package ch.jp.robwar;


/**
 * This class shows a sample robot brain that goes forward.
 * When it hits a wall, it bounces, turns, shoots and resume 
 * its forward movement.
 *
 * @author JP Martin
 * @date 8.28.1998
 */
public class WallBouncerShooter implements RobotBrain {
  
  /**
   * This internal variable is used to remember where the robot
   * wants to go. It is incremented by 90 each time a wall is hit.
   */
  private double targetAngle = 270.0;
  
  /**
   * This internal variable, when !=0, forces the robot to back up.
   */
  private int recule = 0;
  
  /**
   * This allows the robot brain to remember its past actions.
   */
  private Instructions previousInstr;
  
  /**
   * This function is called by the simulation for each time step.
   * It returns the orders that the robot brain gives to the robot body.
   */
  public Instructions nextMove(Feedback senses) {
    double rotation;
    
    
    // if I hit a wall, start stepping back and then turning
    if (senses.stimuli.hitObstacle) {
       targetAngle+=100;
       if (recule==0) recule=8;
       // If we hit a wall going backwards, we don't want
       // to step back anymore
       else recule=0;
    }
    
    // am I stepping back?
    if (recule>0) {
      recule--;
      previousInstr=new Instructions(0,-0.03,false);
      return (previousInstr);
    }
    
    // keeping the angles in [0..360[ makes the job easier
    if (targetAngle>=360) targetAngle-=360;
    if (targetAngle<0) targetAngle+=360;
    
    // rotation represents how much I want to turn to face
    // the target angle
    rotation=360-senses.selfInfo.orientation+targetAngle;
    
    // we want to turn the fastest way
    // (i.e. rather turn -10 than 350)
    if (rotation>180)  rotation=rotation-360.0;
    if (rotation>180)  rotation=rotation-360.0;
    if (rotation<-180) rotation=rotation+360.0;
    
    
    if (java.lang.Math.abs(rotation)>0.1) {
      // turn to reach targetAngle
      
      if (rotation>5) rotation=5;
      else if (rotation<-5) rotation=-5;
       
      previousInstr=new Instructions(rotation,0,false);
      return previousInstr;
    }
    else {
      // We have the right orientation, go forward (ev. shoot)
      previousInstr=new Instructions(0.0,0.1,previousInstr==null || previousInstr.getRotation()!=0);
      return previousInstr;
    }
   
  }
}