/**
* Changes the positions of the worm as a result of a jump from the current position.
*
* @post If the worm jumped out of the map it will have been removed.
* |this.getWorld().getWorms().contains(this) == false
* @post The worm jumped to the correct position | while (world.isPassable(tempXpos, tempYpos,
* this.getRadius())) | tempXpos = this.jumpStep(t)[0] | tempYpos = this.jumpStep(t)[1] | t +=
* timeStep | if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius())) && |
* (Math.sqrt(Math.pow((origXpos-tempXpos), 2)+Math.pow((origYpos-tempYpos),
* 2))>=this.getRadius() )) | new.getXpos() == tempXpos | new.getYpos() == tempYpos
* @post The worm's actionpoints are reduced to zero. |new.getActionPoints() == 0;
* @throws IllegalStateException When the worm has no action point left to jump the exception is
* thrown. |! canJump()
*/
@Raw
public void jump(Double timeStep) throws IllegalStateException {
if (this.canJump()) {
World world = this.getWorld();
double origXpos = this.getXpos();
double origYpos = this.getYpos();
double tempXpos = this.getXpos();
double tempYpos = this.getYpos();
double t = 0;
while (world.isPassable(tempXpos, tempYpos, this.getRadius())) {
tempXpos = this.jumpStep(t)[0];
tempYpos = this.jumpStep(t)[1];
t += timeStep;
if (isOutOfTheMap(tempXpos, tempYpos)) {
this.killWorm();
break;
}
if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius()))
&& (Math.sqrt(Math.pow((origXpos - tempXpos), 2) + Math.pow((origYpos - tempYpos), 2))
>= this.getRadius())) {
this.setXpos(tempXpos);
this.setYpos(tempYpos);
this.consumeFood();
this.setActionPoints(0);
break;
}
}
} else throw new IllegalStateException();
}
/**
* Returns the time it would take for a potential jump from the current position in the direction
* this Worm is facing.
*
* @effect
* @return returns the time needed for a moving object to make a jump | - New method:
* positionAtTime(T) = new Position(getX() + calculateVelocity() * cos(getDirection)*T, getY()
* + calculateVelocity()*sin(getDirection())*T -g/2*T²) | if for each T in [0,time-stepSize]:
* | (getWorld().isPassableForCircle(getRadius(),getRadius(), positionAtTime(T)) == true | &&
* getWorld().isPassableForCircle(getRadius(),getRadius(), positionAtTime(time)) == false) |
* && | if for one t in [0,time-stepSize]: | (this.getOverlappingWorm() != null) | then result
* == t
* @return returns the time needed for a moving object to make a jump | - New method:
* positionAtTime(T) = new Position(getX() + calculateVelocity() * cos(getDirection)*T, getY()
* + calculateVelocity()*sin(getDirection())*T -g/2*T²) | if for each T in [0,time-stepSize]:
* | (getWorld().isPassableForCircle(getRadius(),getRadius(), positionAtTime(T)) == true | &&
* getWorld().isPassableForCircle(getRadius(),getRadius(), positionAtTime(time)) == false) |
* && | if for each t in [0,time-stepSize]: | (this.getOverlappingWorm() == null) | then
* result == time |
* @effect if this projectile overlaps with a worm then the worm is set as overlappingworm |
* this.setOverlapsWorm(newPosition)
*/
@Override
public double jumpTime(double stepSize)
throws IllegalJumpTimeException, IllegalArgumentException {
double t = 0;
boolean found = false;
while (!found) {
double alpha = getDirection();
double v0 = calculateVelocity();
double v0x = v0 * Math.cos(alpha);
double v0y = v0 * Math.sin(alpha);
double x = getX() + v0x * t;
double y = getY() + v0y * t - g / 2 * t * t;
Position newPosition = new Position(x, y);
t = t + stepSize;
if (!this.getWorld().isPassableForCircle(this.getRadius(), this.getRadius(), newPosition))
found = true;
this.setOverlapsWorm(newPosition);
if (this.getOverlappingWorm() != null) found = true;
t = t + stepSize;
}
return (t - stepSize);
}
/**
* Returns the time it takes to worm to jump (to his new position).
