Exemplo n.º 1
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 2
0
  private boolean betterTracingWay(MapLocation s, MapLocation t) {

    MapLocation[] tracingLoc = new MapLocation[2];
    Direction[] tracingDir = new Direction[2];
    int[] tracingcost = new int[2];

    int tracingIndex;
    Direction nextDir, startTracingDir;
    MapLocation nextLoc;

    Direction faceDir = controllers.myRC.getDirection();
    Direction desDir = s.directionTo(t);

    tracingLoc[0] = traceNext(s, desDir, true);
    tracingLoc[1] = traceNext(s, desDir, false);

    tracingDir[0] = s.directionTo(tracingLoc[0]);
    tracingDir[1] = s.directionTo(tracingLoc[0]);

    tracingcost[0] = computeCost(0, faceDir, tracingDir[0]);
    tracingcost[1] = computeCost(0, faceDir, tracingDir[1]);

    do {
      if (tracingcost[0] <= tracingcost[1]) {
        tracingIndex = 0;
        startTracingDir = tracingDir[0].rotateRight().rotateRight();

        nextLoc = traceNext(tracingLoc[0], startTracingDir, true);
      } else {
        tracingIndex = 1;
        startTracingDir = tracingDir[1].rotateLeft().rotateLeft();

        nextLoc = traceNext(tracingLoc[1], startTracingDir, false);
      }

      nextDir = tracingLoc[tracingIndex].directionTo(nextLoc);
      desDir = tracingLoc[tracingIndex].directionTo(t);
      ;

      if (isOpen(
              tracingLoc[tracingIndex],
              tracingDir[tracingIndex],
              nextDir,
              desDir,
              tracingIndex == 0)
          && isTraversable(tracingLoc[tracingIndex].add(desDir))) {
        return tracingIndex == 0;
      } else {
        tracingcost[tracingIndex] =
            computeCost(tracingcost[tracingIndex], tracingDir[tracingIndex], nextDir);
        tracingDir[tracingIndex] = nextDir;
        tracingLoc[tracingIndex] = nextLoc;
      }

    } while (true);
  }
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 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 5
0
 public void setDestination(MapLocation loc) {
   if (loc.equals(destination)) return;
   else {
     reset();
     destination = new MapLocation(loc.x, loc.y);
     modifiedDes = new MapLocation(loc.x, loc.y);
   }
 }
Exemplo n.º 6
0
  public MapLocation getNextJumpingLocTowardDes(int tolerance) {
    MapLocation currentLoc = controllers.myRC.getLocation();
    MapLocation jumpLoc = controllers.myRC.getLocation();
    MapLocation nextLoc = jumpLoc;
    Direction nextDir;

    do {
      jumpLoc = nextLoc;
      if (jumpLoc.distanceSquaredTo(destination) < tolerance && isTraversable(jumpLoc)) {
        //				controllers.myRC.setIndicatorString(2, "here: " + jumpLoc + ", des" + destination);
        return jumpLoc;
      }
      nextDir = jumpLoc.directionTo(destination);
      nextLoc = nextLoc.add(nextDir);

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

    //		controllers.myRC.setIndicatorString(2, "optimal jump to: " + jumpLoc);

    // Find alternative jumping location
    if (!isTraversable(jumpLoc)) {
      while (!jumpLoc.isAdjacentTo(currentLoc)) {
        MapLocation temp = jumpLoc;
        MapLocation best = null;
        int distance = currentLoc.distanceSquaredTo(destination);
        for (int i = 0; i < 8; i++) {
          temp = jumpLoc.add(Util.dirs[i]);
          if (currentLoc.distanceSquaredTo(temp) <= 16
              && isTraversable(temp)
              && temp.distanceSquaredTo(destination) < distance) {
            best = temp;
            distance = temp.distanceSquaredTo(destination);
          }
        }

        if (best != null) {
          return best;
        } else {
          jumpLoc = jumpLoc.subtract(currentLoc.directionTo(jumpLoc));
        }
      }
    }
    if (jumpLoc.isAdjacentTo(currentLoc) || jumpLoc.equals(currentLoc)) return null;

    return jumpLoc;
  }
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;
  }