
angle += Math.PI;
direction = -1.0;
}
if (direction > 0) move.ahead = 1;
else move.ahead = -1;
setAhead(distanceToNewPosition * direction);
angle = Utils.normalRelativeAngle(angle);
setTurnRightRadians(angle);
}
}
private void goToPoint(Point2D nextPosition) {
Point2D actualPosition = new Point2D.Double(getX(), getY());
Double distanceToNewPosition = actualPosition.distance(nextPosition);
Double angle =
org.pattern.utils.Utils.calcAngle(nextPosition, actualPosition) - getHeadingRadians();
Double direction = 1.0;
if (Math.cos(angle) < 0) {
angle += Math.PI;
direction = -1.0;
}
if (direction > 0) move.ahead = 1;
else move.ahead = -1;
setAhead(distanceToNewPosition * direction);
angle = Utils.normalRelativeAngle(angle);
setTurnRightRadians(angle);
}