Exemplo n.º 1
0
  private boolean isOpen(
      MapLocation currentLoc,
      Direction currentDir,
      Direction nextDir,
      Direction desDir,
      boolean cw) {
    if (desDir == Direction.OMNI) {
      return true;
    }

    if (!isTraversable(currentLoc.add(currentDir))) return false;

    if (cw) {
      while (currentDir != nextDir) {
        if (currentDir == desDir) return true;
        currentDir = currentDir.rotateRight();
      }
    } else {
      while (currentDir != nextDir) {
        if (currentDir == desDir) return true;
        currentDir = currentDir.rotateLeft();
      }
    }
    return (nextDir == desDir);
  }
Exemplo n.º 2
0
  private MapLocation traceNext(MapLocation currentLoc, Direction faceDir, boolean cw) {

    // Put isTraversable first so that the second while loop will rotate the
    // direction to walkable position
    // Try code reuse in the future

    int step = 0;

    if (cw) {
      while (isTraversable(currentLoc.add(faceDir)) && step < 8) {
        faceDir = faceDir.rotateRight();
        step++;
      }
      step = 0;
      while (!isTraversable(currentLoc.add(faceDir)) && step < 8) {
        faceDir = faceDir.rotateLeft();
        step++;
      }
    } else {
      while (isTraversable(currentLoc.add(faceDir)) && step < 8) {
        faceDir = faceDir.rotateLeft();
        step++;
      }
      step = 0;
      while (!isTraversable(currentLoc.add(faceDir)) && step < 8) {
        faceDir = faceDir.rotateRight();
        step++;
      }
    }

    return currentLoc.add(faceDir);
  }
Exemplo n.º 3
0
  public Direction Bug(MapLocation s, MapLocation t, int tolerance) {

    // arrive the destination
    if (s.distanceSquaredTo(t) <= tolerance) {
      reset();
      return Direction.OMNI;
    }

    Direction nextDir;
    Direction faceDir = controllers.myRC.getDirection();

    // if target is not traversable, back-tracing the destination
    while (!isTraversable(t)) {
      nextDir = s.directionTo(t);
      t = t.subtract(nextDir);

      // beside the source
      if (s.distanceSquaredTo(t) <= tolerance) {
        reset();
        return Direction.OMNI;
      }
    }

    modifiedDes = t;

    Direction desDir = s.directionTo(t);
    MapLocation nextLoc;

    if (isTracing) {

      Direction startTracingDir =
          isCW ? faceDir.rotateRight().rotateRight() : faceDir.rotateLeft().rotateLeft();
      nextLoc = traceNext(s, startTracingDir, isCW);
      nextDir = s.directionTo(nextLoc);

      // The way is open
      if (isOpen(s, faceDir, nextDir, desDir, isCW) && isTraversable(s.add(desDir))) {
        isTracing = false;
        return desDir;
      }

      return nextDir;

    } else {
      if (isTraversable(s.add(desDir))) {
        return desDir;
      } else {
        isTracing = true;
        isCW = betterTracingWay(s, t);
        nextLoc = traceNext(s, desDir, isCW);

        return s.directionTo(nextLoc);
      }
    }
  }
Exemplo n.º 4
0
 private int computeCost(int cost, Direction faceDir, Direction nextDir) {
   if (nextDir.isDiagonal()) {
     return cost + moveDiagonally + ((faceDir == nextDir) ? 0 : 1);
   } else {
     return cost + moveOrthogonally + ((faceDir == nextDir) ? 0 : 1);
   }
 }
Exemplo n.º 5
0
  private Direction detour(Direction faceDir, boolean cw) {

    if (cw) {
      while (controllers.motor.canMove(faceDir)) {
        faceDir = faceDir.rotateRight();
      }
      while (!controllers.motor.canMove(faceDir)) {
        faceDir = faceDir.rotateLeft();
      }
    } else {
      while (controllers.motor.canMove(faceDir)) {
        faceDir = faceDir.rotateLeft();
      }
      while (!controllers.motor.canMove(faceDir)) {
        faceDir = faceDir.rotateRight();
      }
    }

    return faceDir;
  }
Exemplo n.º 6
0
  public Direction getNextDir(int tolerance) {

