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149 lines
2.8 KiB
149 lines
2.8 KiB
package myrobot;
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import java.util.List;
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import environment.AStar;
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import environment.World;
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import environment.Node;
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import robocode.Robot;
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public class RouteFindingRobot extends Robot {
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private World world = new World();
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// private TreeSet<Node> open = new TreeSet<Node>();
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// private TreeSet<Node> closed = new TreeSet<Node>();
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// private Node[] open, closed = new Node[];
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// private
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// private static
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public void run() {
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AStar aStar = new AStar(world);
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List<Node> nodes = aStar.getNodes();
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doNothing();
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// Node n = new Node(gen.start, new Point());
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// open.add(n);
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//
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// while (true) {
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// n = open.first();
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// open.remove(n);
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// closed.add(n);
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//
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// Point[] points = new Point[4];
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//
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// // Upper square
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// points[0] = new Point(n.getCurrent().getX(), n.getCurrent().getY() + Generator.PX_STEP);
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// // Right square
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// points[1] = new Point(n.getCurrent().getX() + Generator.PX_STEP, n.getCurrent().getY());
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// // Lower square
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// points[2] = new Point(n.getCurrent().getX(), n.getCurrent().getY() - Generator.PX_STEP);
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// // Left square
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// points[3] = new Point(n.getCurrent().getX() - Generator.PX_STEP, n.getCurrent().getY());
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//
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// for (Point p : points) {
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// if (isInsideMap(p) && isClear(p)) {
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// Node adj = new Node(p, n.getCurrent());
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// if (!closed.contains(adj)) {
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// open.add(adj);
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// }
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// else if (open.contains(adj)) {
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//// open.
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// }
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// }
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// }
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// Node nu = new Node(pu, n.getCurrent());
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// Node nr = new Node(pr, n.getCurrent());
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// Node nd = new Node(pd, n.getCurrent());
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// Node nl = new Node(pl, n.getCurrent());
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//
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//
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//
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//// if (lowestP)
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// }
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}
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// private void processPoint(Point p) {
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// if (isWalkable(p) && !closed.contains(p) && !open.contains(p)) {
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//// open.add(p);
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//
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// }
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// }
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//
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// private boolean isClear(Point p) {
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// return !world.obstacles.contains(p);
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// }
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//
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// private boolean isInsideMap(Point p) {
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// return (p.getX() >= 0 &&
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// p.getX() < World.NUM_COLS * World.SQUARE_EDGE_LENGHT &&
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// p.getY() >= 0 &&
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// p.getY() < World.NUM_ROWS * World.SQUARE_EDGE_LENGHT);
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// }
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private void turn(int dest) {
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int curr = (int) getHeading();
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if (curr != dest) {
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int diff = curr - dest;
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if (Math.abs(diff) > 180)
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turnRight(diff % 180);
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else
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turnLeft(diff);
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}
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}
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public void steps(int num) {
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ahead(num * world.getSquareEdgeLenght());
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}
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public void up() {
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north();
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steps(1);
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}
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public void right() {
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east();
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steps(1);
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}
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public void down() {
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south();
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steps(1);
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}
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public void left() {
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west();
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steps(1);
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}
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public void north() {
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turn(0);
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}
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public void east() {
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turn(90);
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}
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public void south() {
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turn(180);
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}
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public void west() {
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turn(270);
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}
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}
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