Roger

robot.js

//FightCode can only understand your robot
//if its class is called Robot

var arena = {
	width: 0,
	height: 0,
};

var nb_directions = 4;

var dangerous_distance = 100;

var first_launch = true;
var first_launch_clone = true;

var list_robots = new Array();
var list_ennemys = new Array();

var mine = {
  robot: null,
  current_mouvement: {
	ahead: 100,
	back: 0,
	turn: 20,
	canon_rotate: 10,
  },
  
  state: 0,
  first_launch: true,
};
var state = {
	IDLE: 0,
	COMBAT: 1,
	COMBAT_SEARCH: 2,
};

var Ennemy = function(robot){
	this.robot = robot;
	this.seen = true;
	this.position_age = 0;
};

 Ennemy.prototype = {
	robot: null,
	seen: false,
	position_age: 0,
	last_position: {},
	position_history: new Array(),
};

function get_triangle_x_y(position_a, position_b){
	var _x, _y;
	if (position_a.x < position_b.x){
		_x = position_b.x - position_a.x;
	}
	else
		_x = position_a.x - position_b.x;
		
	if (position_a.y < position_b.y)
		_y = position_b.y - position_a.y;
	else
		_y = position_a.y - position_b.y;
		
	return {x: _y, y: _y};
}

function getDistanceBetween2Robots(robot_a, robot_b){
	var pos = get_triangle_x_y(robot_a, robot_b)
	var x = pos.x;
	var y = pos.y;
	return Math.sqrt(x*x+y*y);
}

function registerEnnemy(robot){
	for (var i = 0; i < list_ennemys.length; i++){
		if (list_ennemys[i].robot.id == robot.id){
			list_ennemys[i].robot = robot;
			list_ennemys[i].position_age = 0;
			list_ennemys[i].seen = true;
			return;
		}
	}
	list_ennemys[list_ennemys.length] = new Ennemy(robot);
}

function increaseEnnemyIntelAge(){
	for (var i = 0; i < list_ennemys.length; i++){
		a = list_ennemys[i];
		a.position_age++;
		if (a.position_age > 3){
			a.seen = false;
			list_ennemys[i] = a;
		}
	}
}

function ennemySeen(){
	for (var i = 0; i < list_ennemys.length; i++){
		if (list_ennemys[i].seen)
			return true;
	}
	return false;
}

function getMostDangerousEnnemy(self_position){
	if (list_ennemys.length == 0)
		return {x: 0, y: 0};
		
	if (list_ennemys.length == 1)
		return list_ennemys[0].robot.position;
	
	// qui est le pere
	var padre, son;
	if (list_ennemys[0].robot.parentId == null){
		padre = list_ennemys[0].robot;
		son = list_ennemys[1].robot
	}
	else {
		son = list_ennemys[0].robot
		padre = list_ennemys[1].robot;
	}
	if (padre.seen == false)
		return son.position;
	
	if (padre.seen && son.seen){
		if (getDistanceBetween2Robots(self_position, padre.robot.position) < dangerous_distance )
			return padre.position;
		if (getDistanceBetween2Robots(self_position, son.robot.position) < dangerous_distance )
			return son.position;
	}
	
	return padre.position;
}


var ennemy_seen = false;
var ennemy_position= {};
var intelAge = 0;

var arena = {
	width: 0,
	height: 0,
};

var cloned = {
  current_mouvement: {
	ahead: 10,
	back: 0,
	turn: 10,
	canon_rotate: 10,
  },
	state: 0,
	robot: null,
}

function my_robot(robot) {
	this.robot = robot;
	if (robot.parentId == null){ // parent
		this.direction = 0;
		this.sonar_side = 1;
		this.sonar_sens = 1;
		this.rotation_inc = 15;
	}
	else {// clone
		this.direction = 2;
		this.sonar_side = 0;
		this.sonar_sens = 0;
		this.rotation_inc = 15;
	}
};