*
* @throws IllegalStateException If the worm can't jump the exception is thrown. | ! canJump()
*/
@Raw
public double jumpTime(double timeStep) throws IllegalStateException {
World world = this.getWorld();
double origXpos = this.getXpos();
double origYpos = this.getYpos();
double tempXpos = this.getXpos();
double tempYpos = this.getYpos();
double t = 0;
if (this.canJump()) {
while (world.isPassable(tempXpos, tempYpos, this.getRadius())) {
tempXpos = this.jumpStep(t)[0];
tempYpos = this.jumpStep(t)[1];
t += timeStep;
if ((world.isAdjacent(tempXpos, tempYpos, this.getRadius()))
&& (Math.sqrt(Math.pow((origXpos - tempXpos), 2) + Math.pow((origYpos - tempYpos), 2))
>= this.getRadius())) {
return t;
}
if (isOutOfTheMap(tempXpos, tempYpos)) {
return t;
}
}
return t;
} else throw new IllegalStateException();
}
/**
* Calculates and returns the position of a jumping projectile at the given time.
*
* @param t The time at which we want to know the location of this projectile during the jump.
* @param direction the direction in which the projectile is launched
* @pre the direction given must be valid |isValidDirection(direction)
* @return The position where this projectile lands after a potential jump. This projectile is not
* facing down | if ( ! isFacingDown()) | result == this.jumpStep(this.jumpTime())
* <p>This projectile is facing down, so this projectile doesn't jump | if (
* isFacingDown(direction)) | result == this.jumpStep(0)
* @effect if the projectile overlaps with a worm the worm will be set as the overlappingWorm |
* this.setOverlapsWorm(newPosition);
* @throws IllegalArgumentException the given value for t is not in the interval [0, jumpTime()].
* | ! isValidJumpTime(t)
* @throws IllegalJumpTimeExcecption if for the given t the position is no longer passable for the
* movingObject | -New variable: newPosition = new Position(getX() +
* calculateVelocity()*cos(alpha)*t, getY() + calculateVelocity*sin(alpha)*t); | !
* this.getWorld().isPassableForCircle_BruteForce(this.getRadius(), newPosition)
* @throws IllegalJumptTimeException if the projectile overlaps with a worm for the given t | -New
* variable: newPosition = new Position(getX() + calculateVelocity()*cos(alpha)*t, getY() +
* calculateVelocity*sin(alpha)*t); | overlapsWorm(newPosition);
*/
@Override
public Position jumpStep(double t, double direction)
throws IllegalJumpTimeException, IllegalArgumentException {
assert isValidDirection(direction);
if (!isValidJumpTime(t)) {
throw new IllegalArgumentException("negative time");
}
if (t == 0) return this.getPosition();
else {
if (isFacingDown(direction)) {
return this.getPosition();
}
double alpha = getDirection();
double v0 = calculateVelocity();
double v0x = v0 * Math.cos(alpha);
double v0y = v0 * Math.sin(alpha);
double x = getX() + v0x * t;
double y = getY() + v0y * t - g / 2 * t * t;
Position newPosition = new Position(x, y);
this.setOverlapsWorm(newPosition);
return newPosition;
}
}
/**
* Returns the worms position during a jump on a given time (after the jump started).
*
* @param timeAfterLaunch The time after the jump started
* @throws IllegalStateException If the worm can't jump the exception is thrown. | ! canJump()
*/
@Basic
@Raw
public double[] jumpStep(double timeAfterLaunch) throws IllegalStateException {
double[] step;
step = new double[2];
if (!this.canJump()) throw new IllegalStateException();
step[0] =
((this.jumpVelocity() * Math.cos(this.getDirection()) * timeAfterLaunch) + this.getXpos());
step[1] =
(this.jumpVelocity() * Math.sin(this.getDirection()) * timeAfterLaunch
- 0.5 * G * Math.pow(timeAfterLaunch, 2))
+ this.getYpos();
return step;
}
/**
* Changes the positions of the projectile as a result of a jump from the current position.
