package roboty;
import robocode.AdvancedRobot;
import robocode.*;
import java.awt.*;
import java.awt.event.MouseEvent;

public class Robocik extends AdvancedRobot { //lub AdvancedRobot
    boolean movingForward;
    int firePower;
    double x, y;
    double currentX, currentY;
    int scannedX, scannedY;
	int bfW, bfH;
	int botSize = 18;
	int gridX = 40;
	int gridY = 40;
	int[][][] obstacleGrid = new int[gridX][gridY][2];
	boolean[][] obstacleGridBool = new boolean[gridX][gridY];

	int[][] obstacleArray = new int[200][2];
	boolean alreadyScanned = false;
	int numScanned = 0;

    public void run() {
    // ruch robota
		bfW = (int)getBattleFieldWidth();
		bfH = (int)getBattleFieldHeight();
		for(int i=0; i<gridX; i++){
			for(int j=0; j<gridY; j++){
				obstacleGrid[i][j][0] = i * bfW/gridX;
				obstacleGrid[i][j][1] = j * bfH/gridY;
			}
		}
        while (true) {
            setTurnRadarRight(10);
            setAhead(getHeight()/10);
            scan();
            if(closeToWall()){
                turnRight(45);
            }

        }
    }
    public boolean closeToWall() {
        return(getX() > getBattleFieldWidth() - 50 || getX() < 50 ||
                getY() <= 50 ||getY() >= getBattleFieldHeight() - 50);
    }
	// Funkcja sprawdzajaca czy wspolrzedne robota nachodza na kratke, jesli tak to ustawia komorke na true
	public void addToObstacleGrid(int scannedX, int scannedY) {
		for(int i=0; i<gridX; i++){
			for(int j=0; j<gridY; j++){
				if (obstacleGrid[i][j][0] < scannedX + botSize){ 				// +botSize lub 2*botSize bo wylapuje robota nierowno
					if(obstacleGrid[i][j][0] > scannedX - 2 * botSize ){
						if(obstacleGrid[i][j][1] < scannedY + botSize ){
							if(obstacleGrid[i][j][1] > scannedY - 2 * botSize ){
								obstacleGridBool[i][j] = true;
							}
						}
					}
				}
			}
		}
	}
    public void onScannedRobot(ScannedRobotEvent e) {
        double angle = Math.toRadians((getHeading() + e.getBearing()) % 360);
        scannedX = (int)(getX() + Math.sin(angle) * e.getDistance());
        scannedY = (int)(getY() + Math.cos(angle) * e.getDistance());


		for(int i=0; i<numScanned; i++){
			if(((int)obstacleArray[i][0] - 5 <= (int)scannedX) && ((int)scannedX <= (int)obstacleArray[i][0] + 5)){
				if(((int)obstacleArray[i][1] - 5 <= (int)scannedY) && ((int)scannedY) <= (int)obstacleArray[i][1] + 5){
					alreadyScanned = true;
					break;
				}
			}
	    }
		if(!alreadyScanned){
			obstacleArray[numScanned][0] = scannedX;
			obstacleArray[numScanned][1] = scannedY;
			numScanned += 1;
			// Wywolanie funkcji dodajacej wspolrzedne robota do siatki przeszkod
			addToObstacleGrid(scannedX, scannedY);

		}
		alreadyScanned = false;

		//setTurnRadarRight(2.0 * Utils.normalRelativeAngleDegrees(getHeading() + e.getBearing() - getRadarHeading()));
    }

    public void onMousePressed(MouseEvent e) {
        if (e.getButton() == MouseEvent.BUTTON1) {
            x = e.getX();
            y = e.getY();
            double a;
            setTurnRightRadians(Math.tan(a = Math.atan2(x -= (int) getX(),
                    y -= (int) getY()) - getHeadingRadians()));
            setAhead(Math.hypot(x, y) * Math.cos(a));
        }
    }
    public void onPaint(Graphics2D g) {
        currentX = getX();
        currentY = getY();
        Font font = new Font("Arial", Font.PLAIN, 40);
        g.setFont(font);
        g.setColor(Color.red);
        //g.drawString(Integer.toString((int)currentX), (int)getX(), (int)getY());
        //g.drawString(Integer.toString((int)currentY), (int)getX(), (int)getY()-30);
		for(int i=0; i<gridX; i++){
			for(int j=0; j<gridX; j++){
				g.setColor(new Color(0, 0, 0, 80));
		        g.drawRect((int) (obstacleGrid[i][j][0]), (int) (obstacleGrid[i][j][1]), (int)getBattleFieldWidth()/gridX, (int)getBattleFieldHeight()/gridX);
		        g.setColor(new Color(0xFF, 0, 0, 60));
				// Wypisywanie siatki przeszkod
				if(obstacleGridBool[i][j] == true) {
		        	g.fillRect((int) (obstacleGrid[i][j][0]), (int) (obstacleGrid[i][j][1]), (int)getBattleFieldWidth()/gridX, (int)getBattleFieldHeight()/gridX);
				}
			}
		}
        //g.drawString(Integer.toString((int)scannedX), scannedX, scannedY);
        //g.drawString(Integer.toString((int)scannedY), scannedX, scannedY-30);
    }
}