void RoboMiner::move(int cy, int cx)
{
Ground *gr = frame->getGround();
int maxCell_x = gr->getCols();
int maxCell_y = gr->getRows();
if(cx<0 || cx>=maxCell_x)
return;
if(cy<0 || cy>=maxCell_y)
return;
/* std::cout << "Moving from (" << cell_y << "," << cell_x << ")"
<< " Cell(" << cell->getY() << "," << cell->getX() << ")"
<< " to (" << cy << "," << cx << ") with max_y: "
<< maxCell_y << " max_x: " << maxCell_x << std::endl;
*/
Cell *destcell = &(gr->getCell(cy, cx));
if(!destcell->isDrilled())
drill(cy, cx);
if(destcell->isDrilled()){
cell->clearMiner();
cell = destcell;
cell->hasMiner(this);
cell_y = cy;
cell_x = cx;
energy -= 1;
}
}
void RoboMiner::scan()
{
int radius = 6;
int up_radius = radius, down_radius = radius;
int left_radius = radius, right_radius = radius;
int xdist, ydist;
Ground *g = frame->getGround();
if(cell_x + right_radius >= g->getCols())
right_radius = g->getCols()-1-cell_x;
if(cell_x - left_radius < 0)
left_radius = cell_x;
if(cell_y + down_radius >= g->getRows())
down_radius = g->getRows()-1-cell_y;
if(cell_y - up_radius < 0)
up_radius = cell_y;
std::vector<Cell *> scope;
// std::cout << "scan from (" << cell_y << "," << cell_x
// << ")" << std::endl;
for(xdist=-left_radius; xdist<=right_radius; ++xdist){
for(ydist=-up_radius; ydist<=down_radius; ++ydist){
if((abs(ydist)+abs(xdist))>radius)
continue;
if(ydist==0 && xdist==0)
continue;
Cell& scan_cell = g->getCell(cell_y+ydist, cell_x+xdist);
scope.push_back(&scan_cell);
}
}
/* std::cout << "\ty_r: " << y_radius << " x_r: "
<< x_radius << " tc: " << scope.size() << std::endl;
for(auto& c: scope){
c->setVisible(true);
if(c->mineralCount()){
mineralCells.push_back(c);
}
}
*/
std::vector<const Cell *> mineralCells;
std::copy_if(scope.cbegin(), scope.cend(), std::back_inserter(mineralCells), \
[](Cell *c){ c->setVisible(true); return c->mineralCount(); });
if(mineralCells.empty() && !destCell){
int roll = rand() % 4;
int x_off=0, y_off=0;
switch(roll){
case 0: y_off = -up_radius;
break;
case 1: x_off = right_radius;
break;
case 2: y_off = down_radius;
break;
case 3: x_off = -left_radius;
break;
}
// std::cout << "Exploring to: (" << cell_y+y_off
// << "," << cell_x+x_off << ")" << std::endl;
setDestination(cell_y + y_off, cell_x + x_off);
exploring = true;
}else if(!mineralCells.empty() && !destCell){
exploring = false;
int roll = rand() % mineralCells.size();
const Cell *const hasMinerals = mineralCells[roll];
setDestination(hasMinerals->getY(), hasMinerals->getX());
}
}
void RoboMiner::navigate()
{
int dest_y = destCell->getY();
int dest_x = destCell->getX();
int y_off = cell_y - dest_y;
int x_off = cell_x - dest_x;
int move_x = 0, move_y = 0;
Ground *g = frame->getGround();
Cell& up = g->getCell((cell_y-1 >= 0 ? cell_y-1 : 0), cell_x);
Cell& down = g->getCell((cell_y+1 < g->getRows() ? cell_y+1 : g->getRows()-1), cell_x);
Cell& right = g->getCell(cell_y, (cell_x+1 < g->getCols() ? cell_x+1 : g->getCols()-1));
Cell& left = g->getCell(cell_y, (cell_x-1 >= 0 ? cell_x-1 : 0));
if(y_off > 0){
if(x_off > 0){
if(left.isDrilled()){
move_x = -1;
goto done;
}
}else if(x_off < 0){
if(right.isDrilled()){
move_x = 1;
goto done;
}
}
move_y = -1;
}else if(y_off < 0){
if(x_off > 0){
if(left.isDrilled()){
move_x = -1;
goto done;
}
}else if(x_off < 0){
if(right.isDrilled()){
move_x = 1;
goto done;
}
}
move_y = 1;
}else if(x_off > 0){
if(y_off > 0){
if(up.isDrilled()){
move_y = -1;
goto done;
}
}else if(y_off < 0){
if(down.isDrilled()){
move_y = 1;
goto done;
}
}
move_x = -1;
}else if(x_off < 0){
if(y_off > 0){
if(up.isDrilled()){
move_y = -1;
goto done;
}
}else if(y_off < 0){
if(down.isDrilled()){
move_y = 1;
goto done;
}
}
move_x = 1;
}
done:
move(cell_y + move_y, cell_x + move_x);
if(dest_y == cell_y && dest_x == cell_x){
destCell = nullptr;
if(atBase()){
ascending = true;
}
if(lastMinedOre){
setDestination(lastMinedOre->getY(), lastMinedOre->getX());
lastMinedOre = nullptr;
}
}
}