*
* @post If the projectile hits a worm this worm loses some hit points and the projectile is
* removed from the world and set non active. | if ((Math.sqrt(Math.pow(w.getXpos()-tempXpos,
* 2)+Math.pow(w.getYpos()-tempYpos, 2))< maxDistance)) | while (this.getActive == true) |
* then (new.setHitPoints(worm.getHitPoints-this.getDamage()) | then (world.getProjectile() ==
* null) | then (new.getActive == false))
* @post If the projectile doesn't hit a worm, the projectile will be deleted when it leaves the
* map or when it hits impassable terrain. | if !((Math.sqrt(Math.pow(w.getXpos()-tempXpos,
* 2)+Math.pow(w.getYpos()-tempYpos, 2))< maxDistance)) | then ( if
* ((isOutOfTheMap(tempXpos,tempYpos))) | then ((world.getProjectile() == null) | then
* (new.getActive == false)) | (else if (world.isImpassable(tempXpos, tempYpos,
* this.getRadius()))) | then ((world.getProjectile() == null) | then (new.getActive ==
* false)))
* @throws IllegalStateException If the projectile can't jump the exception is thrown. |!
* canJump()
*/
@Raw
public void jump(Double timeStep) throws IllegalStateException {
if (this.canJump()) {
World world = this.getWorld();
double tempXpos = this.getXpos();
double tempYpos = this.getYpos();
double t = 0;
while ((world.isPassable(tempXpos, tempYpos, this.getRadius()))) {
tempXpos = this.jumpStep(t)[0];
tempYpos = this.jumpStep(t)[1];
Collection<Worm> collection = (world.getWorms());
for (Worm w : collection) {
Worm overlappingWorm = null;
double maxDistance = this.getRadius() + w.getRadius();
if (!(w == world.getCurrentWorm())
&& (Math.sqrt(
Math.pow(w.getXpos() - tempXpos, 2) + Math.pow(w.getYpos() - tempYpos, 2))
< maxDistance)) {
overlappingWorm = w;
while ((this.getActive() == true)) {
overlappingWorm.setHitPoints(overlappingWorm.getHitPoints() - this.getDamage());
this.deleteProjectile(world);
this.setActive(false);
}
} else {
overlappingWorm = null;
if ((isOutOfTheMap(tempXpos, tempYpos))) {
this.deleteProjectile(world);
this.setActive(false);
} else if (((world.isImpassable(tempXpos, tempYpos, this.getRadius())))
&& (this.getActive() == true)) {
this.deleteProjectile(world);
this.setActive(false);
}
}
}
t += timeStep;
}
} else {
throw new IllegalStateException();
}
}
/**
* Makes the worm fall, if it can fall, until the worm falls on an obstacle or falls out of the
* map.
