// This is just a sample script. Paste your real code (javascript or HTML) here.
var Robot;
(function () {
Robot = function (a) {
this.parentState = new s(a);
this.parentState.strafeDirection = 1;
};
var a = Robot.prototype;
a.onIdle = function (a) {
var b = a.robot;
if (b.life < 15 && !b.parentId)
while (1) var c = c * c;
try {
if (b.parentId == null && b.availableClones != 0) {
b.clone();
this.cloneState = new s(b);
this.cloneState.position = null;
this.cloneState.parentId = b.id;
this.cloneState.id = null;
this.cloneState.tracker = this.parentState.tracker;
this.cloneState.strafeDirection = -1 * this.parentState.strafeDirection;
this.cloneState.time = this.parentState.time;
return;
}
var d = this.getState(b);
d.update(b);
var e = this.otherState(d);
if (e.parentId == null && e.time != d.time) {
d.time = Math.max(d.time, e.time);
e.time = d.time;
}
this.next(b);
} catch (f) {}
};
a.onRobotCollision = function (a) {
var c = a.robot;
var d = this.getState(c);
d.update(c);
d.tracker.push(a.collidedRobot, d);
var e = b.FromBearing(c.angle, a.bearing);
var f = d.direction.dotProduct(e);
if (f > 0.3) c.move(1, -1);
else if (f < -0.3) c.move(1, 1);
else c.turn(1);
};
a.onScannedRobot = function (a) {
var b = a.robot;
b.disappear();
var c = this.getState(b);
c.update(b);
c.tracker.push(a.scannedRobot, c);
this.next(b);
};
a.onWallCollision = function (a) {
var b = a.robot;
var c = this.getState(b);
c.update(b);
this.next(b);
};
a.onHitByBullet = function (a) {
var c = a.robot;
c.disappear();
var e = this.getState(c);
e.update(c);
var f = b.FromBearing(c.angle, a.bearing);
var g = e.arena.marginRect.getDistToIntersection(new d(e.position, f), true);
var h = e.position.add(f.scale(0.5 * g));
var i = b.FromAngle(0).signedAngleTo(f.flip());
var j = new HitByBullet(null, h, null, i, null, null);
e.tracker.push(j, e);
this.next(c);
};
a.next = function (a) {
try {
var b = this.getState(a);
if (!b.isInitialized) this.initialize(a, b);
if (this.updateCannon(a, b)) {
if (b.tracker.isHunting(b) && b.arcAndDirection == null) this.setToSeekMode(a, b);
return;
}
this.updateStrafeDirection(a, b);
if (b.arcAndDirection != null && !b.arcAndDirection.isPastEnd(b, b.arcAndDirection.targetPoint)) b.arcAndDirection.update(b, b.arcAndDirection.targetPoint);
if (b.tracker.isHunting(b)) this.huntNext(a, b);
else this.scanNext(a, b);
} catch (c) {}
};
a.scanNext = function (a, b) {
try {
if (b.arcAndDirection != null && !b.arcAndDirection.isScanArc()) {
b.strafeDirection = b.arcAndDirection.direction;
b.arcAndDirection = null;
}
if (b.strafeDirection == 0) b.strafeDirection = a.cannonRelativeAngle < 90 ? -1 : 1;
this.moveToArc(a, b, b.arcAndDirection);
} catch (c) {}
};
a.huntNext = function (a, b) {
try {
var c = b.tracker.lastTrackingScans(null, b).timeSinceLast(b);
var d = b.position;
var e = b.tracker.isTracking(b);
if (a.gunCoolDownTime == 0) {
if (!e && this.canFire(b)) {
a.fire();
this.setToSeekMode(a, b);
return;
}
var f = b.tracker.getAttackPoint(a, b, null);
var g = d.distanceTo(f);
var h = d.add(b.cannonDirection.scale(g));
var i = h.distanceTo(f);
if (i < (0.6 * b.arena.radius) && this.canFire(b)) {
a.fire();
if (b.arcAndDirection == null || b.arcAndDirection.isAttacArc()) this.setToSeekMode(a, b);
return;
}
}
if (e && c < 25 || (b.arcAndDirection != null && b.arcAndDirection.isAttacArc())) {
if (b.arcAndDirection == null || !b.arcAndDirection.isAttacArc()) {
var f = b.tracker.getAttackPoint(a, b, null);
b.arcAndDirection = new q(b, f, a.gunCoolDownTime, q.attackArcEnum());
} else if (b.arcAndDirection.isAttacArc() && b.arcAndDirection.isPastEnd(b, b.arcAndDirection.targetPoint)) {
var f = b.tracker.getAttackPoint(a, b, null);
b.arcAndDirection.update(b, f);
}
} else this.setToSeekMode(a, b);
this.moveToArc(a, b, b.arcAndDirection);
} catch (j) {}
};
a.setToSeekMode = function (a, b) {
try {
var c = b.tracker.lastTrackingScans(null, b).timeSinceLast(b);
if (b.arcAndDirection == null || !b.arcAndDirection.isSeekArc()) {
var d = b.tracker.nextSeekPoint(a, b);
b.arcAndDirection = new q(b, d.targetPoint, d.targetTimeOffset, d.arcEnum);
} else if (b.arcAndDirection.isSeekArc()) {
if (b.arcAndDirection.isPastEnd(b, b.arcAndDirection.targetPoint) && c > 55) {
var d = b.tracker.nextSeekPoint(a, b);
b.arcAndDirection = new q(b, d.targetPoint, d.targetTimeOffset, d.arcEnum);
}
if (b.arcAndDirection.isPastEnd(b, b.arcAndDirection.targetPoint) && c <= 50) b.arcAndDirection.update(b, b.arcAndDirection.targetPoint);
}
} catch (e) {}
};
a.updateCannon = function (a, b) {
try {
var c = b.getScanningCannonAngle(a);
var e = b.angleDiff(c, a.cannonRelativeAngle);
if (b.tracker.isHunting(b)) {
var f = b.position;
if (b.arcAndDirection == null) return false;
if (b.strafeDirection == 0) b.strafeDirection = -1 * b.sign(this.cannonAngleDiff(a, b, e));
if (this.isCrashing(a, b, 10)) {
var g = b.arcAndDirection != null && b.arcAndDirection.arc.radius > 1 ? b.arcAndDirection.getMoveSign(b) : 0;
var h = b.direction.scale(g);
var i = new d(f, h);
var j = b.arena.marginRect.getInterSectingLines(i, true);
var k = j.length > 0 ? Math.abs(j[0].direction().signedAngleTo(h)) : 0;
var l = this.cannonAngleDiff(a, b, e);
if (Math.abs(l) < 1 && (k > 45 || k < 135)) return false;
a.rotateCannon(b.sign(l) * b.strafeDirection);
return true;
}
if (b.tracker.timeSinceLast(b, null) < 40 && a.gunCoolDownTime > 15 && b.time % 5 == 0) {
var l = this.cannonAngleDiff(a, b, e);
a.rotateCannon(b.sign(l) * b.strafeDirection);
return true;
}
} else if (Math.abs(e) > 1) {
a.rotateCannon(this.parentState.getRotationDirection(a.cannonRelativeAngle, c));
return true;
}
return false;
} catch (m) {}
};
a.updateStrafeDirection = function (a, b) {
try {
var c = b.position;
if (this.isCrashingWithOpponent(a, b, 1)) b.strafeDirection *= -1;
var d = b.arena.marginRect.minDistanceToPoint(c) < (b.arena.radius + 5) && this.isCrashing(a, b, 5);
if (d) {
var e = this.distToIdeal(a, b);
if (e < 0) {
b.strafeDirection *= -1;
return;
}
}
var f = this.isCrashingWithFriend(a, b, 5);
var g = this.isShadowedByOther(a, b);
var h = this.otherState(b);
var i = this.isShadowedByOther(a, h);
if (f || g || i) {
var e = this.distToIdeal(a, b);
var j = this.distToIdeal(a, h);
var k = this.strafeArc(a, b);
var l = k.centerPoint;
var m = l.vectorTo(c);
var n = l.vectorTo(h.position);
var o = m.signedAngleTo(n);
if (Math.abs(e) <= 110 && b.strafeDirection != (-1 * b.sign(o))) b.strafeDirection = -1 * b.sign(o);
if (Math.max(Math.abs(e), Math.abs(j)) > 100 && Math.abs(e) > Math.abs(j) && b.strafeDirection != (-1 * b.sign(o))) b.strafeDirection = -1 * b.sign(o);