my_robot.prototype = {
	robot: null,
	rotation_inc: 15,
	moving_ahead: true,
	combat_mode: false,
	sonar_side: 0, // 0 : right - 1 left
	sonar_sens: 0, // 0 - positif - 1 - negatif
	direction: 0, // 0 - TOP
				   // 1 - RIGHT
				   // 2 - BOT
				   // 3 - LEFT
    last_canon_angle: 0,
	pending_soft_turn: false,
	soft_angle: 10,
	soft_turn_direction: 0, // 0 - TOP
				 // 1 - RIGHT
				 // 2 - BOT
				 // 3 - RIGHT
	
    isParent: function(){
		if (this.robot.parentId == null)
			return true;
		return false;
	},
	
	soft_turn: function(direction){
		this.robot.log("Soft Turn Asked to :" + direction);
		this.soft_turn_direction = direction;
		this.pending_soft_turn = true;
		this.continue_soft_turn();
		
	},
	
	continue_soft_turn: function(){
		this.robot.log("In continue soft turn: " + this.soft_turn_direction);
		switch (this.soft_turn_direction){
			case 0: // TOP
				// try to turn to top
				if (this.robot.angle>180){
					if (this.soft_angle + this.robot.angle >= 360){
						this.pending_soft_turn = false;
						if (this.robot.position.x < arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 0;
						this.robot.turnRight(360 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 0){
						this.pending_soft_turn = false;
						if (this.robot.position.x < arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 0;
						this.robot.turnLeft(this.robot.angle);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break;
			case 1: // RIGHT
				if (this.robot.angle > 270 || this.robot.angle < 90){
					if (this.robot.angle + this.soft_angle >= 90){
						this.pending_soft_turn = false;
						if (this.robot.position.y < arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 1;
						this.robot.turnRight(90 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 90){
						this.pending_soft_turn = false;
						if (this.robot.position.y < arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 1;
						this.robot.turnLeft(this.robot.angle - 90);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break; 
			case 2: // BOT
				if (this.robot.angle < 180){
					if (this.robot.angle + this.soft_angle >= 180){
						this.pending_soft_turn = false;
						if (this.robot.position.x > arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 2;
						this.robot.turnRight(180 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				else {
					if (this.robot.angle - this.soft_angle <= 180){
						this.pending_soft_turn = false;
						if (this.robot.position.x > arena.width/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 2;
						this.robot.turnLeft(this.robot.angle - 180);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				break;
			case 3: // LEFT
				if (this.robot.angle > 270 || this.robot.angle < 90){
					this.robot.log("FU:" + this.robot.angle);
					if (this.robot.angle + this.soft_angle >= 270){
						this.pending_soft_turn = false;						
						if (this.robot.position.y > arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 3;
						this.robot.turnLeft(this.robot.angle - 270);
					}
					else
						this.robot.turnLeft(this.soft_angle);
				}
				else{
					if (this.robot.angle - this.soft_angle <= 270){
						this.pending_soft_turn = false;
						if (this.robot.position.y > arena.height/2)
							this.sonar_side = 0;
						else
							this.sonar_side = 1;
						this.direction = 3;
						this.robot.turnRight(270 - this.robot.angle);
					}
					else
						this.robot.turnRight(this.soft_angle);
				}
				break;
		}
	},
	
	doWeNeedToTurn: function(){
		switch (this.direction){
			case 0: // TOP
				if (this.robot.position.y < 20){ // we're too close from the wall, turn
					if (this.robot.position.x < arena.width/2){
						this.soft_turn(1); // TURN RIGHT
					}
					else
						this.soft_turn(3);
				}
				break;
			case 1: // RIGHT
				if (this.robot.position.x > arena.width - 20){
					if (this.robot.position.y < arena.height /2){
						this.soft_turn(2);
					}
					else
						this.soft_turn(0);
				}
				break;
			case 2: // BOT
				if (this.robot.position.y > arena.height - 20){
					if (this.robot.position.x < arena.width/2)
						this.soft_turn(1);
					else
						this.soft_turn(3);
				}
				break;
			case 3: // LEFT
				if (this.robot.position.x < 20){
					if (this.robot.position.y < arena.height/2)
						this.soft_turn(2);
					else
						this.soft_turn(0);
				}
				break;
	  } 
	},
	
