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naab/robot.js

Created December 14, 2012 11:57
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robot.js
function get_triangle_x_y(e,t){var n=Math.abs(e.x-t.x);var r=Math.abs(e.y-t.y);return{x:r,y:r}}function getDistanceBetween2Robots(e,t){var n=get_triangle_x_y(e,t);var r=n.x;var i=n.y;return Math.sqrt(r*r+i*i)}function calculer_angle_cannon(e,t){var n=e+t-90;if(n<0)n+=360;return Math.abs(n)%360}function findATarget(){if(list_ennemys.length==0)return null;if(list_ennemys.length==1)return list_ennemys[0].analyzeFuturePosition();var e=list_ennemys[0];var t=list_ennemys[1];if(!e.isParent()){e=list_ennemys[1];t=list_ennemys[0]}var n;if((n=e.analyzeFuturePosition())==null)return t.analyzeFuturePosition();return n}function registerEnnemy(e){
for(var t=0;t<list_ennemys.length;t++){if(list_ennemys[t].robot.id==e.id){var n=list_ennemys[t];n.update(e);list_ennemys[t]=n;return}}list_ennemys[list_ennemys.length]=new Ennemy(e)}function increaseEnnemyIntelAge(){intelAllCounter++}function ennemySeen(){for(var e=0;e<list_ennemys.length;e++){if(intelAllCounter-list_ennemys[e].position_age>intelTooOld)list_ennemys[e].seen=false;if(list_ennemys[e].seen)return true}return false}function my_robot(e){this.robot=e;if(e.parentId==null){this.direction=0;this.sonar_side=0;this.sonar_sens=1;this.rotation_inc=15}else{this.direction=2;this.sonar_side=0;this.sonar_sens=0;this.rotation_inc=15;
this.moving_ahead=false}}var arena={width:0,height:0};var intelAllCounter=0;var intelTooOld=3;var intelHistoryTooOld=40;var intelHistoryMaxInterval=20;var lastIntervalHit=0;var maxIntervalBulletReaction=3;var nb_directions=4;var dangerous_distance=300;var first_launch=true;var first_launch_clone=true;var first_wall=false;var first_launch_clone=true;var list_robots=new Array;var list_ennemys=new Array;Array.prototype.remove=function(e,t){var n=this.slice((t||e)+1||this.length);this.length=e<0?this.length+e:e;return this.push.apply(this,n)};var Ennemy=function(e){this.robot=e;this.seen=true;this.position_age=intelAllCounter;
this.position_history[this.position_history.length]=this};Ennemy.prototype={robot:null,seen:false,position_age:0,last_position:{},position_history:new Array,isParent:function(){if(this.robot.parentId==null)return true;return false},isClone:function(){return!this.isParent()},update:function(e){this.position_age=intelAllCounter;this.seen=true;this.robot=e;if(this.position_history[this.position_history.length-1].position_age!=this.position_age)this.position_history[this.position_history.length]=this},analyzeFuturePosition:function(){if(this.position_history.length<2)return null;var e={x:0,y:0};var t=0;
for(var n=this.position_history.length-1;n>=this.position_history.length%2;n-=2){var r=this.position_history[n];var i=this.position_history[n-1];if(intelAllCounter-r.position_age>intelHistoryMaxInterval){list_robots[0].robot.log("Intel difference is too old for first: "+r.position_age+"; intelAllCounter: "+intelAllCounter);return null}var s=i.position_age-r.position_age;s=s==0?1:s;if(s>intelHistoryMaxInterval){list_robots[0].robot.log("Intel difference is too old: "+(i.position_age-r.position_age));return null}e.x=i.robot.position.x-r.robot.position.x;e.y=i.robot.position.y-r.robot.position.y;var o={x:0,y:0};
o.x=e.x/s*(intelAllCounter-r.position_age)+r.robot.position.x;o.y=e.y/s*(intelAllCounter-r.position_age)+r.robot.position.y;if(o.x<0){o.x=0}if(o.y<0){o.y=0}if(o.x>arena.width){o.x=arena.width}if(o.y>arena.height){o.y=arena.height}return o}return null}};my_robot.prototype={robot:null,rotation_inc:15,rotate_cannon:10,moving_ahead:true,sonar_side:0,sonar_sens:0,direction:0,last_canon_angle:0,pending_soft_turn:false,soft_angle:25,soft_turn_direction:0,isParent:function(){if(this.robot.parentId==null)return true;return false},escape:function(){var e=this.getClosestEnnemy()},getClosestEnnemy:function(){var e=null;var t=0;