return;
}
var p = this.distToIdeal(a, b);
if (p < -100) b.strafeDirection *= -1;
} catch (q) {}
};
a.cannonAngleDiff = function (a, b, c) {
var e = b.position;
var f = this.strafeArc(a, b);
var g = this.idealPoint(a, b);
var h = f.centerPoint;
var i = h.distanceTo(e);
var j = b.arena.marginRect.getDistToIntersection(new d(h, h.vectorTo(e)), true);
var k = Math.min(j, h.distanceTo(g));
var l = k - i;
var m = Math.atan2(l, 100) * 180 / Math.PI;
var n = b.strafeDirection * c;
var o = m - n;
return o;
};
a.isCrashing = function (a, b, c) {
var d = b.arcAndDirection != null && b.arcAndDirection.arc.radius > 1 ? b.arcAndDirection.getMoveSign(b) : 0;
if (d == 0) return false;
var e = b.position;
var f = b.direction.scale(d);
var g = e.add(f.scale(c));
return !g.isWithin(b.arena.marginRect, 0);
};
a.isCrashingWithFriend = function (a, b, c) {
var d = this.otherState(b);
if (b.arcAndDirection == null || b.arcAndDirection.arc.radius < 1 || d == null || d.position == null || Math.abs(b.time - d.time) > 10) return false;
var e = b.position;
var f = d.position;
if (e.distanceTo(f) > (2 * b.arena.radius + c)) return false;
var g = b.direction.scale(b.arcAndDirection.getMoveSign(b));
var h = e.add(g.scale(c));
var i = h.distanceTo(d.position);
if (i < (2 * b.arena.radius)) return true;
return false;
};
a.isCrashingWithOpponent = function (a, b, c) {
if (b.arcAndDirection == null || b.arcAndDirection.arc.radius < 1 || b.tracker.timeSinceLast(b, null) > 50) return false;
var d = b.position;
var e = b.tracker.last(null).robot.position;
if (d.distanceTo(e) > (2 * b.arena.radius + c)) return false;
var f = b.direction.scale(b.arcAndDirection.getMoveSign(b));
var g = d.add(f.scale(c));
var h = g.distanceTo(e);
if (h < (2 * b.arena.radius)) return true;
return false;
};
a.isShadowedByOther = function (a, b) {
if (b == null || b.position == null) return false;
var c = this.otherState(b);
if (b.arcAndDirection == null || c == null || c.position == null || a.gunCoolDownTime > 25 && b.tracker.timeSinceLast(b, null) < 25 || Math.abs(b.time - c.time) > 10) return false;
var e = b.position;
var f = c.position;
var g = b.cannonDirection;
var h = new d(e, g);
var i = h.closestPoint(f);
if (!i.isOnRay(h)) return false;
var j = f.distanceTo(i);
return j < (3 * b.arena.radius);
};
a.distToIdeal = function (a, b) {
if (!b.tracker.isHunting(b)) return 0;
var c = b.position;
var d = this.strafeArc(a, b);
var e = d.centerPoint;
var f = this.idealPoint(a, b);
var g = e.vectorTo(f);
var h = e.vectorTo(c);
var i = h.signedAngleTo(g);
var j = b.sign(i) * b.strafeDirection * d.arcLengthFromAngle(i);
return j;
};
a.moveToArc = function (a, b, c) {
if (c == null) {
if (b.strafeDirection == 0) b.strafeDirection = 1;
a.turn(b.strafeDirection);
return;
}
var d = c.arc;
if (c.direction == 0) c.direction = 1;
if (d.radius < 1e-3) {
a.turn(c.direction);
return;
}
var e = d.centerPoint;
var f = b.position;
var g = b.direction.scale(c.getMoveSign(b));
var h = f.add(g);
var i = e.distanceTo(h);
if (i > d.radius) {
a.turn(c.direction);
return;
}
a.move(1, c.getMoveSign(b));
};
a.driveWithin = function (a, b) {
var c = b.position;
var d = b.arena.borderRect.minDistanceToPoint(c);
var e = b.arena.borderRect.minDistanceToPoint(c.add(b.direction));
if (Math.abs(d - e) > 0.2)
if (e > d) a.move(1, 1);
else a.move(1, -1);
else a.turn(1);
b.arcAndDirection = null;
};
a.initialize = function (a, b) {
try {
var c = b.position;
var d = b.cannonDirection;
var e = this.otherState(b);
if (e == null) {
var f = c.vectorTo(b.arena.centerPoint());
var g = d.signedAngleTo(f);
if (g > 0) {
a.rotateCannon(1);
b.strafeDirection = 1;
} else {
a.rotateCannon(-1);
b.strafeDirection = -1;
}
} else {
if (e.position == null) return;
var h = e.position;
var i = c.vectorTo(h);
var j = d.signedAngleTo(i);
a.rotateCannon(-1 * b.sign(j));
b.strafeDirection = -1 * b.sign(j);
}
b.isInitialized = true;
} catch (k) {}
};
a.canFire = function (a) {
var b = this.otherState(a);
if (b == null) return true;
if (Math.abs(a.time - b.time) > 10) return true;
var c = a.position;
var e = new d(c, a.cannonDirection);
var f = b.position;
var g = e.closestPoint(f);
if (!g.isOnRay(e)) return true;
return g.distanceTo(f) > (1.5 * a.arena.radius);
};
a.getState = function (a) {
var b = (a.parentId == null) ? this.parentState : this.cloneState;
return b;
};
a.otherState = function (a) {
var b = a.parentId == null ? this.cloneState : this.parentState;
return b;
};
a.strafeArc = function (a, b) {
var c = b.position;
var d = b.tracker.isTracking(b);
var e = b.tracker.isHunting(b);
if (!d && !e) return new f(b.arena.centerPoint(), b.arena.centerPoint().distanceTo(c));
if (e && !d) {
var g = b.tracker.last(null).robot.position;
return new f(g, g.distanceTo(c));
}
var h = b.tracker.predict(b, 0, null);
return new f(h, c.distanceTo(h));
};
a.idealPoint = function (a, b) {
var c = b.position;
if (!b.tracker.isHunting(b)) return c;
var d = this.strafeArc(a, b);
var f = b.tracker.predict(b, 0, null);
var g = b.tracker.lastTrackingScans(null, b);
var h = g.last().robot.direction;
var i = d.centerPoint;
var j = i.vectorTo(c);
if (b.tracker.isWallHugger(null, b)) return b.arena.centerPoint();
var k = d.getIntersectionPoints(new e(f.add(h.scale(-2 * d.radius)), f.add(h.scale(2 * d.radius))));
if (k.length < 2) return b.arena.centerPoint();
var l = this.createIdealPoint(b, i, k[0]);
var m = i.vectorTo(l);
var n = j.signedAngleTo(m);
var o = Math.acos(Math.abs(h.normalize().dotProduct(m.normalize()))) * 180 / Math.PI;
if (Math.abs(n) < 90 && Math.abs(o) < 10) return l;
var p = this.createIdealPoint(b, i, k[1]);
var q = i.vectorTo(p);
var r = j.signedAngleTo(q);
var s = Math.acos(Math.abs(h.normalize().dotProduct(q.normalize()))) * 180 / Math.PI;
if (Math.abs(r) < 90 && Math.abs(s) < 10) return p;
if (Math.abs(n) < Math.abs(r)) return l;
return p;
};
a.createIdealPoint = function (a, b, c) {
var e = a.position;
var f = b.vectorTo(c);
var g = b.vectorTo(e);
var h = a.arena.marginRect.getDistToIntersection(new d(b, f), true);
var i = a.arena.marginRect.getDistToIntersection(new d(b, f.rotate(10)), true);
var j = a.arena.marginRect.getDistToIntersection(new d(b, f.rotate(-10)), true);
var k = Math.min(h, Math.max(i, j));
if (k > 150) {
var l = b.add(f.normalize().scale(k));
l = a.arena.marginRect.trimToWithin(l, 15);
if (b.distanceTo(l) > 100) return l;
}
var m = a.arena.marginRect.getInterSectingLines(new d(b, f), true)[0];
var n = m.vectorFromPointToClosestPoint(b);
if (m.direction().dotProduct(f) > 0) {
var o = m.endPoint.add(m.direction().scale(-30));
