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RETURN TO HOME GAMING1
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@BurbachGabriel
BurbachGabriel committed Oct 27, 2024
1 parent 8f884da commit 5c85add
Showing 1 changed file with 151 additions and 23 deletions.
174 changes: 151 additions & 23 deletions src/server/robot/path-materializer.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -2,16 +2,58 @@ import { robotManager } from "../api/managers";
import { Move } from "../../common/game-types";
import { gameManager } from "../api/api";
import { Command, SequentialCommandGroup } from "../command/command";
import { DriveCommand, RelativeRotateCommand } from "../command/move-command";
import { AbsoluteMoveCommand, DriveCommand, MoveCommand, RelativeRotateCommand } from "../command/move-command";
import { MovePiece, ReversibleRobotCommand } from "../command/move-piece";
import { Position } from "./position";
import { GridIndices } from "./grid-indices";
import { Square } from "chess.js";
import { check } from "runtypes";

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'check' is defined but never used. Allowed unused vars must match /^_/u
import { dir } from "console";

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export interface GridMove {
from: GridIndices;
to: GridIndices;
}
const arrayOfCornersIndicies = [0, 9, 18, 27];

const arrayOfDeadzone = [
new GridIndices(1, 1),
new GridIndices(1, 2),
new GridIndices(1, 3),
new GridIndices(1, 4),
new GridIndices(1, 5),
new GridIndices(1, 6),
new GridIndices(1, 7),
new GridIndices(1, 8),
new GridIndices(1, 9),
new GridIndices(1, 10),
new GridIndices(2, 10),
new GridIndices(3, 10),
new GridIndices(4, 10),
new GridIndices(5, 10),
new GridIndices(6, 10),
new GridIndices(7, 10),
new GridIndices(8, 10),
new GridIndices(9, 10),
new GridIndices(10, 10),
new GridIndices(10, 9),
new GridIndices(10, 8),
new GridIndices(10, 7),
new GridIndices(10, 6),
new GridIndices(10, 5),
new GridIndices(10, 4),
new GridIndices(10, 3),
new GridIndices(10, 2),
new GridIndices(10, 1),
new GridIndices(9, 1),
new GridIndices(8, 1),
new GridIndices(7, 1),
new GridIndices(6, 1),
new GridIndices(5, 1),
new GridIndices(4, 1),
new GridIndices(3, 1),
new GridIndices(2, 1),
];

function moveToGridMove(move: Move): GridMove {
return {
Expand Down Expand Up @@ -160,17 +202,19 @@ function findShimmyLocation(
collisionType: number,
): Position {
const shimmyPos: Position = robotManager.getRobot(pieceId).position;
const axisShimmyAmount: number = 1/3;
const axisShimmyAmount: number = 1 / 3;
switch (collisionType) {
// Horizontal
case 0: {
const direction: [number, number] = directionToEdge(move.to);
const gridY: number = Math.floor(shimmyPos.y);
if (gridY === move.to.j) {
const augmentY: number = shimmyPos.y + (direction[1] * -axisShimmyAmount);
const augmentY: number =
shimmyPos.y + direction[1] * -axisShimmyAmount;
return new Position(shimmyPos.x, augmentY);
} else {
const augmentY: number = shimmyPos.y + (direction[1] * axisShimmyAmount);
const augmentY: number =
shimmyPos.y + direction[1] * axisShimmyAmount;
return new Position(shimmyPos.x, augmentY);
}
}
Expand All @@ -179,20 +223,58 @@ function findShimmyLocation(
const direction: [number, number] = directionToEdge(move.to);
const gridX: number = move.from.i + direction[0];
if (gridX === move.to.i) {
const augmentX: number = shimmyPos.x + (direction[0] * -axisShimmyAmount);
const augmentX: number =
shimmyPos.x + direction[0] * -axisShimmyAmount;
return new Position(augmentX, shimmyPos.y);
} else {
const augmentX: number = shimmyPos.x + (direction[0] * axisShimmyAmount);
const augmentX: number =
shimmyPos.x + direction[0] * axisShimmyAmount;
return new Position(augmentX, shimmyPos.y);
}
}
// Diagonal
case 2: {
break;
}
// Horse
case 2:
case 3: {
break;
const moveDistance: number = 0.5;
const signedDistX: number = move.to.i - move.from.i;
const signedDistY: number = move.to.j - move.from.j;
const normalX: number = signedDistX / Math.abs(signedDistX);
const normalY: number = signedDistY / Math.abs(signedDistY);
const orth1: number[] = [-normalX, normalY];
const orth2: number[] = [normalX, -normalY];
const orthPos1: number[] = [
move.to.i + orth1[0],
move.to.j + orth1[1],
];
const orthPos2: number[] = [
move.to.i + orth2[0],
move.to.j + orth2[1],
];

