package exe;


import robocode.*;
import baseRobot.*;



/**
 * 壁との衝突回避クラス
 * 
 * @author Fumi Iseki
 * @version 1.0
 */

public class WallCondition {
    private final double wallFactor = 1.6;
    private double xMax, yMax, xMin, yMin;
    private double width, height;
    private double robosz;
    private double nwdist, fldist;
    private BaseRobot  myRobo;


    /**
     * コンストラクタ
     */
    public WallCondition(BaseRobot robo) {
        myRobo  = robo;
        robosz  = robo.getRoboTool().getRoboSize();
        width   = robo.getBattleFieldWidth();
        height  = robo.getBattleFieldHeight();
        xMax    = width;
        yMax    = height;
        xMin    = 0.0;
        yMin    = 0.0;
        nwdist  = robosz*wallFactor;
        fldist  = robosz*wallFactor;
    }



    /**
     *  ロボットが競技場の中央部分にいる
     */
    public Condition inField = new Condition("InField") {
        public boolean test() {
            double x = myRobo.getX();
            double y = myRobo.getY();
            if (x-fldist>xMin && y-fldist>yMin && x+fldist<xMax && y+fldist<yMax) return true;
            else return false;
        };
    };



    /**
     *  ロボットが壁の近くにいる。
     */
    public Condition nearWall = new Condition("NearWall") {
        public boolean test() {
            double x = myRobo.getX();
            double y = myRobo.getY();
            if (x-nwdist<=xMin || y-nwdist<=yMin || x+nwdist>=xMax || y+nwdist>=yMax) return true;
            else return false;
        };
    };



    /**
     * 壁際の衝突回避処理.....　でも時々あたる(;_;)
     */
    public boolean checkCollision() {
        boolean ret = false;
        if (nearWall.test()) {
            //System.out.println("Near Wall");
            double kd = myRobo.getRoboTool().getRelAngle((xMin+xMax)/2, (yMin+yMax)/2, myRobo.getHeading());
            myRobo.setTurnShortest(kd, RoboConst.faraway);
            ret =  true;
        }
        return ret;
    }



    /**
     *　行動範囲の設定
     */
    public void  setField() {
        if (myRobo.getVsOthers()) {
            double xx = myRobo.getX();
            double yy = myRobo.getY();
            /*
            if (xx<width/2) {
                xMax = width/2.;
                xMin = 0.0;
            }
            else {
                xMax = width;
                xMin = width/2.;
            }
            */
            if (yy<height/2) {
                yMax = height/3.+robosz*wallFactor;
                yMin = 0.0;
            }
            else {
                yMax = height;
                yMin = height/3.*2.-robosz*wallFactor;
            }
        }
        else {
            xMax = width;
            yMax = height;
            xMin = 0.0;
            yMin = 0.0;
        }
    }

}