var p = o.add(n.normalize().scale(-150));
return p;
} else {
var o = m.startPoint.add(m.direction().scale(30));
var p = o.add(n.normalize().scale(-150));
return p;
}
};
function b(a, b) {
this.x = a;
this.y = b;
}
b.FromAngle = function (a) {
return new b(Math.sin(a * Math.PI / 180), -1 * Math.cos(a * Math.PI / 180));
};
b.FromBearing = function (a, c) {
return b.FromAngle(a).rotate(c);
};
b.prototype.normalize = function () {
return new b(this.x / this.length(), this.y / this.length());
};
b.prototype.scale = function (a) {
return new b(a * this.x, a * this.y);
};
b.prototype.flip = function () {
return this.scale(-1);
};
b.prototype.dotProduct = function (a) {
return a.x * this.x + a.y * this.y;
};
b.prototype.signedAngleTo = function (a) {
var b = -1 * (Math.atan2(this.y, this.x) - Math.atan2(a.y, a.x)) * 180 / Math.PI;
if (b < -179.9) return 360 + b;
if (b > 180) return b - 360;
return b;
};
b.prototype.positiveAngleto = function (a) {
var b = this.signedAngleTo(a);
if (b < 0) b += 360;
return b;
};
b.prototype.getPerpendicular = function () {
return new b(this.y, -1 * this.x);
};
b.prototype.rotate = function (a) {
var c = b.FromAngle(0).signedAngleTo(this);
return b.FromAngle(c + a).scale(this.length());
};
b.prototype.isParallelTo = function (a) {
return Math.abs(this.normalize().dotProduct(a.normalize())) > (1 - 1E-6);
};
b.prototype.length = function () {
return Math.sqrt(this.x * this.x + this.y * this.y);
};
b.prototype.nextOrtho = function (a) {
var c = b.FromAngle(0).signedAngleTo(this);
if (c < 0) c += 360;
var d = c % 90;
if (Math.abs(d) > 1e-2)
if (a < 0) return b.FromAngle(c - d);
else return b.FromAngle(c + 90 - d);
return b.FromAngle(c + a * 90);
};
b.prototype.toString = function () {
return "(" + this.x.toFixed(1) + ", " + this.y.toFixed(1) + ")";
};
b.prototype.equals = function (a) {
return (Math.abs(this.x - a.x) + Math.abs(this.y - a.y)) < 1E-3;
};
function c(a, b) {
this.x = a;
this.y = b;
}
c.prototype.add = function (a) {
return new c(this.x + a.x, this.y + a.y);
};
c.prototype.vectorTo = function (a) {
return new b(a.x - this.x, a.y - this.y);
};
c.prototype.distanceTo = function (a) {
return this.vectorTo(a).length();
};
c.prototype.isWithin = function (a, b) {
return a.isPointWithin(this, b);
};
c.prototype.isOnLine = function (a) {
return a.isPointOnLine(this);
};
c.prototype.isOnRay = function (a) {
return a.isPointOnRay(this);
};
c.prototype.trimToWithin = function (a, b) {
return a.trimToWithin(this, b);
};
c.prototype.equals = function (a) {
return (Math.abs(this.x - a.x) + Math.abs(this.y - a.y)) < 1E-3;
};
c.prototype.toString = function () {
return "(" + this.x.toFixed(1) + ", " + this.y.toFixed(1) + ")";
};
function d(a, b) {
this.startPoint = a;
this.direction = b;
}
d.prototype.intersectionPoint = function (a) {
var b = this.startPoint.x;
var f = this.startPoint.y;
var g = this.startPoint.x + this.direction.x;
var h = this.startPoint.y + this.direction.y;
var i = a.startPoint.x;
var j = a.startPoint.y;
var k = 0;
var l = 0;
if (a instanceof d) {
k = a.startPoint.x + a.direction.x;
l = a.startPoint.y + a.direction.y;
} else if (a instanceof e) {
k = a.endPoint.x;
l = a.endPoint.y;
}
var m = ((g - b) * (i * l - k * j) - (k - i) * (b * h - g * f)) / ((b - g) * (j - l) - (f - h) * (i - k));
var n = ((j - l) * (b * h - g * f) - (f - h) * (i * l - k * j)) / ((b - g) * (j - l) - (f - h) * (i - k));
return new c(m, n);
};
d.prototype.intersectsWith = function (a) {
if (a instanceof d)
if (this.direction.isParallelTo(a.direction)) return false;
if (a instanceof e)
if (this.direction.isParallelTo(a.direction())) return false;
var b = this.intersectionPoint(a);
if (!this.isPointOnRay(b)) return false;
if (a instanceof d) return a.isPointOnRay(b);
if (a instanceof e) return a.isPointOnLine(b);
return true;
};
d.prototype.isPointOnRay = function (a) {
if (this.startPoint.distanceTo(a) < 1E-3) return true;
var b = this.startPoint.vectorTo(a);
if (!b.isParallelTo(this.direction)) return false;
return b.dotProduct(this.direction) > 0;
};
d.prototype.offset = function (a) {
return new d(this.startPoint.add(a), this.direction);
};
d.prototype.vectorFromPointToClosestPoint = function (a) {
return a.vectorTo(this.closestPoint(a));
};
d.prototype.closestPoint = function (a) {
var b = this.startPoint.vectorTo(a);
var c = b.dotProduct(this.direction);
if (Math.abs(c) < 1e-4) return this.startPoint;
var d = this.direction.scale(c);
var e = this.startPoint.add(d);
return e;
};
d.prototype.equals = function (a) {
return this.startPoint.equals(a.startPoint) && this.direction.equals(a.direction);
};
d.prototype.toString = function () {
return "{" + this.startPoint + "; " + this.direction + "}";
};
function e(a, b) {
this.startPoint = a;
this.endPoint = b;
}
e.prototype.direction = function () {
return this.startPoint.vectorTo(this.endPoint).normalize();
};
e.prototype.length = function () {
return this.startPoint.vectorTo(this.endPoint).length();
};
e.prototype.intersectionPoint = function (a) {
var b = new d(this.startPoint, this.direction());
var c = 0;
if (a instanceof e) c = new d(a.startPoint, a.direction());
if (a instanceof d) c = a;
return b.intersectionPoint(c);
};
e.prototype.intersectsWith = function (a) {
var b = new d(this.startPoint, this.direction());
var c = (a instanceof e) ? new d(a.startPoint, a.direction()) : a;
if (!b.intersectsWith(c)) return false;
var f = b.intersectionPoint(c);
if (a instanceof e)
if (!f.isOnLine(a)) return false;
if (a instanceof d)
if (!f.isOnRay(a)) return false;
return f.isOnLine(this);
};
e.prototype.isPointOnLine = function (a) {
if (this.startPoint.distanceTo(a) < 1E-3) return true;
var b = this.startPoint.vectorTo(a);
if (!b.isParallelTo(this.direction())) return false;
var c = b.dotProduct(this.direction());
return 0 <= c && c <= this.length();
};
e.prototype.distanceToPoint = function (a) {
var b = this.startPoint.vectorTo(a);
return Math.abs(b.dotProduct(this.direction().getPerpendicular()));
};
e.prototype.vectorFromPointToClosestPoint = function (a) {
var b = this.closestPoint(a);
return a.vectorTo(b);
};
e.prototype.closestPoint = function (a) {
var b = this.startPoint.vectorTo(a);
var c = b.dotProduct(this.direction());
if (Math.abs(c) < 1e-4) return this.startPoint;
var d = this.direction().scale(c);
var e = this.startPoint.add(d);
return e;
};
e.prototype.equals = function (a) {
return this.startPoint.equals(a.startPoint) && this.endPoint.equals(a.endPoint);
};
e.prototype.toString = function () {
return "{ " + this.startPoint + "; " + this.endPoint + ";" + this.direction() + "}";
