package blarg;

import java.util.Hashtable;
import java.util.Vector;
import robocode.AdvancedRobot;
import robocode.Bullet;
import robocode.HitByBulletEvent;
import robocode.HitRobotEvent;
import robocode.HitWallEvent;
import robocode.ScannedRobotEvent;
import robocode.util.Utils;

public class Bwaarggll extends AdvancedRobot {
   Vector<Bwaarggll.MyTarget> targets;
   Hashtable<Bullet, Bwaarggll.MyTarget> bullets;
   boolean openFire;
   double firePower;
   boolean leftHand;
   boolean forward;

   void dodge() {
      if (Math.abs(this.getDistanceRemaining()) < 1.0) {
         if (this.forward) {
            this.setAhead(100.0);
            this.forward = false;
         } else {
            this.setBack(100.0);
            this.forward = true;
         }
      }

   }

   void getClose(Bwaarggll.MyTarget target) {
      if (target != null && target.getDistance() > 4.0 * this.getEnergy()) {
         double bearing = target.getBearing();
         this.setTurnRight(target.getDistance() / 10.0 + (double)(this.leftHand ? -1 : 1) * bearing);
         if (this.leftHand) {
            this.setBack(100.0);
         } else {
            this.setAhead(100.0);
         }
      }

   }

   public void run() {
      this.openFire = false;
      this.forward = true;
      this.targets = new Vector();
      this.bullets = new Hashtable();
      this.setAdjustGunForRobotTurn(true);
      this.setAdjustRadarForRobotTurn(true);
      this.setAdjustRadarForGunTurn(true);

      while(true) {
         Bwaarggll.MyTarget target = this.findTarget();
         this.getClose(target);
         this.dodge();
         if (this.getGunTurnRemaining() < 1.0 && this.openFire) {
            this.setFireBullet(this.firePower);
            this.openFire = false;
         }

         this.setTurnRadarRight(360.0);
         this.execute();
      }
   }

   Bwaarggll.MyTarget findTarget() {
      if (this.targets.isEmpty()) {
         return null;
      } else {
         int shots = 0;
         Bwaarggll.MyTarget tar = null;

         for(Bwaarggll.MyTarget t : new Vector(this.targets)) {
            if (this.getTime() - t.lastSeen > 20L) {
               this.targets.remove(t);
            } else if (t.shots > shots) {
               tar = t;
               shots = t.shots;
            }
         }

         double distance = 1.0E4;
         if (tar == null) {
            for(Bwaarggll.MyTarget t : this.targets) {
               if (t.getDistance() < distance) {
                  tar = t;
                  distance = t.getDistance();
               }
            }
         }

         if (tar == null) {
            return null;
         } else {
            double grt = Utils.normalRelativeAngleDegrees(tar.whereToShoot() - this.getGunHeading());
            if (grt > 0.0) {
               this.setTurnGunRight(grt);
            } else {
               this.setTurnGunLeft(-grt);
            }

            this.firePower = tar.howHardToShoot();
            this.openFire = true;
            return tar;
         }
      }
   }

   boolean targetKnown(String name) {
      for(Bwaarggll.MyTarget t : this.targets) {
         if (t.name == name) {
            return true;
         }
      }

      return false;
   }

   void addTarget(String name) {
      this.targets.add(new Bwaarggll.MyTarget(name));
   }

   void updateTarget(ScannedRobotEvent e) {
      Bwaarggll.MyTarget tar = null;

      for(Bwaarggll.MyTarget t : this.targets) {
         if (t.name == e.getName()) {
            tar = t;
            break;
         }
      }

      if (tar != null) {
         tar.update(e);
      }
   }

   Bwaarggll.MyTarget getTarget(String name) {
      for(Bwaarggll.MyTarget t : this.targets) {
         if (t.name == name) {
            return t;
         }
      }

      return null;
   }

   public void onHitWall(HitWallEvent e) {
      this.leftHand = !this.leftHand;
   }

   public void onHitRobot(HitRobotEvent e) {
      this.leftHand = !this.leftHand;
   }

   public void onScannedRobot(ScannedRobotEvent e) {
      if (!this.targetKnown(e.getName())) {
         this.addTarget(e.getName());
      }

      this.updateTarget(e);
   }

   public void onHitByBullet(HitByBulletEvent e) {
      if (!this.targetKnown(e.getName())) {
         this.addTarget(e.getName());
      }

      Bwaarggll.MyTarget tar = this.getTarget(e.getName());
      ++tar.shots;
      this.setTurnLeft(90.0 - e.getBearing());
   }

   class MyTarget {
      String name;
      double x;
      double y;
      double heading;
      double velocity;
      double energy;
      int fired;
      int hits;
      int shots;
      long lastSeen;

      public String getName() {
         return this.name;
      }

      public MyTarget(String name) {
         this.name = name;
         this.fired = 0;
         this.hits = 0;
         this.shots = 0;
      }

      public void update(ScannedRobotEvent e) {
         this.x = Bwaarggll.this.getX() + e.getDistance() * Math.cos(Math.toRadians(-e.getBearing() + 90.0 - Bwaarggll.this.getHeading()));
         this.y = Bwaarggll.this.getY() + e.getDistance() * Math.sin(Math.toRadians(-e.getBearing() + 90.0 - Bwaarggll.this.getHeading()));
         this.heading = 90.0 - e.getHeading();
         this.velocity = e.getVelocity();
         this.energy = e.getEnergy();
         this.lastSeen = Bwaarggll.this.getTime();
      }

      public double howHardToShoot() {
         double dx = this.x - Bwaarggll.this.getX();
         double dy = this.y - Bwaarggll.this.getY();
         double d2 = dx * dx + dy * dy;
         if (d2 < 10000.0) {
            return 3.0;
         } else {
            return d2 < 200000.0 ? 2.0 : 1.0;
         }
      }

      public double getBearing() {
         double dx = this.x - Bwaarggll.this.getX();
         double dy = this.y - Bwaarggll.this.getY();
         double ang = 90.0 - Math.toDegrees(Math.atan2(dy, dx)) - Bwaarggll.this.getHeading();
         return Utils.normalRelativeAngleDegrees(ang);
      }

      public double getDistance() {
         double dx = this.x - Bwaarggll.this.getX();
         double dy = this.y - Bwaarggll.this.getY();
         return Math.sqrt(dx * dx + dy * dy);
      }

      public double whereToShoot() {
         double TRUST = 0.5;
         double dx = this.x - Bwaarggll.this.getX();
         double dy = this.y - Bwaarggll.this.getY();
         double d = Math.sqrt(dx * dx + dy * dy);
         double th = d / (20.0 - 3.0 * this.howHardToShoot());
         double v = this.velocity;
         double xh = dx + TRUST * th * v * Math.cos(Math.toRadians(this.heading));
         double yh = dy + TRUST * th * v * Math.sin(Math.toRadians(this.heading));
         return 90.0 - Math.toDegrees(Math.atan2(yh, xh));
      }
   }
}