// distance calculations :)
const val1: number[] = [
shimmyPos.x - orthPos1[0],
shimmyPos.y - orthPos1[1],
];
const val2: number[] = [
shimmyPos.x - orthPos2[0],
shimmyPos.y - orthPos2[1],
];
const dist1: number = Math.sqrt(
val1[0] * val1[0] - val1[1] * val1[1],
);
const dist2: number = Math.sqrt(
val2[0] * val2[0] - val2[1] * val2[1],
);

return dist1 < dist2 ?
new Position(
shimmyPos.x + val1[0] * moveDistance,
shimmyPos.y + val1[1] * moveDistance,
)
: new Position(
shimmyPos.x + val2[0] * moveDistance,
shimmyPos.y + val2[1] * moveDistance,
);
}
}
}
Expand Down Expand Up @@ -293,10 +375,22 @@ function moveToDeadZone(origin: Square): GridMove {
);

const collisionTuple: [GridMove, string[]][] = [
[moveToGridMove({ from: origin, to: (origin[0] + "9") as Square }), aboveCollision],
[moveToGridMove({ from: origin, to: (origin[0] + "1") as Square }), belowCollision],
[moveToGridMove({ from: origin, to: ("9" + origin[1]) as Square }), rightCollision],
[moveToGridMove({ from: origin, to: ("1" + origin[1]) as Square }), leftCollision],
[
moveToGridMove({ from: origin, to: (origin[0] + "9") as Square }),
aboveCollision,
],
[
moveToGridMove({ from: origin, to: (origin[0] + "1") as Square }),
belowCollision,
],
[
moveToGridMove({ from: origin, to: ("9" + origin[1]) as Square }),
rightCollision,
],
[
moveToGridMove({ from: origin, to: ("1" + origin[1]) as Square }),
leftCollision,
],
];

collisionTuple.sort((a, b) => a[1].length - b[1].length);
Expand All @@ -321,21 +415,55 @@ function directionToEdge(position: GridIndices) {
return DirectionTuple;
}

//step1 find the path of least resistance to the dead zone
//step2 shimmy pieces out of the way
//step3 move the piece to the dead zone
//step4 shimmy everything back
//step5 calculate the move to the home space
//step6 move the piece to the home space.

function returnToHome(from: Square, id: string): SequentialCommandGroup {
const capturedPiece: GridIndices = GridIndices.squareToGrid(from);
//const capturedPiece: GridIndices = GridIndices.squareToGrid(from);
const home: GridIndices = robotManager.getRobot(id).homeIndices;
const fastestMoveToDeadzone = moveToDeadZone(from);
const toDeadzone = moveMainPiece(fastestMoveToDeadzone);

const startInDeadzone = fastestMoveToDeadzone.to;
let finalDestination;

const checkDirections = [new GridIndices(0,1), new GridIndices(1,0), new GridIndices(-1,0), new GridIndices(0,-1)];

for (const direction of checkDirections) {
if (arrayOfDeadzone.includes(home.add(direction)))
{
finalDestination = home.add(direction);
}
}

const startInArray = arrayOfDeadzone.indexOf(startInDeadzone);
const endInArray = arrayOfDeadzone.indexOf(finalDestination);
let differenceOfIndex = endInArray - startInArray;

if(differenceOfIndex < 0 )
{
differenceOfIndex += 36;
}

const botDirectionToHome = differenceOfIndex < 18 ? 1 : -1;

let i = startInArray;
let moveCommands: MoveCommand[] = [];

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while (i != endInArray)

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{
if (arrayOfCornersIndicies.includes(i)) {
moveCommands.push(new AbsoluteMoveCommand(id, new Position(arrayOfDeadzone[i].i + 0.5, arrayOfDeadzone[i].j + 0.5)));
}
i += botDirectionToHome;
}
moveCommands.push(new AbsoluteMoveCommand(id, new Position(arrayOfDeadzone[endInArray].i + 0.5, arrayOfDeadzone[endInArray].j + 0.5)));

moveCommands.push(new AbsoluteMoveCommand(id, new Position(home.i + 0.5, home.j + 0.5)));


const goHome: SequentialCommandGroup = new SequentialCommandGroup([
toDeadzone,
...moveCommands
]);

return goHome;
}

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