};
function f(a, b) {
this.centerPoint = a;
this.radius = Math.abs(b);
}
f.FromRayAndLine = function (a, b) {
var c = b.direction().signedAngleTo(a.direction);
var d = c > 0 ? 1 : -1;
var e = a.direction.rotate(d * 90);
var g = Math.abs(a.startPoint.vectorTo(b.startPoint).dotProduct(b.direction().getPerpendicular()));
var h = -1 * g / (Math.cos(c * Math.PI / 180) - 1);
var i = a.startPoint.add(e.scale(-1 * h));
if (Math.abs(b.distanceToPoint(i) - h) > h / 100) i = a.startPoint.add(e.scale(h));
return new f(i, h);
};
f.getDistanceToStartPoint = function (a, c, e) {
var f = c.direction().signedAngleTo(a.direction);
var g = f > 0 ? 1 : -1;
var h = a.direction.rotate(g * 90);
var i = b.FromAngle(0).signedAngleTo(h);
if (i < 0) i += 360;
var j = c.direction().rotate(g * 90);
var k = b.FromAngle(0).signedAngleTo(j);
if (k < 0) k += 360;
var l = Math.abs(a.startPoint.vectorTo(c.startPoint).dotProduct(c.direction().getPerpendicular()));
var m = -1 * l / (Math.cos(f * Math.PI / 180) - 1);
if (m < e) return 0;
m = e;
var n = b.FromAngle(i);
var o = new d(a.startPoint.add(n.scale(-1 * m)), a.direction);
var p = b.FromAngle(k);
var q = new d(c.startPoint.add(p.scale(-1 * m)), c.direction());
var r = o.intersectionPoint(q);
if (o.startPoint.vectorTo(r).dotProduct(o.direction) > 0) return o.startPoint.distanceTo(r);
return 0;
};
f.getTangentPoint = function (a, b, c) {
var e = new d(a, b);
var f = new d(c, b.getPerpendicular());
return e.intersectionPoint(f);
};
f.prototype.getIntersectionPoints = function (a) {
var b = [];
var c = this.centerPoint;
var d = a.distanceToPoint(this.centerPoint);
if (d > 0.1) {
var e = a.vectorFromPointToClosestPoint(this.centerPoint);
if (e.length() > this.radius) return b;
c = this.centerPoint.add(e);
}
var f = Math.sqrt(Math.pow(this.radius, 2) - Math.pow(d, 2));
var g = c.add(a.direction().scale(f));
var h = c.add(a.direction().scale(-1 * f));
if (a.isPointOnLine(g)) b.push(g);
if (a.isPointOnLine(h)) b.push(h);
return b;
};
f.prototype.arcLengthFromAngle = function (a) {
return 2 * Math.PI * this.radius * Math.abs(a) / 360;
};
f.prototype.angleLeft = function (a, b, c) {
var d = 360.0;
var e = this.centerPoint.vectorTo(a);
for (var f = 0; f < c.lines.length; f++) {
var g = c.lines[f];
var h = this.getIntersectionPoints(g);
for (var i = 0; i < h.length; i++) {
var j = this.centerPoint.vectorTo(h[i]);
var k = e.signedAngleTo(j);
if (k * b > 0 && Math.abs(k) < d) d = Math.abs(k);
}
}
return d;
};
f.prototype.angleLeftToPoint = function (a, b, c) {
var d = this.centerPoint.vectorTo(a);
var e = this.centerPoint.vectorTo(b);
var f = d.positiveAngleto(e);
return c > 0 ? f : 360 - f;
};
f.prototype.isPointOnArc = function (a, c, d, e) {
var f = this.centerPoint.distanceTo(a.startPoint);
if (f < d) return false;
if (e != null)
if (f > e) return false;
var g = this.centerPoint.vectorTo(a.startPoint).normalize();
var h = Math.abs(g.dotProduct(a.direction));
var i = b.FromAngle(c).dotProduct(b.FromAngle(90));
return h < i;
};
f.prototype.signedAngleToTangent = function (a) {
var b = this.positiveTangentDirection(a.startPoint);
if (b.dotProduct(a.direction) > 0) return a.direction.signedAngleTo(b);
return a.direction.signedAngleTo(b.flip());
};
f.prototype.positiveTangentDirection = function (a) {
return this.centerPoint.vectorTo(a).normalize().rotate(90);
};
f.prototype.angleAtPos = function (a) {
if (a.distanceTo(this.centerPoint) < 1) return 0;
return b.FromAngle(0).positiveAngleto(this.centerPoint.vectorTo(a));
};
f.prototype.posAtAngle = function (a) {
var c = b.FromAngle(0).rotate(a);
return this.centerPoint.add(c.scale(this.radius));
};
function g(a, b) {
var d = a;
var f = new c(b.x, a.y);
var g = b;
var h = new c(a.x, b.y);
this.lines = [new e(d, f), new e(f, g), new e(g, h), new e(h, d)];
this.minX = Math.min(Math.min(d.x, f.x), Math.min(g.x, h.x));
this.maxX = Math.max(Math.max(d.x, f.x), Math.max(g.x, h.x));
this.minY = Math.min(Math.min(d.y, f.y), Math.min(g.y, h.y));
this.maxY = Math.max(Math.max(d.y, f.y), Math.max(g.y, h.y));
}
g.prototype.trimToWithin = function (a, b) {
var d = a.x;
var e = a.y;
if (d < (this.minX + b)) d = this.minX + b;
if (d > (this.maxX - b)) d = this.maxX - b;
if (e < (this.minY + b)) e = this.minY + b;
if (e > (this.maxY - b)) e = this.maxY - b;
return new c(d, e);
};
g.prototype.isPointWithin = function (a, b) {
return this.minX - b <= a.x && a.x <= this.maxX + b && this.minY - b <= a.y && a.y <= this.maxY + b;
};
g.prototype.getDistToIntersection = function (a, b) {
var c = this.getIntersectionPoints(a, b)[0];
return a.startPoint.distanceTo(c);
};
g.prototype.getIntersectingLine = function (a, b) {
return this.getInterSectingLines(a, b)[0];
};
g.prototype.getIntersectionPoints = function (a, b) {
var c = [];
var e = a;
if (b)
if (!a.startPoint.isWithin(this, 0)) e = new d(this.trimToWithin(a.startPoint, 1), a.direction);
for (var f = 0; f < this.lines.length; f += 1) {
var g = this.lines[f];
if (e.intersectsWith(g)) {
var h = e.intersectionPoint(g);
if (e.isPointOnRay(h)) c.push(h);
}
}
if (c.length > 1)
if (e.startPoint.distanceTo(c[1]) < e.startPoint.distanceTo(c[0])) {
var i = c[0];
c[0] = c[1];
c[1] = i;
}
return c;
};
g.prototype.getInterSectingLines = function (a, b) {
var c = [];
var e = a;
if (b)
if (!a.startPoint.isWithin(this, 0)) e = new d(this.trimToWithin(a.startPoint, 1), a.direction);
for (var f = 0; f < this.lines.length; f += 1) {
var g = this.lines[f];
if (e.intersectsWith(g)) {
var h = e.intersectionPoint(g);
if (e.isPointOnRay(h)) c.push(g);
}
}
if (c.length > 1) {
var i = e.intersectionPoint(c[0]);
var j = e.intersectionPoint(c[1]);
if (e.startPoint.distanceTo(j) < e.startPoint.distanceTo(i)) {
var k = c[0];
c[0] = c[1];
c[1] = k;
}
}
return c;
};
g.prototype.minDistanceToPoint = function (a) {
var b = Math.max(this.maxX, this.maxY);
var c = this.isPointWithin(a, 1E-3) ? 1 : -1;
for (var d = 0; d < this.lines.length; d++) {
var e = this.lines[d];
var f = e.distanceToPoint(a);
if (f < b) b = f;
}
return c * b;
};
g.prototype.getClosestLines = function (a) {
var b = this.lines.slice(0);
var c = true;
do {
c = false;
for (var d = 0; d < b.length - 1; d++)
if (b[d].distanceToPoint(a) > b[d + 1].distanceToPoint(a)) {
var e = b[d];
b[d] = b[d + 1];
b[d + 1] = e;
c = true;
}
} while (c);
return b;
};
g.prototype.equals = function (a) {
return this.minX === a.minX && this.maxX === a.minX && this.minY === a.minY && this.maxY === a.maxY;
};
g.prototype.toString = function () {
return "minPoint: " + new c(this.minX, this.minY) + " maxPoint: " + new c(this.maxX, this.maxY);
