/**
* <code>pickTarget</code> picks the best <code>GoalSpot</code> based on:<br>
* <ul>
* <li> TPD (Total Player Distance): How far are all players away from the <code>GoalSpot</code>?</li>
* <li> SD (Spot Distance): How far away is the MovingSpot away from the <code>GoalSpot</code>?</li>
* <li> FDC (Fastest Danger Cost): How dangerous is the fastest path to the <code>GoalSpot</code>?</li>
* <li> ST (Surround Threat): How dangerous is the area around the <code>GoalSpot</code>?</li>
* <li> HD (Highest Danger): What is the highest danger level while moving over the FDC-path to the <code>GoalSpot</code>?</li>
* </ul>
* @param allGoals the array of all the GoalSpots on the Playfield
* @return target the GoalSpot that is the best choice to move to
*/
public GoalSpot pickTarget(List <GoalSpot> allGoals)
{
// Create the empty array that will contain all the PossibleTargets.
List <PossibleTarget> possibleTargets = new List <PossibleTarget>();
// Create all the PossibleTargets (out of GoalSpots) and set the correct values for HD, TPD, SD, FDC and ST.
for (int i = 0; i < allGoals.Count; i++)
{
//System.out.println("\nGOAL " + i);
GoalSpot current = allGoals[i];
possibleTargets[i] = new PossibleTarget(current);
PossibleTarget possible = possibleTargets[i];
int calculatedCost = 0;
double penalty = 1;
// Calculate the Fastest Danger Cost to this spot
calculatedCost = current.calculateDangerCost(x, y, possible);
//TODO: Move to the calculateSurround() in GoalSpot
// Check if the GoalSpot is located against the wall and add a penalty
if (current.getX() == 0 || current.getX() == playfield.width - 1 ||
current.getY() == playfield.height || current.getY() == 0)
{
penalty = 1.6;
}
// Set all the values for the variables in PossibleTarget
possible.setTPD(current.getTPD());
possible.setSD(current.getSD());
possible.setPenalty(penalty);
possible.setCalcCost(calculatedCost);
int weightedSurThreat = (int)(current.calculateSurround() * penalty);
possible.setSurThreat(weightedSurThreat);
//System.out.println("HD: " + possible.getHighestDanger());
//System.out.println("TPD: " + current.getTPD());
//System.out.println("SD: " + current.getSD());
//System.out.println("ST: " + weightedSurThreat);
//System.out.println("FDC: " + calculatedCost);
}
// Loop through all factors and rate them for each of the PossibleTargets
foreach (Factor factor in factors)
{
possibleTargets = rateFactor(possibleTargets, factor);
}
// Create a new list BestOptions to compare the ratings
List <PossibleTarget> bestOptions = new List <PossibleTarget>();
// Compare ratings between all the PossibleTargets
bestOptions = compareRatings(possibleTargets);
// Check if bestOptions.size() is 1, as that means there is only one best Spot -> return this spot
if (bestOptions.Count == 1)
{
//System.out.println("Found directly!");
return(bestOptions[0].toGoalSpot());
} // Else: Continue with all the best options left
// Make new list to be rated on independent factors (bestOptions = backup)
//List<PossibleTarget> compareOptions = bestOptions;
// Loop through all the factors and compare them for all the remaining best options
//System.out.println("Compare again: ");
foreach (Factor current in factors)
{
//System.out.println(bestOptions.get(0).toString());
//System.out.println(bestOptions.get(1).toString());
List <PossibleTarget> compareOptions = compareFactor(current, bestOptions);
// If the list has a size of 1 then, a result has been found and return this GoalSpot
if (compareOptions.Count == 1)
{
return(compareOptions[0].toGoalSpot());
// Else reset compareOptions with bestOptions and then try again for the next factor
/*} else {
* compareOptions = bestOptions; */
}
}
//System.out.println("Random: ");
//If all else fails, pick a random target from the original PossibleTargets
return(pickRandomGoal(bestOptions));
}