for(var n=0;n<list_ennemys.length;n++){if(e==null){e=list_ennemys[n].robot.position;t=getDistanceBetween2Robots(this.robot.position,e);continue}var r=getDistanceBetween2Robots(this.robot.position,list_ennemys[n].robot.position);if(r<t){t=r;e=list_ennemys[n].robot.position}}return e},isLookingAtMe:function(e){var t=calculer_angle_cannon(e.angle,e.cannonAngle);if(e.position.x<=this.robot.position.x&&e.position.y<=this.robot.position.y){if(t>180)return false;t=180-t}else if(e.position.x<=this.robot.position.x&&e.position.y>=this.robot.position.y){if(t>180)return false}
else if(e.position.x>=this.robot.position.x&&e.position.y<=this.robot.position.y){if(t<180)return false;t-=180}else if(e.position.x>=this.robot.position.x&&e.position.y>=this.robot.position.y){if(t<180)return false;t=360-t}if(Math.abs(t)>35)return false;this.robot.log("Ennemy's angle: "+t);return true},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;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}}},go_top:function(){if(this.robot.angle>90&&this.robot.angle<270){this.soft_turn(2);this.moving_ahead=false}else{this.soft_turn(0);
this.moving_ahead=true}},go_bot:function(){this.go_top();this.moving_ahead=!this.moving_ahead},go_left:function(){if(this.robot.angle>180){this.soft_turn(3);this.moving_ahead=true}else{this.soft_turn(1);this.moving_ahead=false}},go_right:function(){this.go_left();this.moving_ahead=!this.moving_ahead},soft_turn:function(e){this.soft_turn_direction=e;this.pending_soft_turn=true;this.continue_soft_turn()},continue_soft_turn:function(){switch(this.soft_turn_direction){case 0: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:if(this.robot.angle>270||this.robot.angle<90){if(this.robot.angle+this.soft_angle>=90&&this.robot.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=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: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:this.robot.log("SoftTurn Left: curAngle: "+this.robot.angle);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.robot.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=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}},adjustDirection:function(){this.soft_turn(this.direction)},look_at:function(e){var t=this.robot.position.y-e.y;var n=this.robot.position.x-e.x;var r=Math.atan2(t,n)*180/Math.PI;if(r<0)r+=360;var i=this.robot.cannonAbsoluteAngle;var s=r-i;if(s>180)s-=360;if(s<-180)s+=360;return s},
getMostDangerousEnnemy:function(){if(list_ennemys.length==0)return null;if(list_ennemys.length==1)return list_ennemys[0];var e,t;if(list_ennemys[0].robot.parentId==null){e=list_ennemys[0];t=list_ennemys[1]}else{t=list_ennemys[0];e=list_ennemys[1]}if(e.seen==false)return t;if(e.seen&&t.seen){if(getDistanceBetween2Robots(this.robot.position,e.robot.position)<dangerous_distance)return e;if(getDistanceBetween2Robots(this.robot.position,t.robot.position)<dangerous_distance)return t}return e},getCloser:function(e){var t=this.robot.position.x-e.x;var n=this.robot.position.y-e.y;if(Math.abs(t)>Math.abs(n)){if(t<0)this.go_right();
else this.go_left()}else{if(n<0)this.go_bot();else this.go_top()}},avoidEnnemyCannon:function(e){},amIInDanger:function(){var e=getDistanceBetween2Robots(this.robot.position,this.getClosestEnnemy());if(e<=dangerous_distance){return true}return false},isClone:function(){return!this.isParent()}};var isRobotRegistered=function(e){var t;for(t=0;t<list_robots.length;t++){if(list_robots[t].robot.id==e.id)return true}return false};var updateRobot=function(e){var t;for(t=0;t<list_robots.length;t++){if(list_robots[t].robot.id==e.id){list_robots[t]=e;return true}}return false};var registerRobot=function(e){if(!isRobotRegistered(e)){