    if (controllers.myRC.getLocation().equals(previousRobLoc)) {
      if (controllers.motor.canMove(previousDir)) {
        //				controllers.myRC.setIndicatorString(1, "precomputed");
        return previousDir;
      }
      //			else if (!controllers.motor.isActive() &&
      // controllers.motor.canMove(previousDir.rotateRight())) {
      //				isTracing = false;
      //				previousDir = previousDir.rotateRight();
      //				controllers.myRC.setIndicatorString(1, "yield");
      //				return previousDir;
      //			}
      else {
        //				controllers.myRC.setIndicatorString(1, "detour " + isCW);
        if (!isTracing) {
          previousDir = detour(controllers.myRC.getDirection(), isCW);
        } else {
          Direction faceDir = controllers.myRC.getDirection();
          Direction startTracingDir =
              isCW ? faceDir.rotateRight().rotateRight() : faceDir.rotateLeft().rotateLeft();
          previousDir = detour(startTracingDir, isCW);
        }
      }
      return previousDir;

    } else {
      //			controllers.myRC.setIndicatorString(1, "bugging");
      previousRobLoc = controllers.myRC.getLocation();

      if (destination == null) {
        reset();
        previousDir = Direction.OMNI;
        return Direction.OMNI;
      } else {
        previousDir = Bug(controllers.myRC.getLocation(), modifiedDes, tolerance);
        return previousDir;
      }
    }
  }
Exemplo n.º 7
0
  public MapLocation getNextJumpingLoc(int tolerance) {
    MapLocation jumpLoc = controllers.myRC.getLocation();
    MapLocation currentLoc = controllers.myRC.getLocation();
    Direction desDir = currentLoc.directionTo(destination);
    MapLocation nextLoc = controllers.myRC.getLocation();
    Direction nextDir = controllers.myRC.getDirection();
    Direction startTracingDir;

    if (jumpingTracing) {
      //			controllers.myRC.setIndicatorString(2, "tracing");

      startTracingDir =
          isCW ? nextDir.rotateRight().rotateRight() : nextDir.rotateLeft().rotateLeft();

      nextLoc = currentLoc.add(startTracingDir, 2);
      do {
        if (isTraversable(nextLoc)) jumpLoc = nextLoc;

        nextLoc = nextLoc.add(startTracingDir);
      } while (currentLoc.distanceSquaredTo(nextLoc) <= 16);

      if (currentLoc.distanceSquaredTo(currentLoc) > 2) {
        jumpingTracing = false;
        //				controllers.myRC.setIndicatorString(2, "Find good jumpLoc: " + jumpLoc);
        return jumpLoc;
      }

      nextLoc = currentLoc;
      nextDir = controllers.myRC.getDirection();

      //			if( controllers.myRC.senseTerrainTile(currentLoc.add(startTracingDir)) ==
      // TerrainTile.OFF_MAP ){
      //				isCW = !isCW;
      //				nextDir = nextDir.opposite();
      //			}

      //			controllers.myRC.setIndicatorString(2, "Do the bugging");

      Direction faceDir;

      do {
        jumpLoc = nextLoc;
        faceDir = nextDir;
        startTracingDir =
            isCW ? nextDir.rotateRight().rotateRight() : nextDir.rotateLeft().rotateLeft();
        nextLoc = traceNext(jumpLoc, startTracingDir, isCW);
        nextDir = jumpLoc.directionTo(nextLoc);
        desDir = jumpLoc.directionTo(destination);

        if (isOpen(jumpLoc, faceDir, nextDir, desDir, isCW) && isTraversable(jumpLoc.add(desDir))) {
          //					controllers.myRC.setIndicatorString(2, "Open");
          jumpingTracing = false;
          nextLoc = jumpLoc;
          if (jumpLoc.distanceSquaredTo(currentLoc) <= 2) return null;
          return jumpLoc;
        }

      } while (currentLoc.distanceSquaredTo(nextLoc) <= 16);

      if (jumpLoc.distanceSquaredTo(currentLoc) <= 2) return null;

      return jumpLoc;

    } else {
      //			controllers.myRC.setIndicatorString(2, "go");
      jumpLoc = getNextJumpingLocTowardDes(tolerance);
      if (jumpLoc == null) {
        //				controllers.myRC.setIndicatorString(2, "No way to go");
        if (isTraversable(currentLoc.add(desDir)))
          isCW = betterTracingWay(currentLoc.add(desDir), destination);
        else isCW = betterTracingWay(currentLoc, destination);
        jumpingTracing = true;
      }
    }

    return jumpLoc;
  }