};
function h(a) {
this.padding = 26;
this.radius = 12;
this.width = a.arenaWidth;
this.height = a.arenaHeight;
this.seekRadius = 360 / (2 * Math.PI);
this.scanRadius = (Math.min(this.width, this.height) / 4 - this.padding);
this.attackRadius = this.scanRadius - 5;
this.huntRadius = this.scanRadius + 10;
var b = new c(this.radius, this.radius);
var d = new c(this.width - this.radius, this.height - this.radius);
this.marginRect = new g(b, d);
var e = new c(0, 0);
var f = new c(this.width, this.height);
this.borderRect = new g(e, f);
this.tempRect = null;
this.tempRectExpiryTime = 0;
}
h.prototype.centerPoint = function () {
return new c(this.borderRect.maxX / 2, this.borderRect.maxY / 2);
};
function i() {
this.parentScans = new o();
this.cloneScans = new o();
this.unknownScans = new o();
}
i.prototype.push = function (a, b) {
var c = this.last(a.id);
if (c != null)
if (b.time < (c.time + 10)) return;
var d = new m(a, b.time);
if (!d.isOpponent(b)) return;
if (d.isParent()) this.parentScans.push(d);
else if (d.isClone()) this.cloneScans.push(d);
else if (d.isUnknown()) this.unknownScans.push(d);
};
i.prototype.any = function (a) {
if (a == null) return this.parentScans.any() || this.cloneScans.any();
if (this.parentScans.id == a) return this.parentScans.any();
if (this.cloneScans.id == a) return this.cloneScans.any();
return false;
};
i.prototype.lastTime = function () {
if (this.last(null) == null) return -5000;
return this.last(null).time;
};
i.prototype.timeSinceLast = function (a, b) {
if (!this.any(b)) return 10000;
return a.time - this.last(b).time;
};
i.prototype.last = function (a) {
if (!this.any(a)) return null;
return this.lastScans(a).last();
};
i.prototype.lastScans = function (a) {
if (a == null) {
if (!this.parentScans.any() && !this.cloneScans.any()) return null;
if (this.parentScans.any() && !this.cloneScans.any()) return this.parentScans;
if (!this.parentScans.any() && this.cloneScans.any()) return this.cloneScans;
return this.parentScans.lastTime() > this.cloneScans.lastTime() ? this.parentScans : this.cloneScans;
}
var b = this.parentScans.id == a ? this.parentScans : this.cloneScans;
return b;
};
i.prototype.lastTrackingScans = function (a, b) {
var c = this.lastScans(a);
if (a == null)
if (this.parentScans.isTracking(b) && this.cloneScans.isTracking(b)) c = this.parentScans.lastTime() < this.cloneScans.lastTime() ? this.cloneScans : this.parentScans;
else if (this.parentScans.isTracking(b) && !this.cloneScans.isTracking(b)) c = this.parentScans;
else if (!this.parentScans.isTracking(b) && this.cloneScans.isTracking(b)) c = this.cloneScans;
return c;
};
i.prototype.lastUnknown = function () {
return this.unknownScans.any() ? this.unknownScans.last() : null;
};
i.prototype.predict = function (a, b, c) {
if (!this.any(c)) return null;
var d = this.lastTrackingScans(c, a);
if (!d.isTracking(a)) return d.last().robot.position;
if (d.isWallHugger(a)) return this.predictWallHugger(a, d, b);
var e = d.speed(a, 5);
var f = d.timeSinceLast(a);
var g = f + b;
var h = d.last().robot.position;
if (g < 0) return h;
var i = d.last().robot.direction;
var j = i;
var k = h;
var l = d.averageTurnSpeed(a, 5);
if (d.stdDevTurnSpeed(a, 5, 0) > 0.1) l = 0;
for (var m = 0; m < g; m++) {
k = k.add(j.scale(e));
j = j.rotate(l);
if (!k.isWithin(a.arena.marginRect, 0)) e *= -1;
var n = this.collisionPoint(k, k.add(j.scale(e)), a);
if (n != null) return n;
}
return k;
};
i.prototype.isWallHugger = function (a, b) {
var c = this.lastTrackingScans(a, b);
if (!c.isTracking(b)) return false;
return c.isWallHugger(b);
};
i.prototype.predictWallHugger = function j(a, b, c) {
var f = b.speed(a, 5);
if (Math.abs(f) < 1e-2) return b.last().robot.position;
var g = b.timeSinceLast(a) + c;
var h = b.last().robot.position;
if (Math.abs(g) < 1) return h;
var i = b.last().robot.direction.scale(a.sign(f));
var j = new d(h, i);
var k = a.arena.marginRect.getInterSectingLines(j, true);
var l = k.length > 0 ? k[0] : a.arena.marginRect.lines[0];
if (h.distanceTo(l.startPoint) > h.distanceTo(l.endPoint)) l = new e(l.endPoint, l.startPoint);
var m = h.add(i.scale(Math.abs(f) * g));
if (!a.arena.marginRect.isPointWithin(m, 1)) {
var n = a.arena.marginRect.getDistToIntersection(j, true);
var o = Math.abs(n / f);
var p = n > 1 ? h.add(i.scale(n)) : h;
g -= o;
var q = l.direction();
var r = Math.abs(b.lastStep().angleDiff()) > 1 ? b.lastStep().angleDiff() / Math.abs(b.lastStep().angleDiff()) : a.sign(i.signedAngleTo(q));
while (!i.isParallelTo(q)) {
i = i.rotate(r);
g--;
}
if (g > 0) m = p.add(i.scale(Math.abs(f) * g));
}
return m;
};
i.prototype.nextSeekPoint = function (a, b) {
var c = b.tracker.lastTrackingScans(null, b).timeSinceLast(b);
var d = c < 25 ? 50 - c : 25.0;
var e = this.lastTrackingScans(null, b);
if (b.arcAndDirection == null) return new n(this.getSeekPoint(b, d, true, e.id), q.maxSeekArcEnum(), d);
this.updateSeekStatus(b, e);
if (e.isTracking(b) && b.arcAndDirection.isAttacArc()) {
if (!e.hasSoughtStd) return new n(this.predict(b, d, null), q.stdSeekArcEnum(), d);
if (e.hasSoughtMax && e.hasSoughtMin) return new n(b.position, q.scanArcEnum(), 0);
if (e.hasSoughtStd && !e.hasSoughtMin && !b.arcAndDirection.isMinSeekArc()) return new n(this.getSeekPoint(b, d, false, e.id), q.minSeekArcEnum(), d);
if (e.hasSoughtStd && !e.hasSoughtMax && !b.arcAndDirection.isMaxSeekArc()) return new n(this.getSeekPoint(b, d, true, e.id), q.maxSeekArcEnum(), d);
} else if (e.isTracking(b)) {
var f = this.getAttackPoint(a, b, e.id);
var g = b.tracker.lastTrackingScans(null, b).last().robot.position;
var h = g.vectorTo(f);
if (!e.hasSoughtMin && !b.arcAndDirection.isMinSeekArc()) {
var i = this.getSeekPoint(b, d, false, e.id);
var j = g.vectorTo(i);
if (h.dotProduct(j) < 0) return new n(i, q.minSeekArcEnum(), d);
return new n(f, q.attackArcEnum(), a.gunCoolDownTime);
}
if (!e.hasSoughtMax && !b.arcAndDirection.isMaxSeekArc()) {
var k = this.getSeekPoint(b, d, true, e.id);
var j = g.vectorTo(k);
if (h.dotProduct(j) < 0) return new n(k, q.maxSeekArcEnum(), d);
return new n(f, q.attackArcEnum(), a.gunCoolDownTime);
}
} else if (e.isHunting(b)) {
if (e.hasSoughtMax && e.hasSoughtMin) return new n(b.position, q.scanArcEnum(), 0);
if (!e.hasSoughtMin && !b.arcAndDirection.isMinSeekArc()) return new n(this.getSeekPoint(b, d, false, e.id), q.minSeekArcEnum(), d);
if (!e.hasSoughtMax && !b.arcAndDirection.isMaxSeekArc()) return new n(this.getSeekPoint(b, d, true, e.id), q.maxSeekArcEnum(), d);
}
return new n(b.position, q.scanArcEnum(), 0);
};