	adjustDirection: function(){
		this.soft_turn(this.direction);
	},
	
	getNextPositionToWatch: function(){
		if (this.sonar_side == 1){
			if (this.sonar_sens == 0){
				if (this.robot.cannonRelativeAngle + this.rotation_inc >= 90 && this.robot.cannonRelativeAngle < 90){
					this.sonar_sens = 1;
					return (90 - this.robot.cannonRelativeAngle);
				}
				return this.rotation_inc;
			}
			else {
				if (this.robot.cannonRelativeAngle - this.rotation_inc <= 270 && this.robot.cannonRelativeAngle > 90){
					this.sonar_sens = 0;
					this.robot.log("fu: " + this.robot.cannonRelativeAngle);
					return (270 - this.robot.cannonRelativeAngle);
				}
				return -this.rotation_inc;
			}
		}
		else{
			if (this.sonar_sens == 0) {
				if (this.robot.cannonRelativeAngle + this.rotation_inc >= 270 && this.robot.cannonRelativeAngle < 270){
					this.sonar_sens = 1;
					return (270 - this.robot.cannonRelativeAngle);
				}
						return this.rotation_inc;
			}
			else {
				if (this.robot.cannonRelativeAngle - this.rotation_inc <= 90 && this.robot.cannonRelativeAngle > 90){
					this.sonar_sens = 0;
					return (90 - this.robot.cannonRelativeAngle);
				}
				return -this.rotation_inc;
			}
		} 
	},
	
	isClone: function(){
		return (!this.isParent());
	}
    
};

var isRobotRegistered = function (robot){
	var i;
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id)
			return true;
	}
	return false;
};

var updateRobot = function (robot){
	var i;
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id) {
			list_robots[i] = robot;
			return true;
			}
	}
	return false;
}


var registerRobot = function(robot){
	if (!isRobotRegistered(robot)){
		list_robots[list_robots.length] = new my_robot(robot);
	}
	else{
		var r = getRobot(robot);
		r.robot = robot;
		updateRobot(r);
	}
};


var getRobot = function(robot){
	for (i = 0; i < list_robots.length; i++){
		if (list_robots[i].robot.id == robot.id) {
			return list_robots[i];
			}
	}
	return null;
};

var Robot = function(robot) {
	arena.width = robot.arenaWidth;
	arena.height = robot.arenaHeight;
	};
	
function look_at(robot, ennemy)
{
  
  var opp = robot.position.y - ennemy.y; 
	var adj = robot.position.x - ennemy.x; 
  
  var angle = Math.atan2(opp, adj) * 180 / Math.PI;  
  if(angle < 0) angle += 360;
  
  var myAngle = robot.cannonAbsoluteAngle;
  var diff = angle - myAngle;

  if(diff > 180) diff -= 360; 
  if(diff < -180) diff += 360;
  robot.log("rotate: "+diff);
  robot.rotateCannon(diff);
}

function look_top(robot){
	if (robot.angle>180)
		robot.turnRight(360 - robot.angle);
	else
		robot.turnLeft(robot.angle);
	var r = getRobot(robot);
	r.direction = 0;
	updateRobot(r);
}

function look_bot(robot){
	if (robot.angle>180)
		robot.turnLeft(robot.angle-180);
	else
		robot.turnRight(180 + robot.angle);
		
	var r = getRobot(robot);
	r.direction = 2;
	updateRobot(r);
}

Robot.prototype.onHitByBullet = function(ev) {
    var robot = ev.robot;
	var r = getRobot(robot);
	if (ev.bearing < 180) {
		robot.back(100);
		r.moving_ahead = false;
	}
	else {
		r.moving_ahead = true;
		robot.ahead(100);
	}
	if (!ennemySeen())
		robot.rotateCannon(ev.bearing + 90); // Turn to wherever the bullet was fired
                            // so we can see who shot it
	r.direction = (r.direction+2)% nb_directions;
	updateRobot(r);
};