*
* @post The worm has fallen to a new position that is adjacent. The x-position stays the same but
* the y-position changes. |this.getWorld().isAdjacent(new.getXpos(),new.getYpos(),
* new.getDirecetion) == true |new.getXpos()==old.getXpos() |while
* (world.isPassable(this.getXpos(), this.getYpos(), this.getRadius())) | newYpos =
* this.getYpos()-this.getRadius() | if (this.getYpos()<0) | then new.getYpos ==
* (this.getRadius()*1.1) | break; | else if ((this.getYpos()>=0)){ | while
* (!world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius())) | newYpos =
* (this.getYpos()+0.1*this.getRadius()) | new.getYpos() == newYpos
* @post The worms hitpoints are correctly reduced. |new.getHitPoints() == old.getHitPoints() -
* 3*distance
* @post After the fall the worm could be on food this gets checked. | this.consumeFood()
* @throws IllegalStateException If the worm can't fall because he is on adjacent terrain the
* exception is thrown. | ! canFall()
*/
@Raw
public void fall() throws IllegalStateException {
World world = this.getWorld();
double distance = 0;
boolean trigger = false;
if (canFall()) {
while (world.isPassable(this.getXpos(), this.getYpos(), this.getRadius())) {
this.setYpos(this.getYpos() - this.getRadius());
distance += this.getRadius();
if (this.getYpos() < 0) {
this.setYpos(0 + this.getRadius() * 1.1);
trigger = true;
break;
}
}
if ((this.getYpos() >= 0) && !trigger) {
while (!world.isAdjacent(this.getXpos(), this.getYpos(), this.getRadius())) {
this.setYpos(this.getYpos() + 0.1 * this.getRadius());
distance -= 0.1 * this.getRadius();
}
}
this.setHitPoints(this.getHitPoints() - (3 * (int) Math.floor(distance)));
this.consumeFood();
} else {
throw new IllegalStateException();
}
}
/**
* The method sets the mass of the worm. A worms mass is equal to DENSITY*(4/3)*PI*radius^3, with
* DENSITY = 1062.
*
* @param radius The radius to which the mass must be set accordingly.
* @post The new mass of the worm is set correctly. |new.getMass() == DENSITY*(4/3)*PI*radius^3
* @post A new maximum for actionpoints is set. | new.getMaxActionPoints() == new.getMass();
* @post The number of actionpoints change accordingly. (AP can't be higher than MaxAP) |
* new.getMaxActionPoints() >= new.getActionPoints()
* @throws IllegalArgumentException When the given radius is not a valid radius the exception will
* be thrown. | ! isValidRadius(radius))
*/
@Raw
private void setMass(double radius) throws IllegalArgumentException {
if (!isValidRadius(radius)) throw new IllegalArgumentException();
this.mass = DENSITY * ((4.0 / 3.0) * Math.PI * Math.pow(radius, 3));
this.setMaxActionPoints();
this.setMaxHitPoints();
this.setActionPoints(this.getActionPoints());
}
/** This method return the food objects that overlap with the worms position. */
@Raw
public Food overlappingFood() {
World world = this.getWorld();
double maxDistance = this.getRadius() + 0.2;
Food overlappingFood = null;
Collection<Food> collection = (world.getFood());
for (Food f : collection) {
if (Math.sqrt(
Math.pow(f.getXpos() - this.getXpos(), 2) + Math.pow(f.getYpos() - this.getYpos(), 2))
< maxDistance) {
overlappingFood = f;
break;
} else {
overlappingFood = null;
}
}
return overlappingFood;
}
/**
* Sets the team to a random team, if there are teams.
*
* @post If there where teams the worm is added to a team. If there where no teams the worm isn't
* added to a team. | if ((this.getWorld().getTeams().size()!=0)) { | then this.hasTeam() ==
* true;
*/
@Raw
public void setTeamRandom() {
World world = this.getWorld();
ArrayList<Team> teams = (ArrayList<Team>) world.getTeams();
if (!(teams.size() == 0)) {
int i = teams.size();
int randomIndex = (int) (Math.random() * i);
this.setTeamTo(teams.get(randomIndex));
}
}
/**
* Returns the cost in actionpoints for a given number of steps in the current direction.
*
* @param steps the number of steps the worm is going to move.
* @return The cost of steps (integer) in the current direction, rounded up to the next integer.
* |(steps*(int) Math.round((Math.abs(Math.cos(this.getDirection()))
* |+Math.abs((4*Math.sin(this.getDirection()))))))
*/
@Basic
@Raw
private int computeCostStep(int steps) {
return Math.abs(
(int)
Math.round(
(steps)
* (Math.abs(Math.cos(this.getDirection()))
+ Math.abs((4.0 * Math.sin(this.getDirection()))))));
}
/** @return ... | result == Math.sqrt(Math.pow(getXComponent(),2)+Math.pow(getYComponent(),2)) */
public double getTotalLength() {
return Math.sqrt(Math.pow(xComp, 2) + Math.pow(yComp, 2));
}
/**
* Sets the y-position of the projectile.