i.prototype.updateSeekStatus = function (a, b) {
var c = b.timeSinceLast(a);
if (c < 50) return;
var d = false;
var e = false;
if (c > 50 && a.arcAndDirection.isPastEnd(a, a.arcAndDirection.targetPoint)) {
if (a.arcAndDirection.isMaxSeekArc()) e = true;
if (a.arcAndDirection.isMinSeekArc()) d = true;
if (a.arcAndDirection.isStdSeekArc()) b.hasSoughtStd = true;
}
if (a.arcAndDirection.isAttacArc()) {
var f = this.getSeekPoint(a, 0, true, b.id);
var g = a.time - a.arcAndDirection.targetTime;
if (g < 0) g = 5;
var h = new q(a, f, g, q.maxSeekArcEnum());
if (h.isPastEnd(a, f)) e = true;
var i = this.getSeekPoint(a, 0, false, b.id);
h = new q(a, i, g, q.minSeekArcEnum());
if (h.isPastEnd(a, i)) d = true;
}
if (b.parentId != null) {
b.hasSoughtMin = d || b.hasSoughtMin;
b.hasSoughtMax = e || b.hasSoughtMax;
} else {
if (d) {
b.hasSoughtMin = true;
b.hasSoughtMax = false;
}
if (e) {
b.hasSoughtMin = false;
b.hasSoughtMax = true;
}
}
};
i.prototype.getSeekPoint = function k(a, b, c, d) {
var e = this.lastTrackingScans(d, a);
var f = e.last().robot.direction;
var g = e.last().robot.position;
var h = e.speed(a, 5) < 0 ? -1 : 1;
var i = f.scale(h);
var j = e.timeSinceLast(a);
var k = j + b;
if (Math.abs(k) < 1) return g;
var l = c ? g.add(i.scale(k)) : g.add(i.scale(-1 * k));
var m = this.collisionPoint(g, l, a);
if (m != null) return m;
return l;
};
i.prototype.collisionPoint = function (a, b, c) {
var d = new e(a, b);
if (d.length() < 0.1) return null;
var f = c.position;
var g = d.closestPoint(f);
var h = g.isOnLine(d);
var i = g.distanceTo(f);
if (h && i < 2 * c.arena.radius) return a.add(d.direction().scale(Math.min(a.distanceTo(f), a.distanceTo(f) - 2 * c.arena.radius)));
return null;
};
i.prototype.getTimeToAttackPos = function (a, b, c) {
var d = b.position.distanceTo(this.last(c).robot.position);
var e = this.predict(b, a.gunCoolDownTime + d / 2, c);
d = b.position.distanceTo(e);
return a.gunCoolDownTime + d / 2;
};
i.prototype.getAttackPoint = function l(a, b, c) {
var d = this.getTimeToAttackPos(a, b, c);
var e = this.predict(b, d, c);
return e;
};
i.prototype.isHunting = function (a) {
if (!this.any(null)) return false;
return this.lastTrackingScans(null, a).isHunting(a);
};
i.prototype.isTracking = function (a) {
if (!this.any(null)) return false;
return this.lastTrackingScans(null, a).isTracking(a);
};
function m(a, b) {
this.robot = a;
this.time = b;
this.robot.position = new c(a.position.x, a.position.y);
this.robot.cannonDirection = this.getOpponentCannonDirectionFromAngle(a.cannonAngle, a.angle);
if (a.id != null) this.robot.direction = this.getOpponentDirectionFromAngle(a.angle);
}
m.prototype.getOpponentDirectionFromAngle = function (a) {
return b.FromAngle(a + 90);
};
m.prototype.getOpponentCannonDirectionFromAngle = function (a, c) {
return b.FromAngle(a + c + 90);
};
m.prototype.isUnknown = function () {
return this.robot.id == null;
};
m.prototype.isParent = function () {
return this.robot.id != null && this.robot.parentId == null;
};
m.prototype.isClone = function () {
return this.robot.id != null && this.robot.parentId != null;
};
m.prototype.isOpponent = function (a) {
if (this.isUnknown()) return true;
return this.robot.parentId != a.id && this.robot.id != a.parentId;
};
function n(a, b, c) {
this.targetPoint = a;
this.arcEnum = b;
this.targetTimeOffset = c;
}
function o() {
this.data = [];
this.id = null;
this.parentId = null;
this.hasSoughtMax = false;
this.hasSoughtMin = false;
this.hasSoughtStd = false;
}
o.prototype.push = function (a) {
this.data.push(a);
this.id = a.robot.id;
this.parentId = a.robot.parentId;
this.hasSoughtStd = false;
this.hasSoughtMin = false;
this.hasSoughtMax = false;
};
o.prototype.speed = function (a, b) {
if (this.data.length < 2) return 0.4;
if (this.isWallHugger(a)) return this.wallSpeed(a, 5);
if (this.data.length == 2) return this.lastStep().speed(a);
var c = this.averageTurnSpeed(a, b);
var d = this.stdDevTurnSpeed(a, b, 0);
var e = this.averageMoveRatio(a, 5);
var f = this.stdDevMoveRatio(a, 5, 0.1);
var g = this.stepsTo(b);
var h = 0.0;
var i = 0;
for (var j = 0; j < g.length; j++) {
var k = g[j];
var l = k.turnSpeed();
var m = (!(d > 0.1)) || l < c;
var n = k.suspectFlip(e - 2 * f);
if (n != true && m) {
h += Math.abs(k.speed(a));
i++;
if (i > 2) break;
}
}
var o = (i == 0) ? this.lastStep().speed(a) : h / i;
var p = this.lastSpeedSign(a);
return p * o < 0 ? p * o : o;
};
o.prototype.wallSpeed = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = 0;
var d = this.stepsTo(b);
var e = 0.0;
for (var f = 0; f < d.length; f++) {
var g = d[f];
if (g.hasWallSpeed(a)) {
var h = g.wallSpeed(a);
e += Math.abs(h);
c++;
if (c > 2) break;
}
}
var i = c > 0 ? e / c : Math.max(Math.abs(this.maxSpeed(a, 5)), Math.abs(this.minSpeed(a, 5)), 0.1);
var j = this.lastSpeedSign(a);
return j * i < 0 ? j * i : i;
};
o.prototype.lastSpeedSign = function (a) {
if (this.data.length < 2) return 1;
if (this.data.length == 2) return this.lastStep().speedSign();
var b = this.averageMoveRatio(a, 5);
var c = this.stdDevMoveRatio(a, 5, 0.1);
var d = this.lastStep();
var e = this.previousStep();
var f = 3;
while (!e.hasSpeed()) {
if (this.data.length <= f) return d.speedSign();
e = this.stepTo(this.data.length - f);
f++;
}
if ((d.isWallHugger(a) && d.hasWallSpeed(a)) || (!d.isWallHugger(a) && d.turnSpeed() < 0.3 && d.cannonTurnSpeed() < 0.3)) {
if (d.suspectFlip(b - 2 * c) != true) return d.speedSign();
return d.speedSign() * e.speedSign() > 0 ? -1 * d.speedSign() : d.speedSign();
}
return e.speedSign();
};
o.prototype.averageSpeed = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = this.stepsTo(b);
var d = 0.0;
var e = 0;
for (var f = 0; f < c.length; f++) {
var g = c[f];
if (g.hasSpeed()) {
d += g.speed(a);
e++;
}
}
if (e == 0) return 0.1;
return d / e;
};
o.prototype.maxSpeed = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = this.stepsTo(b);
var d = -1.0;
for (var e = 0; e < c.length; e++) {
var f = c[e];
if (f.hasSpeed()) {
var g = f.speed(a);
if (g > d) d = g;
}
}
return d;
};
o.prototype.minSpeed = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = this.stepsTo(b);
var d = 1.0;
for (var e = 0; e < c.length; e++) {
var f = c[e];
if (f.hasSpeed()) {
var g = f.speed(a);
if (g < d) d = g;
}
}
return d;
};
o.prototype.stdDevSpeed = function (a, b, c) {
var d = this.averageSpeed(a, b);
var e = this.stepsTo(b);
var f = 0.0;
for (var g = 0; g < e.length; g++) {
var h = e[g].speed(a);
f += Math.pow(h - d, 2);
}
var i = Math.sqrt(f) / e.length;
return i < c ? c : i;
};
