wizardofrobots · December 27, 2017 17:03 · Dec 27, 2017
diff --git a/wallhit.js b/wallhit.js
@@ -0,0 +1,92 @@
+// import SDK and vector facilities to ease development
+import { vector, comm } from "bytearena-sdk";
+const Vector2 = vector.Vector2;
+
+// Connecting our agent
+const agent = comm.connect();
+
+// Watching perception stream
+agent.on("perception", perception => {
+  const actions = [];
+
+  // Get a steering vector based on perception
+  let steering = navigate(perception);
+
+  // Submitting our actions for this turn
+  actions.push({ method: "steer", arguments: steering.toArray() });
+  agent.do(actions);
+});
+
+// Returns a steering vector exploring the world,
+// or dodging an obstacle if there's any
+const navigate = perception => {
+
+  // Obtain a vector steering away from obstacles
+  // if there's any on our path, or null if not
+  // This func is defined below
+  let steering = avoidObstables(perception);
+
+  if(!steering) {
+    // no obstacle has to be avoided
+    // we can just stroll around randomly
+    const direction = Math.random() < 0.5 ? -1 : 1; // -1: left, 1: right
+    const x = 0
+    const y = 3; // move forward 3 meters
+
+    steering = new Vector2(x, y);
+  }
+
+  return steering;
+};
+
+// Returns a vector steering away from
+// an obstacle if there's any in front of us
+const avoidObstables = perception => {
+
+  // this is the resulting vector (null if no vector)
+  let steering = null;
+
+  // this remembers the distance to the obstacle we're currently
+  // steering away in the algorithm below
+  let curdistance = null;
+
+  // for everything that stands in our field of view
+  for (const perceived of perception.vision) {
+
+    // build a vector to the closest point of the obstacle
+    const point = Vector2.fromArray(perceived.nearedge);
+
+    // determine the angle of this point relative to us
+    // angle increases clockwise, and 0 is at 12:00 on the clock
+    // so 0° => straight ahead, 90° => 90° to our right, 270° => 90° to our left
+    const angle = point.angle();  // in radians
+
+    // The magnitude of a vector is its length
+    // This is the distance between us and the obstacle
+    const distance = point.mag(); // in meters
+
+    // If obstacle is 15m away or less, and our current steering
+    // is not yet avoiding any closer obstacle,
+    // we steer away from this one
+    if (distance < 15 && (!curdistance || curdistance > distance)) {
+
+      if (angle < degreesToRadians(180)) {
+        // obstacle is on our right, moving left
+        steering = new Vector2(-10, 0);
+
+      } else {
+        // obstacle is on our left, moving right
+        steering = new Vector2(10, 0);
+      }
+
+      // updating distance to obstacle currently steered away
+      curdistance = distance;
+    }
+  }
+
+  // Done ! returning either a vector, or null
+  return steering;
+}
+// In Byte Arena, angles are expressed in radians
+// This converts from radians to degrees
+const degreesToRadians = deg => deg * (2 * Math.PI) / 360.0;
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