 Robot.prototype.onWallCollision = function(ev) {
    var robot = ev.robot;
	var r = getRobot(robot);
/* 	if ( (r.direction == 2 && ev.robot.position.x < arena.width/2) // bot left
		 || (r.direction == 1 && ev.robot.position.y > arena.height/2)
		 || (r.direction == 3 && ev.robot.position.y < arena.height/2)
		 || (r.direction == 0 && ev.robot.position.x > arena.width/2)){
			r.sonar_side = 1;
			robot.turn(-90);
			//robot.rotateCannon(-90);
			r.direction -= 1;
			if (r.direction < 0)
				r.direction = nb_directions + r.direction;
			updateRobot(r);
			return;
	}

	robot.turn(90);		
	r.sonar_side = 0; */
	//if (ennemySeen){
		r.moving_ahead = (r.moving_ahead?false:true);
		//r.direction = (r.direction+2)% nb_directions;
	//}
	updateRobot(r);
}; 

Robot.prototype.onRobotCollision = function(ev) {
    var robot = ev.robot;
	var r = getRobot(robot);
	if (ev.collidedRobot.id == robot.parentId || ev.collidedRobot.parentId != null){
		if (!ev.myFault)
			return;
	}else {
		registerEnnemy(ev.collidedRobot);
	}
	if (r.moving_ahead) {
		robot.back(100);
		r.moving_ahead = false;
	}
	else {
		r.moving_ahead = true;
		robot.ahead(100);
	}
	//robot.turn(180);
	//r.sonar_side = (r.sonar_side + 1) %2;
	r.direction = (r.direction+2)% nb_directions;
	updateRobot(r);
};

Robot.prototype.onIdle = function(ev) {
    var robot = ev.robot;
	
	registerRobot(robot);
	var r = getRobot(robot);
	
	if (first_launch){
		r.direction = 0;
		r.soft_turn(0);
		first_launch = false;
		robot.clone();
	}
  
	if (robot.parentId != null && first_launch_clone){
		first_launch_clone = false;
		r.direction = 2;
		r.soft_turn(2);
	}
  
    increaseEnnemyIntelAge();
  
    // check deplacement to avoid wallcollision (it will slow us)
	//if (!ennemySeen)
		r.doWeNeedToTurn();
	
	if (r.pending_soft_turn)
		r.continue_soft_turn();
	else
		r.adjustDirection(); 
  
    if(!ennemySeen()){
		robot.rotateCannon(r.getNextPositionToWatch());
	}
	else {
		var ennemy_position = getMostDangerousEnnemy(robot);
		look_at(ev.robot, ennemy_position);
		robot.fire();
		robot.fire();
		robot.fire();
	}

	var movement_speed = 10;
	
	if (ennemySeen())
		movement_speed = 100;
	
	if (r.moving_ahead)
		robot.ahead(movement_speed);
	else
		robot.back(movement_speed);
// 	robot.log("Direction: " + (r.direction));
	robot.log("Position: x: " + robot.position.x + "; y: " + robot.position.y + " ; angle: " + robot.angle + "; cannon_angle: " + robot.cannonRelativeAngle + "; cannon_abs_angle: " + robot.cannonAbsoluteAngle);
	robot.log("Sonar: Side: " + (r.sonar_side == 0? "left":"right") + "; sonar_sens: " + r.sonar_sens);
//	robot.log("Arena: width: " + arena.width + "; height: " + arena.height); */
};

Robot.prototype.onScannedRobot = function(ev) {
    var robot = ev.robot;
  if (ev.scannedRobot.id != ev.robot.parentId
      && ev.robot.id != ev.scannedRobot.parentId) {
	registerEnnemy(ev.scannedRobot);
	robot.fire();
	robot.fire();
	robot.fire();
  }
};