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class GuessFactorC {    TeamRobot bot;    UT unit;    ArrayList waves = new ArrayList();    Rectangle2D fieldRectangle;    //private int uniqueSegments = 31;    //private int fieldSegments = 5;    //private int distanceSegments = 6;    //private int velocitySegments = 5;    //private int xForceSegments = 22;    //private int yForceSegments = 22;    private int[][][][][] stats = new int[5][6][5][22][31];    //private int headingSegments = 20;    //private int[][][][][] stats = new int[fieldSegments][distanceSegments][velocitySegments][headingSegments][uniqueSegments];    private int[] currentStats;    private int direction = 1;        //private double maxDistance;        public GuessFactorC(TeamRobot b, UT u) {        fieldRectangle = new Rectangle2D.Double(0, 0, b.getBattleFieldWidth(), b.getBattleFieldHeight());        bot = b;        unit = u;        //maxDistance = new Point2D.Double(0,0).distance(bot.getBattleFieldWidth(), bot.getBattleFieldHeight());    }        public void run() {        UI info = unit.lastInfo();        Point2D.Double enemyPos = new Point2D.Double(info.x, info.y);                //let's process the waves now:        for (int i=0; i<waves.size(); i++)        {            WaveBullet currentWave = (WaveBullet)waves.get(i);            if (currentWave.check(enemyPos, bot.getTime()))            {                waves.remove(currentWave);                i--;            }        }        return;    }        public void update() {        UI info = unit.lastInfo();        double absBearing = info.bearing + bot.getHeadingRadians();        //find our enemy's location:        Point2D.Double enemyPos = new Point2D.Double(info.x, info.y);                double power = 3;        double orientation = (info.velocity*Math.sin(info.heading - absBearing) >= 0) ? 1 : -1;        //int distanceIndex = (int)info.distance/((int)maxDistance/distanceSegments);        int distanceIndex = (int)info.distance/((int)1132/6);        int velocityIndex = (int)info.velocity/2;        int yForceIndex = (int)((Math.cos(info.heading)*10)+10);        int fieldIndex = getOutIndex();        //bot.out.println(headingIndex);        //currentStats = stats[fieldIndex][distanceIndex][velocityIndex][yForceIndex];        currentStats = stats[getOutIndex()][(int)info.distance/((int)1132/6)][(int)info.velocity/2][(int)((Math.cos(info.heading)*10)+10)];        //currentStats = stats[fieldIndex][distanceIndex][velocityIndex][headingIndex];        WaveBullet newWave = new WaveBullet(new Point2D.Double(bot.getX(), bot.getY()), absBearing, 11, orientation, bot.getTime(), currentStats);        waves.add(newWave);    }        public double getBearing() {        UI info = unit.lastInfo();        int bestindex = 15; //initialize it to be in the middle, guessfactor 0.        //for (int i=0; i<uniqueSegments; i++)        for (int i=0; i<31; i++)            if (currentStats[bestindex] < currentStats[i])            bestindex = i;                //this should do the opposite of the math in the WaveBullet:        WaveBullet w = getNewestWave();        double guessfactor = (double)(bestindex-(stats.length-1)/2)/((stats.length-1)/2);        double angleOffset = direction*guessfactor*w.velocity;        double angle = robocode.util.Utils.normalRelativeAngle(info.bearing+angleOffset);        return angle;    }        public WaveBullet getNewestWave() { return (WaveBullet)waves.get(waves.size()-1); }        private int getOutIndex() {        UI info = unit.lastInfo();        int i = 0;        do {                    } while (++i < 5-1 && fieldRectangle.contains((info.x + (Math.sin(info.heading)* (45.0 * i))), (info.y + (Math.cos(info.heading)) * (45.0 * i))));        //} while (++i < fieldSegments-1 && fieldRectangle.contains((info.x + (Math.sin(info.heading)* (45.0 * i))), (info.y + (Math.cos(info.heading)) * (45.0 * i))));        return (i);    }    }class WaveBullet{    public Point2D.Double startPosition;    private long fireTime;    public double orientation, heading, velocity;    private int[] returnSegment;        public WaveBullet(Point2D.Double position, double h, double v, double o, long time, int[] segment)    {        startPosition = position;        heading = h;        velocity = 20-v*3;        orientation = o;        fireTime = time;        returnSegment = segment;    }        public boolean check(Point2D.Double enemyPosition, long currentTime)    {        //if the distance from the wave origin to our enemy has passed the distance the bullet would have traveled...        if (startPosition.distance(enemyPosition) <= (currentTime-fireTime)*velocity)        {            double newBearing = (Double)Math.atan2(startPosition.getX()-enemyPosition.getX(),startPosition.getY()-enemyPosition.getX());            double angleOffset = Utils.normalRelativeAngle(newBearing-heading);            double guessFactor = Math.max(-1, Math.min(1, angleOffset/Math.asin(8/velocity)))*orientation;            int index = (int)Math.round((returnSegment.length-1)/2*(guessFactor+1));            returnSegment[index]++;            return true;        }        return false;    }}