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);
}
}
}
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;
}