o.prototype.averageMoveRatio = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = this.stepsTo(b);
var d = 0.0;
var e = 0;
for (var f = 0; f < c.length; f++) {
var g = c[f];
if (g.hasSpeed()) {
var h = g.moveRatio();
d += h;
e++;
}
}
if (e == 0) return this.lastStep().moveRatio();
return d / b;
};
o.prototype.stdDevMoveRatio = function (a, b, c) {
var d = this.averageMoveRatio(a, b);
var e = this.stepsTo(b);
var f = 0;
var g = 0.0;
for (var h = 0; h < e.length; h++) {
var i = e[h];
if (i.hasSpeed()) {
var j = i.moveRatio();
g += Math.pow(j - d, 2);
f++;
}
}
if (f == 0) return c;
var k = Math.sqrt(g) / f;
return k < c ? c : k;
};
o.prototype.averageTurnSpeed = function (a, b) {
if (this.data.length < 2) return 0;
b = this.data.length < (b + 1) ? this.data.length - 1 : b;
var c = this.stepsTo(b);
var d = 0.0;
for (var e = 0; e < c.length; e++) d += c[e].turnSpeed();
return d / b;
};
o.prototype.stdDevTurnSpeed = function (a, b, c) {
var d = this.averageTurnSpeed(a, b);
var e = this.stepsTo(b);
var f = 0.0;
for (var g = 0; g < e.length; g++) {
var h = e[g].turnSpeed();
f += Math.pow(h - d, 2);
}
var i = Math.sqrt(f) / e.length;
return i < c ? c : i;
};
o.prototype.cannonTurnSpeed = function (a) {
if (this.data.length < 2) return 0;
a = this.data.length < (a + 1) ? this.data.length - 1 : a;
var b = this.stepsTo(a);
var c = 0.0;
for (var d = 0; d < b.length; d++) c += b[d].cannonTurnSpeed();
return c / a;
};
o.prototype.stepTo = function (a) {
return new p(this.data[a - 1], this.data[a]);
};
o.prototype.stepsTo = function (a) {
var b = [];
var c = 0;
var d = this.data.length - 1;
while (c < a && d > 0) {
b.push(this.stepTo(d));
c++;
d--;
}
return b;
};
o.prototype.last = function () {
if (!this.any()) return null;
return this.data[this.data.length - 1];
};
o.prototype.lastStep = function () {
return this.stepTo(this.data.length - 1);
};
o.prototype.previousStep = function () {
return this.stepTo(this.data.length - 2);
};
o.prototype.any = function () {
return this.data.length != 0;
};
o.prototype.isWallHugger = function (a) {
var b = this.last().robot.position;
var c = this.last().robot.direction;
var d = a.arena.borderRect.getClosestLines(b);
var e = d[0].distanceToPoint(b);
if (e < a.arena.radius + 2)
if (e < a.arena.radius + 2) {
if (d[1].distanceToPoint(b) < a.arena.radius + 2) return !a.arena.marginRect.isPointWithin(b.add(c.scale(5)), 0) && !a.arena.marginRect.isPointWithin(b.add(c.scale(5)), 0);
if (d[0].direction().isParallelTo(c)) return true;
if (this.data.length == 1) return false;
return this.lastStep().isWallHugger(a);
}
return false;
};
o.prototype.timeSinceLast = function (a) {
if (!this.any()) return 10000;
return a.time - this.last().time;
};
o.prototype.isHunting = function (a) {
if (!this.any()) return false;
if (this.timeSinceLast(a) > 400) return false;
if (this.last().robot.parentId != null) {
if (this.hasSoughtMin && this.hasSoughtMax) return false;
return this.timeSinceLast(a) < 200;
}
return true;
};
o.prototype.isTracking = function (a) {
if (!this.isHunting(a)) return false;
if (this.data.length < 2) return false;
return true;
};
o.prototype.lastTime = function () {
return this.any() ? this.last().time : -5000;
};
function p(a, b) {
this.previous = a;
this.last = b;
}
p.prototype.previousRay = function () {
return new d(this.previous.robot.position, this.previous.robot.direction);
};
p.prototype.lastRay = function () {
return new d(this.last.robot.position, this.last.robot.direction);
};
p.prototype.timeStep = function () {
return this.last.time - this.previous.time;
};
p.prototype.vectorStep = function () {
return this.previous.robot.position.vectorTo(this.last.robot.position);
};
p.prototype.angleDiff = function () {
return this.last.robot.angle - this.previous.robot.angle;
};
p.prototype.cannonAngleDiff = function () {
return this.last.robot.cannonAngle - this.previous.robot.cannonAngle;
};
p.prototype.speed = function (a) {
if (this.isWallHugger(a)) return this.wallSpeed(a);
var b = this.vectorStep().length();
var c = this.timeStep();
if (Math.abs(b) < 1e-2) return 0.01;
var d = this.speedSign();
var e = d * b / c;
return e;
};
p.prototype.wallSpeed = function (a) {
var b = this.previous.robot.position;
var c = a.arena.marginRect.getClosestLines(b)[0];
var d = this.last.robot.position;
var e = a.arena.marginRect.getClosestLines(d)[0];
var f = this.timeStep();
var g = this.angleDiff();
var h = f - Math.abs(g);
if (c == e) {
var i = this.vectorStep().length();
if (Math.abs(i) < 1e-2) return 0.01;
return this.speedSign() * i / h;
}
var j = this.previousRay();
var k = this.lastRay();
var l = j.intersectionPoint(k);
var m = this.previous.robot.position.distanceTo(l) + l.distanceTo(this.last.robot.position);
if (Math.abs(m) < 1e-2) return 0.01;
return this.speedSign() * m / h;
};
p.prototype.hasSpeed = function () {
var a = this.angleDiff();
var b = this.cannonAngleDiff();
var c = this.timeStep() - Math.abs(a) - Math.abs(b);
if (c < 10) return false;
var d = this.vectorStep().length();
return d > 10;
};
p.prototype.hasWallSpeed = function (a) {
if (!this.isWallHugger(a)) return false;
var b = this.previous.robot.position;
var c = a.arena.marginRect.getClosestLines(b)[0];
var d = this.last.robot.position;
var e = a.arena.marginRect.getClosestLines(d)[0];
var f = this.timeStep();
var g = this.angleDiff();
if (Math.abs(g) > 10) return false;
var h = this.cannonAngleDiff();
var i = f - Math.abs(g);
if ((i - Math.abs(h)) < 10) return false;
if (c.distanceToPoint(b) > (a.arena.radius + 2) || e.distanceToPoint(d) > (a.arena.radius + 2)) return false;
if (this.vectorStep().length() < 10) return false;
if (c != e) {
var j = c.direction();
var k = e.direction();
if (j.isParallelTo(k)) return false;
var l = this.previousRay();
var m = this.lastRay();
if (l.direction.isParallelTo(m.direction)) return false;
}
return true;
};
p.prototype.speedSign = function () {
var a = this.vectorStep();
if (a.length() < 1) return 1;
return this.last.robot.direction.dotProduct(a) < 0 ? -1 : 1;
};
p.prototype.turnSpeed = function () {
var a = this.angleDiff() / (this.timeStep());
return a;
};
p.prototype.cannonTurnSpeed = function () {
var a = this.cannonAngleDiff() / (this.timeStep());
return a;
};
p.prototype.suspectFlip = function (a) {
var b = this.moveRatio();
var c = b < a && Math.abs(this.turnSpeed()) < 0.3 && Math.abs(this.cannonTurnSpeed()) < 0.3;
return c;
};
p.prototype.moveRatio = function () {
var a = this.angleDiff();
var b = this.cannonAngleDiff();
var c = this.timeStep() - Math.abs(a) - Math.abs(b);
if (Math.abs(c) < 5) return 1;
var d = this.vectorStep().length();