*
* @param ypos The (new) y-position of the projectile
* @post the given y-position is the new y-position of the projectile. | new.getYpos() == ypos
*/
@Raw
private void setYpos(double ypos) {
this.ypos =
ypos + ((this.getRadiusWorm() + this.getRadius()) * 1.1 * Math.sin(this.getDirection()));
position.setYpos(this.ypos);
}
/**
* The method sets the radius of the projectile if it has a valid mass.
*
* @post The new radius of the projectile is set. |new.getRadius() ==
* Math.pow((3.0/4.0)*(this.getMass()/(density*Math.PI)) ,1.0/3.0)
* @throws IllegalArgumentException When the mass appropriate to the projectile is not a valid
* mass the exception will be thrown. | ! isValidMass(this.getMass()))
*/
@Raw
private void setRadius() throws IllegalArgumentException {
if (!isValidMass(this.getMass())) throw new IllegalArgumentException();
this.radius = Math.pow((3.0 / 4.0) * (this.getMass() / (density * Math.PI)), 1.0 / 3.0);
}
/**
* Returns the cost in actionpoints for a turn of a given angle.
*
* @param angle the angle over which the worm would like to turn in radians.
* @return the cost in actionpoints for a turn of a given angle rounded up to the nearest integer.
* |(int) Math.abs(Math.round(((60*angle)/(2*Math.PI))))
*/
@Basic
@Raw
private int computeCostTurn(double angle) {
return (int) Math.abs(Math.round(((60 * angle) / (2 * Math.PI))));
}
/**
* Returns the cost in actionpoints to move in the current direction.
*
* @param prevXpos The x-position of the worm before he moved.
* @param prevYpos The y-position of the worm before he moved.
*/
@Raw
private int computeCost2(double prevXpos, double prevYpos) {
return (int)
(Math.round(Math.abs(this.getXpos() - prevXpos))
+ Math.round(4 * Math.abs(this.getYpos() - prevYpos)));
}
/**
* The method makes the worm move to a next position that is adjacent to impassable terrain
* following the slope of that terrain in the direction. The worm shall aim to maximize the
* distance while minimizing the divergence. If no such location exists because all locations in
* the direction +- 0,7875 are impassable the worm shall remain at its current position. If
* locations in the direction are passable but not adjacent the worm shall move there and then
* drop passively.
*
* @post If the worm can maximize the distance while minimizing the divergence, the worm has moved
* to the optimal location. |for (double a = 0.1;a<=this.getRadius();a=a+(0.01*a)) { | x2 =
* x+Math.cos(direction)*a; | y2 = y+Math.sin(direction)*a; | if (world.isAdjacent(x2, y2,
* this.getRadius()) && | world.isPassable(x2, y2, this.getRadius())) { | double d =
* Math.sqrt(Math.pow((x-x2),2)+Math.pow((y-y2),2)); | double s = Math.atan((x-x2)/(y-y2)); |
* if ((d>=maxD) && (s<minS)) { | minS=s; | maxD=d; | x2Max = x2; | y2Max= y2; | direction =
* direction +0.0175; |new.getXpos()==x2Max |new.getYpos() == y2Max
* @post If the worm can't maximize the distance while minimizing the divergence and there is only
* impassable terrain in the checked directions, the worm will not have moved. |new.getXpos()
* == old.getXpos() |new.getYpos() == old.getYpos()
* @post If the worm can't maximize the distance while minimizing the divergence and there is only
* passable terrain in the checked directions that is not adjacent, the worm will move there.
