jsbots-simplePlanner.js

const r = require('robotLibrary');

const id = 0;
r.setId(id);

const gridCellSize = 300;

function getX() {
  return Math.floor(r.queryWorld().ourBots[id].pX / gridCellSize + 0.5);
}

function getY() {
  return Math.floor(r.queryWorld().ourBots[id].pY / gridCellSize + 0.5);
}

function moveX(x) {
  console.log(`moveX(${x})`);
  r.moveX((getX() + x) * gridCellSize);
}

function moveY(y) {
  console.log(`moveY(${y})`);
  r.moveY((getY() + y) * gridCellSize);
}

// Returns true iff the line joining (x1,y1) and (x2,y2) collides with the obstacle.
// NOTE: Assumes all numbers are integers, and the line is either vertical or horizontal.
function collides(obstX, obstY, x1, y1, x2, y2) {
  if (x1 === x2) {
    // Vertical move.
    return (y1 - obstY) * (y2 - obstY) <= 0 && x1 === obstX;
  } else if (y1 === y2) {
    // Horizontal move.
    return (x1 - obstX) * (x2 - obstX) <= 0 && y1 === obstY;
  } else {
    // Can't handle this: it's a diagonal move.
    assert(false);
  }
  // WTF: how did we get here?
  assert(false);
} 

function goTo(x1, y1, x2, y2) {
  const obstX = 0;
  const obstY = 0;
  // See if you can move horizontally, then vertically.
  if (!collides(obstX, obstY, x1, y1, x2, y1) && 
      !collides(obstX, obstY, x2, y1, x2, y2)) {
    console.log(`horizonal, then vertical`);
    moveX(x2 - x1);
    moveY(y2 - y1);
    return;
  }

  // See if you can move vertically, then horizontally.
  if (!collides(obstX, obstY, x1, y1, x1, y2) && 
      !collides(obstX, obstY, x1, y2, x2, y2)) {
    console.log(`vertical, then horizontal`);
    moveY(y2 - y1);
    moveX(x2 - x1);
    return;
  }

  // Does the vertical collide?
  if (collides(obstX, obstY, x1, y1, x1, y2)) {
    // Go right one, then do vertical and then horizontal.
    console.log(`right, vertical, then left`);
    moveX(1);
    moveY(y2 - y1);
    moveX(-1);
    return;
  }

  // Does the horizontal collide?
  if (collides(obstX, obstY, x1, y1, x2, y1)) {
    // Go right one, then do vertical and then horizontal.
    console.log(`right, vertical, then left`);
    moveY(1);
    moveX(x2 - x1);
    moveY(-1);
    return;
  }

  // Should not happen!
  assert(false);
}

let x0 = -2;
let y0 = 0;
let x1 = 2;
let y1 = 0;
r.move(x0 * gridCellSize, y0 * gridCellSize, 0);

goTo(x0, y0, x1, y1);