goal-direction

src/main/java/app/model/Map.java

@@ -76,7 +76,7 @@ public Map(Settings settings)
             if (srt != null)
             {
                 Vector dir = randDirection();
-                AcoAgentLimitedVision guard = new AcoAgentLimitedVision(srt, dir, 10, Team.GUARD);
+                Agent guard = new AcoAgentLimitedVision(srt, dir, 10, Team.GUARD);
                 guard.setMaxWalk(settings.getWalkSpeedGuard());
                 guard.setMaxSprint(settings.getSprintSpeedGuard());
                 agents.add(guard);
@@ -91,6 +91,7 @@ public Map(Settings settings)
             {
                 Vector dir = randDirection();
                 Agent intruder = new WallFollowAgent(srt, dir, 10, Team.INTRUDER);
+                intruder.setTgtDirection(targetDirection(srt));
                 intruder.setMaxWalk(settings.getWalkSpeedIntruder());
                 intruder.setMaxSprint(settings.getSprintSpeedIntruder());
                 agents.add(intruder);
@@ -257,4 +258,14 @@ private boolean clearSpot(Vector v)
         }
         return true;
     }
+
+    private Vector targetDirection(Vector vector)
+    {
+        Vector targetCentre = new Vector(target.getMinX() + (target.getWidth()/2),
+                                        target.getMinY() + (target.getHeight()/2));
+        double dX = targetCentre.getX() - vector.getX();
+        double dY = targetCentre.getY() - vector.getY();
+        Vector direction = new Vector(dX, dY);
+        return direction.normalise();
+    }
 }

src/main/java/app/model/agents/Agent.java

@@ -45,4 +45,6 @@ public interface Agent extends Boundary
     void addViewWindow(AgentView agentView);
 
     Team getTeam();
+
+    void setTgtDirection(Vector tgtDirection);
 }

src/main/java/app/model/agents/AgentImp.java

@@ -20,6 +20,7 @@ public class AgentImp implements Agent
     @Getter @Setter protected double maxSprint = 10;
     @Getter @Setter protected Vector direction;
     @Getter @Setter protected boolean moveFailed;
+    @Setter protected Vector tgtDirection;
     @Getter protected Team team;
     @Getter protected Vector position;
     @Getter protected double radius;
@@ -33,6 +34,18 @@ public AgentImp(Vector position, Vector direction, double radius, Team team)
         this.position = position;
         this.radius = radius;
         this.team = team;
+        this.tgtDirection = null;
+        view = new ArrayList<>();
+        seen = new VectorSet();
+    }
+
+    public AgentImp(Vector position, Vector direction, double radius, Team team, Vector tgtDirection)
+    {
+        this.direction = direction;
+        this.position = position;
+        this.radius = radius;
+        this.team = team;
+        this.tgtDirection = tgtDirection;
         view = new ArrayList<>();
         seen = new VectorSet();
     }

src/main/java/app/model/agents/WallFollow/WallFollowAgent.java

@@ -25,25 +25,25 @@ public enum TurnType
         RIGHT,
         NO_TURN,
     }
+    @Setter private boolean DEBUG = false;
     @Getter @Setter private boolean movedForwardLast = false;
     @Getter @Setter private TurnType lastTurn = TurnType.NO_TURN;
     @Getter @Setter private double moveLength = 20;
-    private int maxViewingDistance = 10;
-    @Setter private boolean DEBUG = false;
     @Getter @Setter private boolean wallEncountered = false;
+    private int maxViewingDistance = 10;
     public static Map map;
     private final app.model.agents.WallFollow.BooleanCellGraph<BooleanCell, DefaultEdge> cellGraph;
     private boolean initialVertexFound = false;
-    private BooleanCell tempAgentCell;
     private boolean noMovesDone = true;
-    private final List<Vector> directions = Arrays.asList(new Vector(0,1),
-                                                    new Vector(1,0),
-                                                    new Vector(0,-1),
-                                                    new Vector(-1,0));
-    private List<BooleanCell> currentPathToNextVertex = null;
+    private boolean explorationDone = false;
+    private BooleanCell tempAgentCell;
     private BooleanCell currentTargetVertex = null;
+    private List<BooleanCell> currentPathToNextVertex = null;
     private ArrayList<BooleanCell> inaccessibleCells = new ArrayList<>();
-    private boolean explorationDone = false;
+    private final List<Vector> directions = Arrays.asList(new Vector(0,1),
+            new Vector(1,0),
+            new Vector(0,-1),
+            new Vector(-1,0));
 
     public WallFollowAgent(Vector position, Vector direction, double radius, Team team)
     {