list_robots[list_robots.length]=new my_robot(e)}else{var t=getRobot(e);t.robot=e;updateRobot(t)}};var getRobot=function(e){for(i=0;i<list_robots.length;i++){if(list_robots[i].robot.id==e.id){return list_robots[i]}}return null};var Robot=function(e){arena.width=e.arenaWidth;arena.height=e.arenaHeight;e.log("Arena size: width: "+arena.width+"; height: "+arena.height)};Robot.prototype.onRobotCollision=function(e){var t=e.robot;var n=getRobot(t);if(e.collidedRobot.id==t.parentId||e.collidedRobot.parentId!=null){if(!e.myFault)return}else{registerEnnemy(e.collidedRobot)}if(n.moving_ahead){t.back(100);n.moving_ahead=false}else{
n.moving_ahead=true;t.ahead(100)}n.direction=(n.direction+2)%nb_directions;updateRobot(n)};Robot.prototype.onWallCollision=function(e){var t=e.robot;var n=getRobot(t);var r=e.bearing+90>180?-(e.bearing-90):e.bearing+90;t.turn(r);switch(t.angle+r){case 360:case 0:if(n.moving_ahead){n.direction=0;n.soft_turn_direction=0}else{n.direction=2;n.soft_turn_direction=2}if(t.position.x<arena.width/2)n.sonar_side=0;else n.sonar_side=1;break;case 90:if(n.moving_ahead){n.direction=1;n.soft_turn_direction=1}else{n.direction=3;n.soft_turn_direction=3}if(t.position.y<arena.height/2)n.sonar_side=0;else n.sonar_side=1;break;case 180:if(n.moving_ahead)
{n.direction=2;n.soft_turn_direction=2}else{n.direction=0;n.soft_turn_direction=0}if(t.position.x<arena.width/2)n.sonar_side=1;else n.sonar_side=0;break;case 270:if(n.moving_ahead){n.direction=3;n.soft_turn_direction=3}else{n.direction=1;n.soft_turn_direction=1}if(t.position.y>arena.height/2)n.sonar_side=0;else n.sonar_side=1;break}t.ahead(10);updateRobot(n)};Robot.prototype.onIdle=function(e){var t=e.robot;registerRobot(t);var n=getRobot(t);if(n.isParent()&&first_launch){first_launch=false;n.go_top();t.ahead(100);t.clone()}if(n.isClone()&&first_launch_clone){first_launch_clone=false;n.go_bot()}if(n.isParent())increaseEnnemyIntelAge();
if(n.pending_soft_turn)n.continue_soft_turn();else n.adjustDirection();if(!ennemySeen()){if((pos=findATarget())!=null)n.look_at(pos);else t.rotateCannon(n.getNextPositionToWatch())}else{if(n.amIInDanger()){n.escape()}var r;r=n.getMostDangerousEnnemy();if(r!=null){n.getCloser(r.robot.position);if(n.isLookingAtMe(r.robot)){n.avoidEnnemyCannon(r)}var i=n.look_at(r.robot.position);t.rotateCannon(i);if(i<0)n.rotate_cannon=-10;else n.rotate_cannon=10}t.rotateCannon(n.rotate_cannon)}var s=10;if(ennemySeen())s=100;if(n.moving_ahead)t.ahead(s);else t.back(s);updateRobot(n)};Robot.prototype.onHitByBullet=function(e){var t=e.robot;
var n=getRobot(t);var r=0;if(intelAllCounter-lastIntervalHit>maxIntervalBulletReaction){if(e.bearing>=-45&&e.bearing<=45||e.bearing<=-135||e.bearing>=135){r=-90;t.turn(-90);if(t.angle>=315||t.angle<=45){if(t.position.x<arena.width/2)n.moving_ahead=false;else n.moving_ahead=true}else if(t.angle<=315&&t.angle>=225){if(t.position.y<arena.height/2)n.moving_ahead=true;else n.moving_ahead=false}else if(t.angle<=225&&t.angle>=135){if(t.position.x<arena.width/2)n.moving_ahead=true;else n.moving_ahead=false}else{if(t.position.y<arena.height/2)n.moving_ahead=false;else n.moving_ahead=true}}lastIntervalHit=intelAllCounter}if(n.moving_ahead)
t.ahead(100);else t.back(100);if(!ennemySeen())t.rotateCannon(e.bearing+r+90);updateRobot(n)};Robot.prototype.onScannedRobot=function(e){var t=e.robot;if(e.scannedRobot.id!=e.robot.parentId&&e.robot.id!=e.scannedRobot.parentId){registerEnnemy(e.scannedRobot);t.fire();t.fire();t.fire()}}
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