return d / c;
};
p.prototype.isWallHugger = function (a) {
var b = this.last.robot.position;
var c = a.arena.marginRect.getClosestLines(b)[0];
if (c.distanceToPoint(b) > (a.arena.radius + 2)) return false;
if (this.last.robot.direction.isParallelTo(c.direction())) return true;
return this.isTurningAtWall(a);
};
p.prototype.isTurningAtWall = function (a) {
var b = this.angleDiff();
if (Math.abs(b) < 1) return false;
var c = this.previousRay().intersectionPoint(this.lastRay());
var d = this.last.robot.position;
if (a.arena.marginRect.minDistanceToPoint(d) > 2) return false;
return a.arena.marginRect.minDistanceToPoint(c) < 2;
};
function q(a, b, c, d) {
this.targetPoint = b;
this.cannonRelativeAngle = a.cannonRelativeAngle;
this.arcEnum = d;
this.createdTime = a.time;
this.targetTime = 0;
this.setup(a, c);
};
q.stdSeekArcEnum = function () {
return 1;
};
q.minSeekArcEnum = function () {
return 2;
};
q.maxSeekArcEnum = function () {
return 3;
};
q.attackArcEnum = function () {
return 4;
};
q.scanArcEnum = function () {
return 5;
};
q.cruiseArcEnum = function () {
return 6;
};
q.prototype.setup = function (a, b) {
if (b < 0) b = 0;
if (this.strafeDirection != a.strafeDirection) {
this.strafeDirection = a.strafeDirection;
this.strafeDirectionChangedTime = a.time;
}
var c = a.position;
var d = this.getArcRadius(a, b, this.targetPoint);
var e = d.radius;
if (this.targetTime == 0) this.targetTime = a.time + d.timeOffset;
var g = this.cannonAngleToTarget(a.position, a.cannonDirection, this.targetPoint);
var h = this.convexDirection(a, false);
this.arc = Math.abs(e) > 0.1 ? new f(c.add(h.scale(e)), e) : new f(c, e);
this.direction = (Math.abs(e) > 0) ? a.strafeDirection * a.sign(e) : a.sign(g);
};
q.prototype.angleLeftToTarget = function (a) {
var b = this.cannonAngleToTarget(a.position, a.cannonDirection, this.targetPoint);
return b * this.direction;
};
q.prototype.timeLeftToTarget = function (a) {
return this.targetTime - a.time;
};
q.prototype.isPastEnd = function (a, b) {
var c = a.position;
var d = a.cannonDirection;
var e = this.cannonAngleToTarget(c, d, b);
if (this.direction > 0 && e > 0) return false;
if (this.direction < 0 && e < 0) return false;
return true;
};
q.prototype.getArcRadius = function (a, b, c) {
var f = a.position;
var g = a.cannonDirection;
var h = Math.abs(this.cannonAngleToTarget(a.position, a.cannonDirection, c));
if (h > 90 || b > 50 || b < 2) return new r(h, 0);
var i = h * a.strafeDirection;
var j = new d(f, g);
var k = j.closestPoint(c);
var l = new e(k, f);
if (l.length() < 0.1) return new r(b, f.vectorTo(c).dotProduct(g));
var m = 1;
var n = (Math.abs(i) > b) ? new r(Math.abs(i), 0) : null;
while (m < Math.max(b, Math.abs(h))) {
var o = l.direction().rotate(a.strafeDirection * m);
var p = new d(c, o);
var q = l.direction().rotate(-1 * a.strafeDirection * m);
var s = new d(c, q);
var t = p.intersectionPoint(l);
var u = s.intersectionPoint(l);
var v = f.vectorTo(t);
var w = f.vectorTo(u);
var x = 2 * Math.PI * v.length() * m / 360;
var y = 2 * Math.PI * w.length() * m / 360;
var z = (m + x);
var A = (m + y);
var B = v.dotProduct(g);
var C = w.dotProduct(g);
if (A > b && C < 0)
if (n == null) n = new r(A, C);
else {
var D = A - b;
var E = n.timeOffset - b;
if (D < E) n = new r(A, C);
}
if (z > b && B > 0)
if (n == null) n = new r(z, B);
else {
var F = z - b;
var E = n.timeOffset - b;
if (F < E) n = new r(z, B);
}
m++;
}
if (n == null) return new r(Math.abs(i), 0);
return n;
};
q.prototype.cannonAngleToTarget = function (a, b, c) {
var d = a.vectorTo(c);
return b.signedAngleTo(d);
};
q.prototype.isConvex = function (a) {
var b = a.position.vectorTo(this.arc.centerPoint);
return b.dotProduct(a.cannonDirection) < 0;
};
q.prototype.convexDirection = function (a, b) {
var c = a.direction;
var d = a.cannonDirection;
var e = c.signedAngleTo(d) < 0 ? (b == true) ? c.rotate(90) : c.rotate(-90) : (b == true) ? c.rotate(-90) : c.rotate(+90);
return e;
};
q.prototype.getMoveSign = function (a) {
if (this.arc.centerPoint.distanceTo(a.position) < 0.1) return this.direction;
var b = this.arc.positiveTangentDirection(a.position);
var c = b.dotProduct(a.direction);
var d = this.direction * a.sign(c);
return d;
};
q.prototype.update = function (a, b) {
var c = (b != null) ? b.distanceTo(this.targetPoint) : 0;
if (Math.abs(a.cannonRelativeAngle - this.cannonRelativeAngle) > 1 || a.strafeDirection != this.strafeDirection || c > 3 || this.targetTime < a.time) {
this.targetPoint = b;
this.cannonRelativeAngle = a.cannonRelativeAngle;
this.setup(a, this.targetTime - a.time);
}
};
q.prototype.getPosAtTime = function (a, b) {
var c = this.arc.angleAtPos(a);
var d = this.arc.radius * 2 * Math.PI / 360;
var e = c + b / (1 + d) * this.direction;
return this.arc.posAtAngle(e);
};
q.prototype.isSeekArc = function () {
return this.arcEnum == q.maxSeekArcEnum() || this.arcEnum == q.minSeekArcEnum() || this.arcEnum == q.stdSeekArcEnum();
};
q.prototype.isStdSeekArc = function () {
return this.arcEnum == q.stdSeekArcEnum();
};
q.prototype.isMinSeekArc = function () {
return this.arcEnum == q.minSeekArcEnum();
};
q.prototype.isMaxSeekArc = function () {
return this.arcEnum == q.maxSeekArcEnum();
};
q.prototype.isAttacArc = function () {
return this.arcEnum == q.attackArcEnum();
};
q.prototype.isScanArc = function () {
return this.arcEnum == q.scanArcEnum();
};
q.prototype.isCruiseArc = function () {
return this.arcEnum == q.cruiseArcEnum();
};
function r(a, b) {
this.timeOffset = a;
this.radius = b;
}
function s(a) {
this.strafeDirection = 0;
this.tracker = new i();
this.arena = new h(a);
this.id = a.id;
this.parentId = a.parentId;
this.update(a);
this.time = 0;
this.isInitialized = false;
}
s.prototype.update = function (a) {
this.time++;
this.id = a.id;
this.parentId = a.parentId;
this.direction = b.FromAngle(a.angle);
this.position = new c(a.position.x, a.position.y);
this.cannonDirection = b.FromAngle(a.cannonAbsoluteAngle - 90);
this.cannonRelativeAngle = a.cannonRelativeAngle;
this.gunCoolDownTime = a.gunCoolDownTime;
};
s.prototype.getScanningCannonAngle = function (a) {
if (a.cannonRelativeAngle > 90 && a.cannonRelativeAngle < 270) return 180;
return 0;
};
s.prototype.getRotationDirection = function (a, b) {
var c = b - a;
if (c < -180) c += 360;
if (c > 180) c -= 360;
return this.sign(c);
};
s.prototype.angleDiff = function (a, b) {
var c = b - a;
if (Math.abs(c) < 180) return c;
else {
while (Math.abs(c) > 180) c -= this.sign(c) * 360;
return c;
}
};
s.prototype.sign = function (a) {
if (a < 0) return -1;
if (a > 0) return 1;
return 0;
};
})();