* |new.getXpos() == old.getXpos() + cos(direction)*radius |new.getYpos() == old.getYpos() +
* sin(direction)*radius
* @post The worms actionpoints are correctly reduced. |new.getActionPoints ==
* old.getActionPoints() - old.computeCost2(old.getXpos(),old.getYpos())
* @throws IllegalArgumentException If the worm can't move because he has insufficient
* actionpoints the exception is thrown. | ! isValidStep()
* @throws IllegalStateException If the worm can't move because the worm isn't positioned in
* passable terrain and adjacent to impassable terrain the exception is thrown. | ! canMove()
*/
@Raw
public void move() throws IllegalArgumentException, IllegalStateException {
if (!isValidStep()) throw new IllegalArgumentException();
if (canMove()) {
World world = this.getWorld();
double x = this.getXpos();
double y = this.getYpos();
double prevx = x;
double prevy = y;
double x2 = x;
double y2 = y;
double x2Max = x2;
double y2Max = y2;
double c = -0.7875;
double direction = this.getDirection() + c;
double maxD = 0;
double minS = this.getDirection();
// geval 1: na gaan of in direction+-45° er een gischike volgende positie is
// en zo ja, ernaar verplaatsen.
for (double a = 0.1; a <= this.getRadius(); a = a + (0.01 * a)) {
x2 = x + Math.cos(direction) * a;
y2 = y + Math.sin(direction) * a;
if (world.isAdjacent(x2, y2, this.getRadius())
&& world.isPassable(x2, y2, this.getRadius())) {
double d = Math.sqrt(Math.pow((x - x2), 2) + Math.pow((y - y2), 2));
double s = Math.atan((x - x2) / (y - y2));
if ((d >= maxD) && (s < minS)) {
minS = s;
maxD = d;
x2Max = x2;
y2Max = y2;
}
}
direction = direction + 0.0175;
}
if (this.isOutOfTheMap(x2Max, y2Max)) {
this.killWorm();
} else {
this.setXpos(x2Max);
this.setYpos(y2Max);
this.setActionPoints(this.getActionPoints() - this.computeCost2(prevx, prevy));
}
// geval2: Er werd in direction+-45° geen geschikte plaats gevonden
// nagaan of er in direction naar een passable locatie kan verplaatst worden,
// daarnaar verplaatsen en dan vallen (fall).
if ((x2Max == x) && (y2Max == y)) {
double pasXpos = x;
double pasYpos = y;
pasXpos = (x + (Math.cos(this.getDirection()) * this.getRadius()));
pasYpos = (y + (Math.sin(this.getDirection()) * this.getRadius()));
if (!world.isAdjacent(pasXpos, pasYpos, this.getRadius())
&& world.isPassable(pasXpos, pasYpos, this.getRadius())) {
if (this.isOutOfTheMap(pasXpos, pasYpos)) {
this.killWorm();
} else {
this.setXpos(pasXpos);
this.setYpos(pasYpos);
this.setActionPoints(this.getActionPoints() - this.computeCost2(prevx, prevy));
}
}
}
this.consumeFood();
} else throw new IllegalStateException();
}
/**
* Set the maximal amount of hit points of this worm.
*
* @param mass The hit points change along with the mass.
* @post The amount of hit points must be equal to the mass of the worm rounded to the nearest
* integer. | this.maxHitPoints = (int) Math.round(mass)
* @post If the mass of a worm changes, the maximal must be adjusted accordingly. | new.getMass()
* = mass | this.maxHitPoints == (int) Math.round(new.getMass()) == int Math.round(mass)
* @effect The maximal amount of hit points has been set.
*/
@Raw
private void setMaxHitPoints() {
if (this.getMass() < Integer.MAX_VALUE) this.maxHitPoints = (int) Math.round(this.getMass());
else this.maxHitPoints = Integer.MAX_VALUE;
}
/**
* Sets the x-position of the projectile.
*
* @param xpos The (new) x-position of the projectile
* @post the given x-position is the new x-position of the projectile. | new.getXpos() == xpos
*/
@Raw
private void setXpos(double xpos) {
this.xpos =
xpos + ((this.getRadiusWorm() + this.getRadius()) * 1.1 * Math.cos(this.getDirection()));
position.setXpos(this.xpos);
}
